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modified jni logic(List-> Array) #151

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21a1e27
change logic(list -> array) in msg.java.em
Nov 20, 2020
c697390
change logic(list -> array) in msg.cpp.em
Nov 20, 2020
7790923
change logic(list -> array) in rcljava
Nov 25, 2020
4c8cca3
change logic(list -> array) in InterfacesTest.java
Nov 25, 2020
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12 changes: 6 additions & 6 deletions rcljava/src/main/java/org/ros2/rcljava/node/Node.java
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Original file line number Diff line number Diff line change
Expand Up @@ -175,15 +175,15 @@ <T extends ServiceDefinition> Client<T> createClient(final Class<T> serviceType,

String getName();

List<ParameterVariant> getParameters(List<String> names);
ParameterVariant[] getParameters(String[] names);

List<ParameterType> getParameterTypes(List<String> names);
ParameterType[] getParameterTypes(String[] names);

List<rcl_interfaces.msg.SetParametersResult> setParameters(List<ParameterVariant> parameters);
rcl_interfaces.msg.SetParametersResult[] setParameters(ParameterVariant[] parameters);

rcl_interfaces.msg.SetParametersResult setParametersAtomically(List<ParameterVariant> parameters);
rcl_interfaces.msg.SetParametersResult setParametersAtomically(ParameterVariant[] parameters);

List<rcl_interfaces.msg.ParameterDescriptor> describeParameters(List<String> names);
rcl_interfaces.msg.ParameterDescriptor[] describeParameters(String[] names);

rcl_interfaces.msg.ListParametersResult listParameters(List<String> prefixes, long depth);
rcl_interfaces.msg.ListParametersResult listParameters(String[] prefixes, long depth);
}
41 changes: 24 additions & 17 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 @@ -50,6 +50,7 @@
import java.lang.reflect.Method;

import java.util.ArrayList;
import java.util.Arrays;
import java.util.Collection;
import java.util.List;
import java.util.Map;
Expand Down Expand Up @@ -401,7 +402,7 @@ public final String getName() {
return this.name;
}

public List<ParameterVariant> getParameters(List<String> names) {
public ParameterVariant[] getParameters(String[] names) {
synchronized (mutex) {
List<ParameterVariant> results = new ArrayList<ParameterVariant>();
for (String name : names) {
Expand All @@ -411,11 +412,11 @@ public List<ParameterVariant> getParameters(List<String> names) {
}
}
}
return results;
return (ParameterVariant[])results.toArray();
}
}

public List<ParameterType> getParameterTypes(List<String> names) {
public ParameterType[] getParameterTypes(String[] names) {
synchronized (mutex) {
List<ParameterType> results = new ArrayList<ParameterType>();
for (String name : names) {
Expand All @@ -427,24 +428,24 @@ public List<ParameterType> getParameterTypes(List<String> names) {
}
}
}
return results;
return (ParameterType[])results.toArray();
}
}

public List<rcl_interfaces.msg.SetParametersResult> setParameters(
List<ParameterVariant> parameters) {
public rcl_interfaces.msg.SetParametersResult[] setParameters(
ParameterVariant[] parameters) {
List<rcl_interfaces.msg.SetParametersResult> results =
new ArrayList<rcl_interfaces.msg.SetParametersResult>();
for (ParameterVariant p : parameters) {
rcl_interfaces.msg.SetParametersResult result =
this.setParametersAtomically(java.util.Arrays.asList(new ParameterVariant[] {p}));
this.setParametersAtomically(new ParameterVariant[] {p});
results.add(result);
}
return results;
return (rcl_interfaces.msg.SetParametersResult[])results.toArray();
}

public rcl_interfaces.msg.SetParametersResult setParametersAtomically(
List<ParameterVariant> parameters) {
ParameterVariant[] parameters) {
synchronized (mutex) {
rcl_interfaces.msg.SetParametersResult result = new rcl_interfaces.msg.SetParametersResult();
for (ParameterVariant p : parameters) {
Expand All @@ -455,8 +456,8 @@ public rcl_interfaces.msg.SetParametersResult setParametersAtomically(
}
}

public List<rcl_interfaces.msg.ParameterDescriptor> describeParameters(
List<String> names) {
public rcl_interfaces.msg.ParameterDescriptor[] describeParameters(
String[] names) {
synchronized (mutex) {
List<rcl_interfaces.msg.ParameterDescriptor> results =
new ArrayList<rcl_interfaces.msg.ParameterDescriptor>();
Expand All @@ -471,20 +472,22 @@ public List<rcl_interfaces.msg.ParameterDescriptor> describeParameters(
}
}
}
return results;
return (rcl_interfaces.msg.ParameterDescriptor[])results.toArray();
}
}

public rcl_interfaces.msg.ListParametersResult listParameters(
List<String> prefixes, long depth) {
String[] prefixes, long depth) {
synchronized (mutex) {
rcl_interfaces.msg.ListParametersResult result =
new rcl_interfaces.msg.ListParametersResult();

