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Use array instead of List for ROS message types #165

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3a068ef
change logic(list -> array) in msg.java.em
Nov 20, 2020
9a65235
change logic(list -> array) in msg.cpp.em
Nov 20, 2020
df08714
Support getting and setting as Lists in addition to arrays
jacobperron Dec 15, 2020
954fbea
Update rcljava to work with new methods for list types
jacobperron Dec 15, 2020
228ea96
Update tests to work with new methods for list types
jacobperron Dec 15, 2020
0dac87f
Fixes to template files
jacobperron Dec 18, 2020
2167017
Minor refactor
jacobperron Jan 5, 2021
0729503
A note about performance to *AsList docblocks
jacobperron Jan 6, 2021
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10 changes: 7 additions & 3 deletions rcljava/src/main/java/org/ros2/rcljava/node/NodeImpl.java
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Original file line number Diff line number Diff line change
Expand Up @@ -480,6 +480,8 @@ public rcl_interfaces.msg.ListParametersResult listParameters(
new rcl_interfaces.msg.ListParametersResult();

String separator = ".";
List<String> resultNames = new ArrayList<String>();
List<String> resultPrefixes = new ArrayList<String>();
for (Map.Entry<String, ParameterVariant> entry : this.parameters.entrySet()) {
boolean getAll =
(prefixes.size() == 0)
Expand All @@ -500,16 +502,18 @@ public rcl_interfaces.msg.ListParametersResult listParameters(
}
}
if (getAll || prefixMatches) {
result.getNames().add(entry.getKey());
resultNames.add(entry.getKey());
int lastSeparator = entry.getKey().lastIndexOf(separator);
if (-1 != lastSeparator) {
String prefix = entry.getKey().substring(0, lastSeparator);
if (!result.getPrefixes().contains(prefix)) {
result.getPrefixes().add(prefix);
if (!resultPrefixes.contains(prefix)) {
resultPrefixes.add(prefix);
}
}
}
}
result.setNames(resultNames);
result.setPrefixes(resultPrefixes);
return result;
}
}
Expand Down
6 changes: 3 additions & 3 deletions rcljava/src/main/java/org/ros2/rcljava/parameters/ParameterVariant.java
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Expand Up @@ -94,7 +94,7 @@ public ParameterVariant(final String name, final String stringValue) {
this.value.setType(ParameterType.PARAMETER_STRING.getValue());
}

public ParameterVariant(final String name, final List<Byte> byteArrayValue) {
public ParameterVariant(final String name, final byte[] byteArrayValue) {
this.name = name;
this.value = new rcl_interfaces.msg.ParameterValue();
this.value.setByteArrayValue(byteArrayValue);
Expand Down Expand Up @@ -161,7 +161,7 @@ public final boolean asBool() {
return this.value.getBoolValue();
}

