Merge pull request rosjava#72 from jubeira/fix/channel_buffer

Using ChannelBuffer for int8[] types
jubeira · Oct 1, 2018 · c5e124f · c5e124f
2 parents fe41a5d + a5cbea6
commit c5e124f
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Showing 5 changed files with 21 additions and 9 deletions.
diff --git a/message_generation/src/main/java/org/ros/internal/message/MessageImpl.java b/message_generation/src/main/java/org/ros/internal/message/MessageImpl.java
@@ -161,8 +161,8 @@ public byte getInt8(String name) {
   }
 
   @Override
-  public byte[] getInt8Array(String name) {
-    return (byte[]) messageFields.getFieldValue(name);
+  public ChannelBuffer getInt8Array(String name) {
+    return (ChannelBuffer) messageFields.getFieldValue(name);
   }
 
   @Override

diff --git a/message_generation/src/main/java/org/ros/internal/message/RawMessage.java b/message_generation/src/main/java/org/ros/internal/message/RawMessage.java
@@ -85,7 +85,7 @@ public interface RawMessage extends Message {
 
   byte getInt8(String name);
 
-  byte[] getInt8Array(String name);
+  ChannelBuffer getInt8Array(String name);
 
   <T extends Message> T getMessage(String name);
 

diff --git a/message_generation/src/main/java/org/ros/internal/message/field/ChannelBufferField.java b/message_generation/src/main/java/org/ros/internal/message/field/ChannelBufferField.java
@@ -19,6 +19,7 @@
 import com.google.common.base.Preconditions;
 
 import org.jboss.netty.buffer.ChannelBuffer;
+import org.jboss.netty.buffer.ChannelBuffers;
 import org.ros.internal.message.MessageBuffers;
 
 import java.nio.ByteOrder;
@@ -52,9 +53,15 @@ public ChannelBuffer getValue() {
 
   @Override
   public void setValue(Object value) {
-    Preconditions.checkArgument(((ChannelBuffer) value).order() == ByteOrder.LITTLE_ENDIAN);
-    Preconditions.checkArgument(size < 0 || ((ChannelBuffer) value).readableBytes() == size);
-    this.value = (ChannelBuffer) value;
+    ChannelBuffer channelBufferValue = null;
+    if (value instanceof byte[]) {
+      channelBufferValue = ChannelBuffers.wrappedBuffer(ByteOrder.LITTLE_ENDIAN, byte[].class.cast(value));
+    } else if (value instanceof ChannelBuffer) {
+      channelBufferValue = ChannelBuffer.class.cast(value);
+    }
+    Preconditions.checkArgument(channelBufferValue.order() == ByteOrder.LITTLE_ENDIAN);
+    Preconditions.checkArgument(size < 0 || channelBufferValue.readableBytes() == size);
+    this.value = channelBufferValue;
   }
 
   @Override

diff --git a/message_generation/src/main/java/org/ros/internal/message/field/PrimitiveFieldType.java b/message_generation/src/main/java/org/ros/internal/message/field/PrimitiveFieldType.java
@@ -81,7 +81,7 @@ public Byte getDefaultValue() {
 
     @Override
     public Field newVariableList(String name, int size) {
-      return ByteArrayField.newVariable(this, name, size);
+      return ChannelBufferField.newVariable(this, name, size);
     }
 
     @Override

diff --git a/message_generation/src/test/java/org/ros/internal/message/MessageTest.java b/message_generation/src/test/java/org/ros/internal/message/MessageTest.java
@@ -20,11 +20,15 @@
 
 import com.google.common.collect.Lists;
 
+import org.jboss.netty.buffer.ChannelBuffer;
+import org.jboss.netty.buffer.ChannelBuffers;
 import org.junit.Before;
 import org.junit.Test;
 import org.ros.internal.message.topic.TopicDefinitionResourceProvider;
 import org.ros.message.MessageFactory;
 
+import java.nio.ByteOrder;
+
 /**
  * @author [email protected] (Damon Kohler)
  */
@@ -118,8 +122,9 @@ public void testConstantString() {
   public void testInt8List() {
     topicDefinitionResourceProvider.add("foo/foo", "int8[] data");
     RawMessage rawMessage = messageFactory.newFromType("foo/foo");
-    byte[] data = new byte[] { (byte) 1, (byte) 2, (byte) 3 };
-    rawMessage.setInt8Array("data", data);
+    byte[] rawData = new byte[] { (byte) 1, (byte) 2, (byte) 3 };
+    ChannelBuffer data = ChannelBuffers.wrappedBuffer(ByteOrder.LITTLE_ENDIAN, rawData);
+    rawMessage.setInt8Array("data", rawData);
     assertEquals(data, rawMessage.getInt8Array("data"));
   }
 }