From ba3dd3e6618a64405c1410bd3b7a5e9bad639d51 Mon Sep 17 00:00:00 2001
From: Stefan Glaser <stefan.glaser@hs-offenburg.de>
Date: Wed, 3 Apr 2019 14:26:31 +0200
Subject: [PATCH] Added option to specify transport hints.
* Added TransportHints class, currently only containing a TCP-NO-DELAY option.
* Added option to specify transport hints when subscribing to a topic.
* Added transport hints to TopicDeclaration class.
---
.../org/ros/internal/node/DefaultNode.java | 17 ++++++--
.../node/response/TopicListResultFactory.java | 2 +-
.../internal/node/topic/TopicDeclaration.java | 18 ++++++--
.../main/java/org/ros/node/ConnectedNode.java | 19 ++++++++
.../org/ros/node/topic/TransportHints.java | 43 +++++++++++++++++++
5 files changed, 91 insertions(+), 8 deletions(-)
create mode 100644 rosjava/src/main/java/org/ros/node/topic/TransportHints.java
diff --git a/rosjava/src/main/java/org/ros/internal/node/DefaultNode.java b/rosjava/src/main/java/org/ros/internal/node/DefaultNode.java
index 9f1a1bdc..ca3d1fc1 100644
--- a/rosjava/src/main/java/org/ros/internal/node/DefaultNode.java
+++ b/rosjava/src/main/java/org/ros/internal/node/DefaultNode.java
@@ -65,6 +65,7 @@ import org.ros.node.topic.DefaultPublisherListener;
import org.ros.node.topic.DefaultSubscriberListener;
import org.ros.node.topic.Publisher;
import org.ros.node.topic.Subscriber;
+import org.ros.node.topic.TransportHints;
import org.ros.time.ClockTopicTimeProvider;
import org.ros.time.TimeProvider;
@@ -283,7 +284,7 @@ public class DefaultNode implements ConnectedNode {
TopicDescription topicDescription =
nodeConfiguration.getTopicDescriptionFactory().newFromType(messageType);
TopicDeclaration topicDeclaration =
- TopicDeclaration.newFromTopicName(resolvedTopicName, topicDescription);
+ TopicDeclaration.newFromTopicName(resolvedTopicName, topicDescription, null);
org.ros.message.MessageSerializer<T> serializer = newMessageSerializer(messageType);
return publisherFactory.newOrExisting(topicDeclaration, serializer);
}
@@ -295,11 +296,16 @@ public class DefaultNode implements ConnectedNode {
@Override
public <T> Subscriber<T> newSubscriber(GraphName topicName, String messageType) {
+ return newSubscriber(topicName, messageType, null);
+ }
+
+ @Override
+ public <T> Subscriber<T> newSubscriber(GraphName topicName, String messageType, TransportHints transportHints) {
GraphName resolvedTopicName = resolveName(topicName);
TopicDescription topicDescription =
nodeConfiguration.getTopicDescriptionFactory().newFromType(messageType);
TopicDeclaration topicDeclaration =
- TopicDeclaration.newFromTopicName(resolvedTopicName, topicDescription);
+ TopicDeclaration.newFromTopicName(resolvedTopicName, topicDescription, transportHints);
MessageDeserializer<T> deserializer = newMessageDeserializer(messageType);
Subscriber<T> subscriber = subscriberFactory.newOrExisting(topicDeclaration, deserializer);
return subscriber;
@@ -307,7 +313,12 @@ public class DefaultNode implements ConnectedNode {
@Override
public <T> Subscriber<T> newSubscriber(String topicName, String messageType) {
- return newSubscriber(GraphName.of(topicName), messageType);
+ return newSubscriber(GraphName.of(topicName), messageType, null);
+ }
+
+ @Override
+ public <T> Subscriber<T> newSubscriber(String topicName, String messageType, TransportHints transportHints) {
+ return newSubscriber(GraphName.of(topicName), messageType, transportHints);
}
@Override
diff --git a/rosjava/src/main/java/org/ros/internal/node/response/TopicListResultFactory.java b/rosjava/src/main/java/org/ros/internal/node/response/TopicListResultFactory.java
index 6422ce0e..eb0ede22 100644
--- a/rosjava/src/main/java/org/ros/internal/node/response/TopicListResultFactory.java
+++ b/rosjava/src/main/java/org/ros/internal/node/response/TopicListResultFactory.java
@@ -43,7 +43,7 @@ public class TopicListResultFactory implements ResultFactory<List<TopicDeclarati
String name = (String) ((Object[]) topic)[0];
String type = (String) ((Object[]) topic)[1];
descriptions.add(TopicDeclaration.newFromTopicName(GraphName.of(name), new TopicDescription(type, null,
- null)));
+ null), null));
}
return descriptions;
}
diff --git a/rosjava/src/main/java/org/ros/internal/node/topic/TopicDeclaration.java b/rosjava/src/main/java/org/ros/internal/node/topic/TopicDeclaration.java
index c55603fb..4908c611 100644
--- a/rosjava/src/main/java/org/ros/internal/node/topic/TopicDeclaration.java
+++ b/rosjava/src/main/java/org/ros/internal/node/topic/TopicDeclaration.java
@@ -23,6 +23,7 @@ import org.ros.internal.message.topic.TopicDescription;
import org.ros.internal.transport.ConnectionHeader;
import org.ros.internal.transport.ConnectionHeaderFields;
import org.ros.namespace.GraphName;
+import org.ros.node.topic.TransportHints;
import java.util.List;
import java.util.Map;