public final List<Byte> asByteArray() {
public final byte[] asByteArray() {
if (getType() != ParameterType.PARAMETER_BYTE_ARRAY) {
throw new IllegalArgumentException("Invalid type");
}
Expand Down Expand Up @@ -194,4 +194,4 @@ public static ParameterVariant fromParameter(final rcl_interfaces.msg.Parameter
"Unexpected type from ParameterVariant: " + parameter.getValue().getType());
}
}
}
}
16 changes: 8 additions & 8 deletions rcljava/src/main/java/org/ros2/rcljava/parameters/client/AsyncParametersClientImpl.java
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Expand Up @@ -114,16 +114,16 @@ public Future<List<ParameterVariant>> getParameters(
request, new Consumer<Future<rcl_interfaces.srv.GetParameters_Response>>() {
public void accept(final Future<rcl_interfaces.srv.GetParameters_Response> future) {
List<ParameterVariant> parameterVariants = new ArrayList<ParameterVariant>();
List<rcl_interfaces.msg.ParameterValue> pvalues = null;
rcl_interfaces.msg.ParameterValue[] pvalues = new rcl_interfaces.msg.ParameterValue[0];
try {
pvalues = future.get().getValues();
} catch (Exception e) {
// TODO(esteve): do something
}
for (int i = 0; i < pvalues.size(); i++) {
for (int i = 0; i < pvalues.length; i++) {
rcl_interfaces.msg.Parameter parameter = new rcl_interfaces.msg.Parameter();
parameter.setName(request.getNames().get(i));
parameter.setValue(pvalues.get(i));
parameter.setName(request.getNames()[i]);
parameter.setValue(pvalues[i]);
parameterVariants.add(ParameterVariant.fromParameter(parameter));
}
futureResult.set(parameterVariants);
Expand Down Expand Up @@ -151,13 +151,13 @@ public Future<List<ParameterType>> getParameterTypes(
request, new Consumer<Future<rcl_interfaces.srv.GetParameterTypes_Response>>() {
public void accept(final Future<rcl_interfaces.srv.GetParameterTypes_Response> future) {
List<ParameterType> parameterTypes = new ArrayList<ParameterType>();
List<Byte> pts = null;
byte[] pts = new byte[0];
try {
pts = future.get().getTypes();
} catch (Exception e) {
// TODO(esteve): do something
}
for (Byte pt : pts) {
for (byte pt : pts) {
parameterTypes.add(ParameterType.fromByte(pt));
}
futureResult.set(parameterTypes);
Expand Down Expand Up @@ -194,7 +194,7 @@ public Future<List<rcl_interfaces.msg.SetParametersResult>> setParameters(
public void accept(final Future<rcl_interfaces.srv.SetParameters_Response> future) {
List<rcl_interfaces.msg.SetParametersResult> setParametersResult = null;
try {
setParametersResult = future.get().getResults();
setParametersResult = future.get().getResultsAsList();
} catch (Exception e) {
// TODO(esteve): do something
}
Expand Down Expand Up @@ -297,7 +297,7 @@ public Future<List<rcl_interfaces.msg.ParameterDescriptor>> describeParameters(
public void accept(final Future<rcl_interfaces.srv.DescribeParameters_Response> future) {
List<rcl_interfaces.msg.ParameterDescriptor> parameterDescriptors = null;
try {
parameterDescriptors = future.get().getDescriptors();
parameterDescriptors = future.get().getDescriptorsAsList();
} catch (Exception e) {
// TODO(esteve): do something
}
Expand Down
8 changes: 4 additions & 4 deletions rcljava/src/main/java/org/ros2/rcljava/parameters/service/ParameterServiceImpl.java
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Expand Up @@ -48,7 +48,7 @@ public ParameterServiceImpl(final Node node, final QoSProfile qosProfile)
public void accept(RMWRequestId rmwRequestId,
rcl_interfaces.srv.GetParameters_Request request,
rcl_interfaces.srv.GetParameters_Response response) {
List<ParameterVariant> values = node.getParameters(request.getNames());
List<ParameterVariant> values = node.getParameters(request.getNamesAsList());
List<rcl_interfaces.msg.ParameterValue> pvalues =
new ArrayList<rcl_interfaces.msg.ParameterValue>();
for (ParameterVariant pvariant : values) {
Expand All @@ -67,7 +67,7 @@ public void accept(RMWRequestId rmwRequestId,
public void accept(RMWRequestId rmwRequestId,
rcl_interfaces.srv.GetParameterTypes_Request request,
rcl_interfaces.srv.GetParameterTypes_Response response) {
List<ParameterType> types = node.getParameterTypes(request.getNames());
List<ParameterType> types = node.getParameterTypes(request.getNamesAsList());
List<Byte> ptypes = new ArrayList<Byte>();
for (ParameterType type : types) {
ptypes.add(type.getValue());
Expand Down Expand Up @@ -124,7 +124,7 @@ public void accept(RMWRequestId rmwRequestId,
rcl_interfaces.srv.DescribeParameters_Request request,
rcl_interfaces.srv.DescribeParameters_Response response) {
List<rcl_interfaces.msg.ParameterDescriptor> descriptors =
node.describeParameters(request.getNames());
node.describeParameters(request.getNamesAsList());
response.setDescriptors(descriptors);
}
},
Expand All @@ -139,7 +139,7 @@ public void accept(RMWRequestId rmwRequestId,
rcl_interfaces.srv.ListParameters_Request request,
rcl_interfaces.srv.ListParameters_Response response) {
rcl_interfaces.msg.ListParametersResult result =
node.listParameters(request.getPrefixes(), request.getDepth());
node.listParameters(request.getPrefixesAsList(), request.getDepth());
response.setResult(result);
}
},
Expand Down
102 changes: 51 additions & 51 deletions rcljava/src/test/java/org/ros2/rcljava/node/NodeTest.java
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Expand Up @@ -252,8 +252,8 @@ public final void testPubSubBoundedArrayNested() throws Exception {
rcljava.msg.BoundedArrayNested value = future.get();
assertNotEquals(null, value.getPrimitiveValues());

