Added NodeConfiguration to ConnectedNode and ComandLineLoader to NodeConfiguration.

Now possible to get command line remappings down into NodeMain from onStart

Author: neocoretechs

src/main/java/org/ros/RosRun.java

@@ -49,6 +49,7 @@ public static void main(String[] argv) throws Exception {
     String nodeClassName = loader.getNodeClassName();
     System.out.println("Loading node class: " + loader.getNodeClassName());
     NodeConfiguration nodeConfiguration = loader.build();
+    nodeConfiguration.setCommandLineLoader(loader);
 
     NodeMain nodeMain = null;
     try {

src/main/java/org/ros/internal/loader/CommandLineLoader.java

@@ -16,7 +16,6 @@
 
 package org.ros.internal.loader;
 
-
 import org.ros.CommandLineVariables;
 import org.ros.EnvironmentVariables;
 
@@ -44,6 +43,14 @@
  * environment specification. When starting a node through RosRun, this class is used
  * to process the command line remappings.
  * 
+ * Remappings ":= on cmdl", get put in 'remappingArguments'. Those that are prefixed with "__" are put
+ * into the speacialRemappings collection, those without into 'remappings' after taking Graph.nameOf of the remapped args.
+ * Args on the cmdl without a remapping ":=" get put into nodeArguments.
+ * 
+ * NOTE: If no constructor is detected during loadClass invocation, 
+ * A node with a static getInstance() returning a type of NodeMain will be invoked. If neither
+ * an InstantiationException is thrown. This is an enhancement to node creation in original RosJava.
+ * 
  * @author kwc@willowgarage.com (Ken Conley)
  * @author damonkohler@google.com (Damon Kohler)
  */
@@ -104,11 +111,27 @@ private void parseArgv() {
   public String getNodeClassName() {
     return nodeClassName;
   }
-
+  /**
+   * Return a list of args on the cmdl that are not delimited by special := mapping modifier
+   * @return
+   */
   public List<String> getNodeArguments() {
     return Collections.unmodifiableList(nodeArguments);
   }
-
+  /**
+   * Return cmdl args with := but not __ prefix that have been translated to GraphName.of
+   * @return
+   */
+  public Map<GraphName, GraphName> getRemappings() {
+	    return Collections.unmodifiableMap(remappings);
+  }
+  /**
+   * Return cmdl args with __ at prefix
+   * @return
+   */
+  public Map<String, String> getSpecialRemappings() {
+	  return Collections.unmodifiableMap(specialRemappings);
+  }
   /**
    * Create NodeConfiguration according to ROS command-line and environment
    * specification.
@@ -124,6 +147,7 @@ public NodeConfiguration build() {
     if (specialRemappings.containsKey(CommandLineVariables.NODE_NAME)) {
       nodeConfiguration.setNodeName(specialRemappings.get(CommandLineVariables.NODE_NAME));
     }
+    nodeConfiguration.setCommandLineLoader(this);
     return nodeConfiguration;
   }
 

src/main/java/org/ros/internal/node/DefaultNode.java

@@ -427,7 +427,11 @@ public InetSocketAddress getUri() {
     return slaveServer.getUri();
   }
 
-
+  @Override
+  public NodeConfiguration getNodeConfiguration() {
+  	return nodeConfiguration;
+  }
+  
   @Override
   public MessageFactory getTopicMessageFactory() {
     return nodeConfiguration.getTopicMessageFactory();
@@ -554,4 +558,6 @@ public void onError(Node node, Throwable throwable) {
       }
     });
   }
+
+
 }

src/main/java/org/ros/node/ConnectedNode.java

@@ -161,4 +161,6 @@ <T, S> ServiceClient<T, S> newServiceClient(String serviceName, String serviceTy
    * @return {@link ParameterTree} with {@link NameResolver} in this namespace.
    */
   ParameterTree getParameterTree();
+  
+  NodeConfiguration getNodeConfiguration(); 
 }

src/main/java/org/ros/node/NodeConfiguration.java

@@ -16,6 +16,7 @@
 
 package org.ros.node;
 
+import org.ros.internal.loader.CommandLineLoader;
 import org.ros.internal.message.definition.MessageDefinitionReflectionProvider;
 import org.ros.address.AdvertiseAddress;
 import org.ros.address.AdvertiseAddressFactory;
@@ -38,7 +39,6 @@
 import java.io.File;
 import java.net.InetSocketAddress;
 import java.net.URI;
-
 import java.util.List;
 import java.util.concurrent.ScheduledExecutorService;
 
@@ -83,8 +83,10 @@ public class NodeConfiguration {
   private AdvertiseAddressFactory rpcAdvertiseAddressFactory;
   private ScheduledExecutorService scheduledExecutorService;
   private TimeProvider timeProvider;
+  private CommandLineLoader commandLineLoader = null;
 
-  /**
+
+/**
    * @param nodeConfiguration
    *          the {@link NodeConfiguration} to copy
    * @return a copy of the supplied {@link NodeConfiguration}
@@ -107,6 +109,7 @@ public static NodeConfiguration copyOf(NodeConfiguration nodeConfiguration) {
     copy.rpcAdvertiseAddressFactory = nodeConfiguration.rpcAdvertiseAddressFactory;
     copy.scheduledExecutorService = nodeConfiguration.scheduledExecutorService;
     copy.timeProvider = nodeConfiguration.timeProvider;
+    copy.commandLineLoader = nodeConfiguration.commandLineLoader;
     return copy;
   }
 
@@ -200,7 +203,18 @@ public NodeConfiguration setParentResolver(NameResolver resolver) {
   public InetSocketAddress getMasterUri() {
     return masterUri;
   }
+  
+  /**
+   * 
+   * @return CommandLineLoader used to initiate node, if used
+   */
+  public CommandLineLoader getCommandLineLoader() {
+		return commandLineLoader;
+  }
 
+  public void setCommandLineLoader(CommandLineLoader commandLineLoader) {
+		this.commandLineLoader = commandLineLoader;
+  }
   /**
    * @see <a
    *      href="http://www.ros.org/wiki/ROS/EnvironmentVariables#ROS_MASTER_URI">ROS_MASTER_URI

src/main/java/org/ros/node/NodeMain.java

@@ -39,4 +39,5 @@ public interface NodeMain extends NodeListener {
    *         {@link NodeConfiguration}
    */
   GraphName getDefaultNodeName();
+ 
 }