From 3e403cb0dd65f07a0d69b1b45403eb361a95681a Mon Sep 17 00:00:00 2001
From: Ernesto Corbellini <ecorbellini@creativa77.com.ar>
Date: Fri, 25 Sep 2015 17:50:22 -0300
Subject: [PATCH] Added a new node class to wrap the loading and execution of a
native code ROS node.
---
.../java/org/ros/node/NativeNodeMain.java | 103 ++++++++++++++++++
1 file changed, 103 insertions(+)
create mode 100644 rosjava/src/main/java/org/ros/node/NativeNodeMain.java
diff --git a/rosjava/src/main/java/org/ros/node/NativeNodeMain.java b/rosjava/src/main/java/org/ros/node/NativeNodeMain.java
new file mode 100644
index 00000000..e483fa06
--- /dev/null
+++ b/rosjava/src/main/java/org/ros/node/NativeNodeMain.java
@@ -0,0 +1,103 @@
+package org.ros.node;
+
+import org.ros.node.AbstractNodeMain;
+import org.ros.node.ConnectedNode;
+import org.ros.node.Node;
+import org.ros.namespace.GraphName;
+
+import org.apache.commons.logging.Log;
+import org.apache.commons.logging.LogFactory;
+
+import java.util.List;
+import java.util.Map;
+
+/**
+ * A java wrapper to load and run a native-code ROS node.
+ *
+ * Note: there are no actual native methods declared in this class. We only define an interface. The native methods should be declared in the child class.
+ *
+ * @author ecorbellini@creativa77.com.ar (Ernesto Corbellini)
+ */
+public abstract class NativeNodeMain extends AbstractNodeMain {
+
+ private Log log = LogFactory.getLog(NativeNodeMain.class);
+ private String libName;
+ private String masterUri = null;
+ private String hostName = null;
+ private String nodeName = null;
+ private String[] remappingArguments;
+ private boolean shuttingDown = false;
+
+ /**
+ * @param libName
+ * The name of the library to load.
+ *
+ * @param remappings
+ * A string array with ROS argument remapping pairs in each element.
+ **/
+ public NativeNodeMain(String libName, String[] remappings) {
+ this.libName = libName;
+
+ // if no remapping is needed, create an empty array
+ if (remappings == null) {
+ remappingArguments = new String[0];
+ }
+
+ log.info("Trying to load native library '" + libName + "'...");
+ try
+ {
+ System.loadLibrary(libName);
+ }
+ catch (SecurityException e)
+ {
+ log.info("Error loading library! SecurityException");
+ }
+ catch (UnsatisfiedLinkError e)
+ {
+ log.info("Error loading library! UnsatisfiedLinkError");
+ }
+ catch (NullPointerException e)
+ {
+ log.info("Error loading library! NullPointerException");
+ }
+ }
+
+ /**
+ * @param libName
+ * The name of the library to load.
+ **/
+ public NativeNodeMain(String libName) {
+ this(libName, null);
+ }
+
+ // These methods define the execution model interface for this node.
+ protected abstract void execute(String rosMasterUri, String rosHostName, String rosNodeName, String[] remappingArguments);
+ protected abstract void shutdown();
+
+ @Override
+ public void onStart(final ConnectedNode connectedNode) {
+ // retain important ROS info
+ masterUri = connectedNode.getMasterUri().toString();
+ hostName = connectedNode.getUri().getHost();
+ nodeName = this.libName;
+
+ // create a new thread to execute the native code.
+ new Thread() {
+ @Override
+ public void run() {
+ execute(masterUri, hostName, nodeName, remappingArguments);
+
+ // node execution has finished so we propagate the shutdown sequence only if we aren't already shutting down for other reasons
+ if(!shuttingDown) {
+ connectedNode.shutdown();
+ }
+ }
+ }.start();
+ }
+
+ @Override
+ public void onShutdown(Node node) {
+ shuttingDown = true;
+ shutdown();
+ }
+}
--
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