rcljava.msg.Primitives primitivesValue1 = value.getPrimitiveValues().get(0);
rcljava.msg.Primitives primitivesValue2 = value.getPrimitiveValues().get(1);
rcljava.msg.Primitives primitivesValue1 = value.getPrimitiveValues()[0];
rcljava.msg.Primitives primitivesValue2 = value.getPrimitiveValues()[1];

assertTrue(checkPrimitives(primitivesValue1, boolValue1, byteValue1, charValue1, float32Value1,
float64Value1, int8Value1, uint8Value1, int16Value1, uint16Value1, int32Value1,
Expand Down Expand Up @@ -322,20 +322,20 @@ public final void testPubSubBoundedArrayPrimitives() throws Exception {

rcljava.msg.BoundedArrayPrimitives value = future.get();

assertEquals(boolValues, value.getBoolValues());
assertEquals(byteValues, value.getByteValues());
assertEquals(charValues, value.getCharValues());
assertEquals(float32Values, value.getFloat32Values());
assertEquals(float64Values, value.getFloat64Values());
assertEquals(int8Values, value.getInt8Values());
assertEquals(uint8Values, value.getUint8Values());
assertEquals(int16Values, value.getInt16Values());
assertEquals(uint16Values, value.getUint16Values());
assertEquals(int32Values, value.getInt32Values());
assertEquals(uint32Values, value.getUint32Values());
assertEquals(int64Values, value.getInt64Values());
assertEquals(uint64Values, value.getUint64Values());
assertEquals(stringValues, value.getStringValues());
assertEquals(boolValues, value.getBoolValuesAsList());
assertEquals(byteValues, value.getByteValuesAsList());
assertEquals(charValues, value.getCharValuesAsList());
assertEquals(float32Values, value.getFloat32ValuesAsList());
assertEquals(float64Values, value.getFloat64ValuesAsList());
assertEquals(int8Values, value.getInt8ValuesAsList());
assertEquals(uint8Values, value.getUint8ValuesAsList());
assertEquals(int16Values, value.getInt16ValuesAsList());
assertEquals(uint16Values, value.getUint16ValuesAsList());
assertEquals(int32Values, value.getInt32ValuesAsList());
assertEquals(uint32Values, value.getUint32ValuesAsList());
assertEquals(int64Values, value.getInt64ValuesAsList());
assertEquals(uint64Values, value.getUint64ValuesAsList());
assertEquals(stringValues, value.getStringValuesAsList());

publisher.dispose();
assertEquals(0, publisher.getHandle());
Expand Down Expand Up @@ -414,8 +414,8 @@ public final void testPubSubDynamicArrayNested() throws Exception {
rcljava.msg.DynamicArrayNested value = future.get();
assertNotEquals(null, value.getPrimitiveValues());