String separator = ".";
List<String> resultNames = Arrays.asList(result.getNames());
List<String> resultPrefixes = Arrays.asList(result.getPrefixes());
for (Map.Entry<String, ParameterVariant> entry : this.parameters.entrySet()) {
boolean getAll =
(prefixes.size() == 0)
(prefixes.length == 0)
&& ((depth == rcl_interfaces.srv.ListParameters_Request.DEPTH_RECURSIVE)
|| ((entry.getKey().length() - entry.getKey().replace(separator, "").length())
< depth));
Expand All @@ -502,16 +505,20 @@ 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((String[])resultNames.toArray());
result.setPrefixes((String[])resultPrefixes.toArray());

return result;
}
}
Expand Down
6 changes: 2 additions & 4 deletions rcljava/src/main/java/org/ros2/rcljava/parameters/ParameterVariant.java
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Original file line number Diff line number Diff line change
Expand Up @@ -15,8 +15,6 @@

package org.ros2.rcljava.parameters;

import java.util.Arrays;
import java.util.List;

import org.apache.commons.lang3.builder.EqualsBuilder;
import org.apache.commons.lang3.builder.HashCodeBuilder;
Expand Down Expand Up @@ -94,7 +92,7 @@ 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 +159,7 @@ 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
40 changes: 20 additions & 20 deletions rcljava/src/main/java/org/ros2/rcljava/parameters/client/AsyncParametersClient.java
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Expand Up @@ -23,40 +23,40 @@
import org.ros2.rcljava.parameters.ParameterVariant;

public interface AsyncParametersClient {
public Future<List<ParameterVariant>> getParameters(final List<String> names);
public Future<ParameterVariant[]> getParameters(final String[] names);

public Future<List<ParameterVariant>> getParameters(
final List<String> names, final Consumer<Future<List<ParameterVariant>>> callback);
public Future<ParameterVariant[]> getParameters(
final String[] names, final Consumer<Future<ParameterVariant[]>> callback);

public Future<List<ParameterType>> getParameterTypes(final List<String> names);
public Future<ParameterType[]> getParameterTypes(final String[] names);

public Future<List<ParameterType>> getParameterTypes(
final List<String> names, final Consumer<Future<List<ParameterType>>> callback);
public Future<ParameterType[]> getParameterTypes(
final String[] names, final Consumer<Future<ParameterType[]>> callback);

public Future<List<rcl_interfaces.msg.SetParametersResult>> setParameters(
final List<ParameterVariant> parameters);
public Future<rcl_interfaces.msg.SetParametersResult[]> setParameters(
final ParameterVariant[] parameters);

public Future<List<rcl_interfaces.msg.SetParametersResult>> setParameters(
final List<ParameterVariant> parameters,
final Consumer<Future<List<rcl_interfaces.msg.SetParametersResult>>> callback);
public Future<rcl_interfaces.msg.SetParametersResult[]> setParameters(
final ParameterVariant[] parameters,
final Consumer<Future<rcl_interfaces.msg.SetParametersResult[]>> callback);

public Future<rcl_interfaces.msg.SetParametersResult> setParametersAtomically(
final List<ParameterVariant> parameters);
final ParameterVariant[] parameters);

public Future<rcl_interfaces.msg.SetParametersResult> setParametersAtomically(
final List<ParameterVariant> parameters,
final ParameterVariant[] parameters,
final Consumer<Future<rcl_interfaces.msg.SetParametersResult>> callback);

public Future<rcl_interfaces.msg.ListParametersResult> listParameters(
final List<String> prefixes, long depth);
final String[] prefixes, long depth);

public Future<rcl_interfaces.msg.ListParametersResult> listParameters(final List<String> prefixes,
public Future<rcl_interfaces.msg.ListParametersResult> listParameters(final String[] prefixes,
long depth, final Consumer<Future<rcl_interfaces.msg.ListParametersResult>> callback);

public Future<List<rcl_interfaces.msg.ParameterDescriptor>> describeParameters(
final List<String> names);
public Future<rcl_interfaces.msg.ParameterDescriptor[]> describeParameters(
final String[] names);

public Future<List<rcl_interfaces.msg.ParameterDescriptor>> describeParameters(
final List<String> names,
final Consumer<Future<List<rcl_interfaces.msg.ParameterDescriptor>>> callback);
public Future<rcl_interfaces.msg.ParameterDescriptor[]> describeParameters(
final String[] names,
final Consumer<Future<rcl_interfaces.msg.ParameterDescriptor[]>> callback);
}
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