Storing fields in MessageFields as indexed List instead of multiple Maps

message_generation/src/main/java/org/ros/internal/message/context/MessageContext.java

@@ -44,13 +44,20 @@ public class MessageContext {
   private final Map<String, String> fieldSetterNames;
   private final List<String> fieldNames;
 
+  private final Map<String, Integer> fieldIndexes;
+  private final Map<String, Integer> fieldGetterIndexes;
+  private final Map<String, Integer> fieldSetterIndexes;
+
   public MessageContext(MessageDeclaration messageDeclaration, MessageFactory messageFactory) {
     this.messageDeclaration = messageDeclaration;
     this.messageFactory = messageFactory;
     this.fieldFactories = Maps.newHashMap();
     this.fieldGetterNames = Maps.newHashMap();
     this.fieldSetterNames = Maps.newHashMap();
     this.fieldNames = Lists.newArrayList();
+    this.fieldIndexes = Maps.newHashMap();
+    this.fieldGetterIndexes = Maps.newHashMap();
+    this.fieldSetterIndexes = Maps.newHashMap();
   }
 
   public MessageFactory getMessageFactory() {
@@ -79,9 +86,16 @@ public String getDefinition() {
 
   public void addFieldFactory(String name, FieldFactory fieldFactory) {
     fieldFactories.put(name, fieldFactory);
-    fieldGetterNames.put(name, "get" + getJavaName(name));
-    fieldSetterNames.put(name, "set" + getJavaName(name));
+    String javaName = getJavaName(name);
+    String getter = "get" + javaName;
+    String setter = "set" + javaName;
+    fieldGetterNames.put(name, getter);
+    fieldSetterNames.put(name, setter);
     fieldNames.add(name);
+    int index = fieldIndexes.size();
+    fieldIndexes.put(name, index);
+    fieldGetterIndexes.put(getter, index);
+    fieldSetterIndexes.put(setter, index);
   }
 
   private String getJavaName(String name) {
@@ -110,6 +124,18 @@ public FieldFactory getFieldFactory(String name) {
     return fieldFactories.get(name);
   }
 
+  public Integer getFieldIndexByName(String name) {
+    return fieldIndexes.get(name);
+  }
+
+  public Integer getFieldIndexByGetterName(String name) {
+    return fieldGetterIndexes.get(name);
+  }
+
+  public Integer getFieldIndexBySetterName(String name) {
+    return fieldSetterIndexes.get(name);
+  }
+
   /**
    * @return a {@link List} of field names in the order they were added
    */
@@ -141,4 +167,5 @@ public boolean equals(Object obj) {
       return false;
     return true;
   }
+
 }

message_generation/src/main/java/org/ros/internal/message/field/MessageFields.java

@@ -16,66 +16,62 @@
 
 package org.ros.internal.message.field;
 
-import com.google.common.collect.Lists;
-import com.google.common.collect.Maps;
-
 import org.ros.exception.RosMessageRuntimeException;
 import org.ros.internal.message.context.MessageContext;
 
+import java.util.Arrays;
 import java.util.Collections;
 import java.util.List;
-import java.util.Map;
 
 /**
  * @author [email protected] (Damon Kohler)
  */
 public class MessageFields {
 
-  private final Map<String, Field> fields;
-  private final Map<String, Field> setters;
-  private final Map<String, Field> getters;
-  private final List<Field> orderedFields;
+  private final MessageContext messageContext;
+  private final List<Field> fields;
 
   public MessageFields(MessageContext messageContext) {
-    fields = Maps.newHashMap();
-    setters = Maps.newHashMap();
-    getters = Maps.newHashMap();
-    orderedFields = Lists.newArrayList();
-    for (String name : messageContext.getFieldNames()) {
-      Field field = messageContext.getFieldFactory(name).create();
-      fields.put(name, field);
-      getters.put(messageContext.getFieldGetterName(name), field);
-      setters.put(messageContext.getFieldSetterName(name), field);
-      orderedFields.add(field);
+    this.messageContext = messageContext;
+    List<String> fieldNames = messageContext.getFieldNames();
+    Field[] fieldsArr = new Field[fieldNames.size()];
+    for (int i = 0; i < fieldsArr.length; i++) {
+      String fieldName = fieldNames.get(i);
+      fieldsArr[i] = messageContext.getFieldFactory(fieldName).create();
     }
+    fields = Collections.unmodifiableList(Arrays.asList(fieldsArr));
   }
 
   public Field getField(String name) {
-    return fields.get(name);
+    return getField(messageContext.getFieldIndexByName(name));
   }
 
   public Field getSetterField(String name) {
-    return setters.get(name);
+    return getField(messageContext.getFieldIndexBySetterName(name));
   }
 
   public Field getGetterField(String name) {
-    return getters.get(name);
+    return getField(messageContext.getFieldIndexByGetterName(name));
+  }
+
+  private Field getField(Integer index) {
+    return index != null ? fields.get(index) : null;
   }
 
   public List<Field> getFields() {
-    return Collections.unmodifiableList(orderedFields);
+    return fields;
   }
 
   public Object getFieldValue(String name) {
-    Field field = fields.get(name);
+    Field field = getField(name);
     if (field != null) {
       return field.getValue();
     }
     throw new RosMessageRuntimeException("Uknown field: " + name);
   }
 
   public void setFieldValue(String name, Object value) {
-    Field field = fields.get(name);
+    Field field = getField(name);
     if (field != null) {
       field.setValue(value);
     } else {
@@ -85,32 +81,27 @@ public void setFieldValue(String name, Object value) {
 
   @Override
   public int hashCode() {
-    final int prime = 31;
-    int result = 1;
-    result = prime * result + ((fields == null) ? 0 : fields.hashCode());
-    result = prime * result + ((orderedFields == null) ? 0 : orderedFields.hashCode());
+    int result = messageContext.hashCode();
+    result = 31 * result + fields.hashCode();
     return result;
   }
 
   @Override
-  public boolean equals(Object obj) {
-    if (this == obj)
+  public boolean equals(Object o) {
+    if (this == o) {
       return true;
-    if (obj == null)
-      return false;
-    if (getClass() != obj.getClass())
-      return false;
-    MessageFields other = (MessageFields) obj;
-    if (fields == null) {
-      if (other.fields != null)
-        return false;
-    } else if (!fields.equals(other.fields))
+    }
+    if (!(o instanceof MessageFields)) {
       return false;
-    if (orderedFields == null) {
-      if (other.orderedFields != null)
-        return false;
-    } else if (!orderedFields.equals(other.orderedFields))
+    }
+
+    MessageFields that = (MessageFields) o;
+
+    if (!messageContext.equals(that.messageContext)) {
       return false;
-    return true;
+    }
+    return fields.equals(that.fields);
+
   }
+
 }