rcljava.msg.Primitives primitivesValue1 = value.getPrimitiveValues().get(0);
rcljava.msg.Primitives primitivesValue2 = value.getPrimitiveValues().get(1);
rcljava.msg.Primitives primitivesValue1 = value.getPrimitiveValues()[0];
rcljava.msg.Primitives primitivesValue2 = value.getPrimitiveValues()[1];

assertTrue(checkPrimitives(primitivesValue1, boolValue1, byteValue1, charValue1, float32Value1,
float64Value1, int8Value1, uint8Value1, int16Value1, uint16Value1, int32Value1,
Expand Down Expand Up @@ -484,20 +484,20 @@ public final void testPubSubDynamicArrayPrimitives() throws Exception {

rcljava.msg.DynamicArrayPrimitives value = future.get();

assertEquals(boolValues, value.getBoolValues());
assertEquals(byteValues, value.getByteValues());
assertEquals(charValues, value.getCharValues());
assertEquals(float32Values, value.getFloat32Values());
assertEquals(float64Values, value.getFloat64Values());
assertEquals(int8Values, value.getInt8Values());
assertEquals(uint8Values, value.getUint8Values());
assertEquals(int16Values, value.getInt16Values());
assertEquals(uint16Values, value.getUint16Values());
assertEquals(int32Values, value.getInt32Values());
assertEquals(uint32Values, value.getUint32Values());
assertEquals(int64Values, value.getInt64Values());
assertEquals(uint64Values, value.getUint64Values());
assertEquals(stringValues, value.getStringValues());
assertEquals(boolValues, value.getBoolValuesAsList());
assertEquals(byteValues, value.getByteValuesAsList());
assertEquals(charValues, value.getCharValuesAsList());
assertEquals(float32Values, value.getFloat32ValuesAsList());
assertEquals(float64Values, value.getFloat64ValuesAsList());
assertEquals(int8Values, value.getInt8ValuesAsList());
assertEquals(uint8Values, value.getUint8ValuesAsList());
assertEquals(int16Values, value.getInt16ValuesAsList());
assertEquals(uint16Values, value.getUint16ValuesAsList());
assertEquals(int32Values, value.getInt32ValuesAsList());
assertEquals(uint32Values, value.getUint32ValuesAsList());
assertEquals(int64Values, value.getInt64ValuesAsList());
assertEquals(uint64Values, value.getUint64ValuesAsList());
assertEquals(stringValues, value.getStringValuesAsList());

publisher.dispose();
assertEquals(0, publisher.getHandle());
Expand Down Expand Up @@ -668,12 +668,12 @@ public final void testPubSubStaticArrayNested() throws Exception {
rcljava.msg.StaticArrayNested value = future.get();
assertNotEquals(null, value.getPrimitiveValues());

assertEquals(4, value.getPrimitiveValues().size());
assertEquals(4, value.getPrimitiveValues().length);

rcljava.msg.Primitives primitivesValue1 = value.getPrimitiveValues().get(0);
rcljava.msg.Primitives primitivesValue2 = value.getPrimitiveValues().get(1);
rcljava.msg.Primitives primitivesValue3 = value.getPrimitiveValues().get(2);
rcljava.msg.Primitives primitivesValue4 = value.getPrimitiveValues().get(3);
rcljava.msg.Primitives primitivesValue1 = value.getPrimitiveValues()[0];
rcljava.msg.Primitives primitivesValue2 = value.getPrimitiveValues()[1];
rcljava.msg.Primitives primitivesValue3 = value.getPrimitiveValues()[2];
rcljava.msg.Primitives primitivesValue4 = value.getPrimitiveValues()[3];

assertTrue(checkPrimitives(primitivesValue1, boolValue1, byteValue1, charValue1, float32Value1,
float64Value1, int8Value1, uint8Value1, int16Value1, uint16Value1, int32Value1,
Expand Down Expand Up @@ -751,20 +751,20 @@ public final void testPubSubStaticArrayPrimitives() throws Exception {

