From 61879c47784570d8053d9ea56109f86ea46ca414 Mon Sep 17 00:00:00 2001
From: Juan Ignacio Ubeira <juan.iu@hotmail.com>
Date: Wed, 22 Feb 2017 10:15:23 -0300
Subject: [PATCH] NativeNodeMain upgraded to upstream error codes to the
application.
---
.../java/org/ros/node/NativeNodeMain.java | 60 +++++++++++++------
1 file changed, 42 insertions(+), 18 deletions(-)
diff --git a/rosjava/src/main/java/org/ros/node/NativeNodeMain.java b/rosjava/src/main/java/org/ros/node/NativeNodeMain.java
index c7d2ff4d..3ed164e2 100644
--- a/rosjava/src/main/java/org/ros/node/NativeNodeMain.java
+++ b/rosjava/src/main/java/org/ros/node/NativeNodeMain.java
@@ -1,3 +1,19 @@
+/*
+ * Copyright (C) 2017 Ekumen, Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
package org.ros.node;
import org.apache.commons.logging.Log;
@@ -7,11 +23,13 @@ import org.apache.commons.logging.LogFactory;
* 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.
- *
+ * Native methods' return codes can be handled by the application using {@link #onError(Node, Throwable)}.
+ *
* @author ecorbellini@creativa77.com.ar (Ernesto Corbellini)
*/
public abstract class NativeNodeMain extends AbstractNodeMain {
-
+
+ public static final int SUCCESS = 0;
private Log log = LogFactory.getLog(NativeNodeMain.class);
private String libName;
private String masterUri = null;
@@ -19,7 +37,9 @@ public abstract class NativeNodeMain extends AbstractNodeMain {
private String nodeName = null;
private String[] remappingArguments;
private boolean shuttingDown = false;
-
+ protected int executeReturnCode = SUCCESS;
+ protected int shutdownReturnCode = SUCCESS;
+
/**
* @param libName
* The name of the library to load.
@@ -36,20 +56,16 @@ public abstract class NativeNodeMain extends AbstractNodeMain {
}
log.info("Trying to load native library '" + libName + "'...");
- try
- {
+ try {
System.loadLibrary(libName);
}
- catch (SecurityException e)
- {
+ catch (SecurityException e) {
log.info("Error loading library! SecurityException");
}
- catch (UnsatisfiedLinkError e)
- {
+ catch (UnsatisfiedLinkError e) {
log.info("Error loading library! UnsatisfiedLinkError");
}
- catch (NullPointerException e)
- {
+ catch (NullPointerException e) {
log.info("Error loading library! NullPointerException");
}
}
@@ -62,10 +78,10 @@ public abstract class NativeNodeMain extends AbstractNodeMain {
this(libName, null);
}
- // These methods define the execution model interface for this node. Return values are error codes (not used by default).
+ // These methods define the execution model interface for this node.
protected abstract int execute(String rosMasterUri, String rosHostName, String rosNodeName, String[] remappingArguments);
protected abstract int shutdown();
-
+
@Override
public void onStart(final ConnectedNode connectedNode) {
// retain important ROS info
@@ -77,19 +93,27 @@ public abstract class NativeNodeMain extends AbstractNodeMain {
new Thread() {
@Override
public void run() {
- execute(masterUri, hostName, nodeName, remappingArguments);
-
+ executeReturnCode = execute(masterUri, hostName, nodeName, remappingArguments);
+
+ if (executeReturnCode != SUCCESS) {
+ onError(connectedNode, new Throwable(nodeName + " execution error code " + executeReturnCode));
+ }
+
// node execution has finished so we propagate the shutdown sequence only if we aren't already shutting down for other reasons
- if(!shuttingDown) {
+ if (!shuttingDown) {
connectedNode.shutdown();
}
}
}.start();
}
-
+
@Override
public void onShutdown(Node node) {
shuttingDown = true;
- shutdown();
+ shutdownReturnCode = shutdown();
+
+ if (shutdownReturnCode != SUCCESS) {
+ onError(node, new Throwable(nodeName + " shutdown error code " + shutdownReturnCode));
+ }
}
}
--
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