@@ -36,6 +37,7 @@ public class TopicDeclaration {
private final TopicIdentifier topicIdentifier;
private final TopicDescription topicDescription;
+ private final TransportHints transportHints;
/**
* @param header
@@ -49,19 +51,26 @@ public class TopicDeclaration {
String definition = header.get(ConnectionHeaderFields.MESSAGE_DEFINITION);
String md5Checksum = header.get(ConnectionHeaderFields.MD5_CHECKSUM);
TopicDescription topicDescription = new TopicDescription(type, definition, md5Checksum);
- return new TopicDeclaration(new TopicIdentifier(name), topicDescription);
+ boolean tcpNoDelay = "1".equals(header.get(ConnectionHeaderFields.TCP_NODELAY));
+ return new TopicDeclaration(new TopicIdentifier(name), topicDescription, new TransportHints(tcpNoDelay));
}
public static TopicDeclaration newFromTopicName(GraphName topicName,
- TopicDescription topicDescription) {
- return new TopicDeclaration(new TopicIdentifier(topicName), topicDescription);
+ TopicDescription topicDescription, TransportHints transportHints) {
+ return new TopicDeclaration(new TopicIdentifier(topicName), topicDescription, transportHints);
}
- public TopicDeclaration(TopicIdentifier topicIdentifier, TopicDescription topicDescription) {
+ public TopicDeclaration(TopicIdentifier topicIdentifier, TopicDescription topicDescription, TransportHints transportHints) {
Preconditions.checkNotNull(topicIdentifier);
Preconditions.checkNotNull(topicDescription);
this.topicIdentifier = topicIdentifier;
this.topicDescription = topicDescription;
+
+ if (transportHints != null) {
+ this.transportHints = transportHints;
+ } else {
+ this.transportHints = new TransportHints();
+ }
}
public TopicIdentifier getIdentifier() {
@@ -84,6 +93,7 @@ public class TopicDeclaration {
topicDescription.getDefinition());
connectionHeader.addField(ConnectionHeaderFields.MD5_CHECKSUM,
topicDescription.getMd5Checksum());
+ connectionHeader.addField(ConnectionHeaderFields.TCP_NODELAY, transportHints.getTcpNoDelay() ? "1" : "0");
return connectionHeader;
}
diff --git a/rosjava/src/main/java/org/ros/node/ConnectedNode.java b/rosjava/src/main/java/org/ros/node/ConnectedNode.java
index 34d6994c..4dfa6606 100644
--- a/rosjava/src/main/java/org/ros/node/ConnectedNode.java
+++ b/rosjava/src/main/java/org/ros/node/ConnectedNode.java
@@ -26,6 +26,7 @@ import org.ros.node.service.ServiceResponseBuilder;
import org.ros.node.service.ServiceServer;
import org.ros.node.topic.Publisher;
import org.ros.node.topic.Subscriber;
+import org.ros.node.topic.TransportHints;
import java.net.URI;
@@ -82,11 +83,29 @@ public interface ConnectedNode extends Node {
*/
<T> Subscriber<T> newSubscriber(GraphName topicName, String messageType);
+ /**
+ * @param <T>
+ * the message type to create the {@link Subscriber} for
+ * @param topicName
+ * the topic name to be subscribed to, this will be auto resolved
+ * @param messageType
+ * the message data type (e.g. "std_msgs/String")
+ * @param transportHints
+ * the transport hints
+ * @return a {@link Subscriber} for the specified topic
+ */
+ <T> Subscriber<T> newSubscriber(GraphName topicName, String messageType, TransportHints transportHints);
+
/**
* @see #newSubscriber(GraphName, String)
*/
<T> Subscriber<T> newSubscriber(String topicName, String messageType);
+ /**
+ * @see #newSubscriber(GraphName, String, TransportHints)
+ */
+ <T> Subscriber<T> newSubscriber(String topicName, String messageType, TransportHints transportHints);
+
/**
* Create a new {@link ServiceServer}.
*
diff --git a/rosjava/src/main/java/org/ros/node/topic/TransportHints.java b/rosjava/src/main/java/org/ros/node/topic/TransportHints.java
new file mode 100644
index 00000000..a05b0e9c
--- /dev/null
+++ b/rosjava/src/main/java/org/ros/node/topic/TransportHints.java
@@ -0,0 +1,43 @@
+package org.ros.node.topic;
+
+import java.util.Map;
+
+import org.ros.internal.transport.ConnectionHeaderFields;
+import org.ros.node.ConnectedNode;
+
+import com.google.common.collect.Maps;
+
+
+/**
+ * Provides a way of specifying network transport hints to
+ * {@link ConnectedNode#newSubscriber(String, String)} and
+ * {@link ConnectedNode#newSubscriber(org.ros.namespace.GraphName, String)}.
+ *
+ * @author stefan.glaser@hs-offenburg.de (Stefan Glaser)
+ */
+public class TransportHints {
+
+ Map<String, String> options;
+
+ public TransportHints() {
+ this.options = Maps.newConcurrentMap();
+ }
+
+ public TransportHints(boolean tcpNoDelay) {
+ tcpNoDelay(tcpNoDelay);
+ }
+
+ public TransportHints tcpNoDelay(boolean nodelay) {
+ options.put(ConnectionHeaderFields.TCP_NODELAY, nodelay ? "1" : "0");
+
+ return this;
+ }
+
+ public boolean getTcpNoDelay() {
+ return "1".equals(options.get(ConnectionHeaderFields.TCP_NODELAY));
+ }
+
+ public Map<String, String> getOptions() {
+ return options;
+ }
+}
--
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