rcljava.msg.StaticArrayPrimitives value = future.get();

assertEquals(boolValues, value.getBoolValues());
assertEquals(byteValues, value.getByteValues());
assertEquals(charValues, value.getCharValues());
assertEquals(float32Values, value.getFloat32Values());
assertEquals(float64Values, value.getFloat64Values());
assertEquals(int8Values, value.getInt8Values());
assertEquals(uint8Values, value.getUint8Values());
assertEquals(int16Values, value.getInt16Values());
assertEquals(uint16Values, value.getUint16Values());
assertEquals(int32Values, value.getInt32Values());
assertEquals(uint32Values, value.getUint32Values());
assertEquals(int64Values, value.getInt64Values());
assertEquals(uint64Values, value.getUint64Values());
assertEquals(stringValues, value.getStringValues());
assertEquals(boolValues, value.getBoolValuesAsList());
assertEquals(byteValues, value.getByteValuesAsList());
assertEquals(charValues, value.getCharValuesAsList());
assertEquals(float32Values, value.getFloat32ValuesAsList());
assertEquals(float64Values, value.getFloat64ValuesAsList());
assertEquals(int8Values, value.getInt8ValuesAsList());
assertEquals(uint8Values, value.getUint8ValuesAsList());
assertEquals(int16Values, value.getInt16ValuesAsList());
assertEquals(uint16Values, value.getUint16ValuesAsList());
assertEquals(int32Values, value.getInt32ValuesAsList());
assertEquals(uint32Values, value.getUint32ValuesAsList());
assertEquals(int64Values, value.getInt64ValuesAsList());
assertEquals(uint64Values, value.getUint64ValuesAsList());
assertEquals(stringValues, value.getStringValuesAsList());

publisher.dispose();
assertEquals(0, publisher.getHandle());
Expand Down
5 changes: 3 additions & 2 deletions rcljava/src/test/java/org/ros2/rcljava/parameters/AsyncParametersClientTest.java
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Expand Up @@ -15,6 +15,7 @@

package org.ros2.rcljava.parameters;

import static org.junit.Assert.assertArrayEquals;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertNotEquals;
import static org.junit.Assert.assertTrue;
Expand Down Expand Up @@ -153,8 +154,8 @@ public final void testListParameters() throws Exception {
parametersClient.listParameters(
Arrays.asList(new String[] {"foo", "bar"}), 10, new TestConsumer(future));

assertEquals(Arrays.asList(new String[] {"foo.first", "foo.second"}), future.get().getNames());
assertEquals(Arrays.asList(new String[] {"foo"}), future.get().getPrefixes());
assertArrayEquals(new String[] {"foo.first", "foo.second"}, future.get().getNames());
assertArrayEquals(new String[] {"foo"}, future.get().getPrefixes());
}

@Test
Expand Down
7 changes: 4 additions & 3 deletions rcljava/src/test/java/org/ros2/rcljava/parameters/SyncParametersClientTest.java
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Expand Up @@ -15,6 +15,7 @@

package org.ros2.rcljava.parameters;

import static org.junit.Assert.assertArrayEquals;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertNotEquals;
import static org.junit.Assert.assertTrue;
Expand Down Expand Up @@ -130,9 +131,9 @@ public final void testListParameters() throws Exception {
rcl_interfaces.msg.ListParametersResult parametersAndPrefixes =
parametersClient.listParameters(Arrays.asList(new String[] {"foo", "bar"}), 10);

assertEquals(
parametersAndPrefixes.getNames(), Arrays.asList(new String[] {"foo.first", "foo.second"}));
assertEquals(parametersAndPrefixes.getPrefixes(), Arrays.asList(new String[] {"foo"}));
assertArrayEquals(
parametersAndPrefixes.getNames(), new String[] {"foo.first", "foo.second"});
assertEquals(parametersAndPrefixes.getPrefixes(), new String[] {"foo"});
}

@Test
Expand Down
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