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Avoid unnecessary string copies #171

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Merged
jacobperron merged 1 commit into from
Jan 8, 2021
Merged

Avoid unnecessary string copies #171

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14 changes: 5 additions & 9 deletions rcljava/src/main/cpp/org_ros2_rcljava_RCLJava.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,22 +48,18 @@ JNIEXPORT jlong JNICALL
Java_org_ros2_rcljava_RCLJava_nativeCreateNodeHandle(
JNIEnv * env, jclass, jstring jnode_name, jstring jnamespace, jlong context_handle)
{
const char * node_name_tmp = env->GetStringUTFChars(jnode_name, 0);
std::string node_name(node_name_tmp);
env->ReleaseStringUTFChars(jnode_name, node_name_tmp);

const char * namespace_tmp = env->GetStringUTFChars(jnamespace, 0);
std::string namespace_(namespace_tmp);
env->ReleaseStringUTFChars(jnamespace, namespace_tmp);
const char * node_name = env->GetStringUTFChars(jnode_name, 0);
const char * node_namespace = env->GetStringUTFChars(jnamespace, 0);

rcl_context_t * context = reinterpret_cast<rcl_context_t *>(context_handle);

rcl_node_t * node = static_cast<rcl_node_t *>(malloc(sizeof(rcl_node_t)));
*node = rcl_get_zero_initialized_node();

rcl_node_options_t default_options = rcl_node_get_default_options();
rcl_ret_t ret = rcl_node_init(
node, node_name.c_str(), namespace_.c_str(), context, &default_options);
rcl_ret_t ret = rcl_node_init(node, node_name, node_namespace, context, &default_options);
env->ReleaseStringUTFChars(jnode_name, node_name);
env->ReleaseStringUTFChars(jnamespace, node_namespace);
if (ret != RCL_RET_OK) {
std::string msg = "Failed to create node: " + std::string(rcl_get_error_string().str);
rcl_reset_error();
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36 changes: 12 additions & 24 deletions rcljava/src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,11 +39,7 @@ Java_org_ros2_rcljava_node_NodeImpl_nativeCreatePublisherHandle(
jmethodID mid = env->GetStaticMethodID(jmessage_class, "getTypeSupport", "()J");
jlong jts = env->CallStaticLongMethod(jmessage_class, mid);

const char * topic_tmp = env->GetStringUTFChars(jtopic, 0);

std::string topic(topic_tmp);

env->ReleaseStringUTFChars(jtopic, topic_tmp);
const char * topic = env->GetStringUTFChars(jtopic, 0);

rcl_node_t * node = reinterpret_cast<rcl_node_t *>(node_handle);

Expand All @@ -56,7 +52,8 @@ Java_org_ros2_rcljava_node_NodeImpl_nativeCreatePublisherHandle(
rmw_qos_profile_t * qos_profile = reinterpret_cast<rmw_qos_profile_t *>(qos_profile_handle);
publisher_ops.qos = *qos_profile;

rcl_ret_t ret = rcl_publisher_init(publisher, node, ts, topic.c_str(), &publisher_ops);
rcl_ret_t ret = rcl_publisher_init(publisher, node, ts, topic, &publisher_ops);
env->ReleaseStringUTFChars(jtopic, topic);

if (ret != RCL_RET_OK) {
std::string msg = "Failed to create publisher: " + std::string(rcl_get_error_string().str);
Expand All @@ -77,11 +74,7 @@ Java_org_ros2_rcljava_node_NodeImpl_nativeCreateSubscriptionHandle(
jmethodID mid = env->GetStaticMethodID(jmessage_class, "getTypeSupport", "()J");
jlong jts = env->CallStaticLongMethod(jmessage_class, mid);

const char * topic_tmp = env->GetStringUTFChars(jtopic, 0);

std::string topic(topic_tmp);

env->ReleaseStringUTFChars(jtopic, topic_tmp);
const char * topic = env->GetStringUTFChars(jtopic, 0);

rcl_node_t * node = reinterpret_cast<rcl_node_t *>(node_handle);

Expand All @@ -95,7 +88,8 @@ Java_org_ros2_rcljava_node_NodeImpl_nativeCreateSubscriptionHandle(
rmw_qos_profile_t * qos_profile = reinterpret_cast<rmw_qos_profile_t *>(qos_profile_handle);
subscription_ops.qos = *qos_profile;

rcl_ret_t ret = rcl_subscription_init(subscription, node, ts, topic.c_str(), &subscription_ops);
rcl_ret_t ret = rcl_subscription_init(subscription, node, ts, topic, &subscription_ops);
env->ReleaseStringUTFChars(jtopic, topic);

if (ret != RCL_RET_OK) {
std::string msg = "Failed to create subscription: " + std::string(rcl_get_error_string().str);
Expand All @@ -121,11 +115,7 @@ Java_org_ros2_rcljava_node_NodeImpl_nativeCreateServiceHandle(

assert(jts != 0);

const char * service_name_tmp = env->GetStringUTFChars(jservice_name, 0);

std::string service_name(service_name_tmp);

env->ReleaseStringUTFChars(jservice_name, service_name_tmp);
const char * service_name = env->GetStringUTFChars(jservice_name, 0);

rcl_node_t * node = reinterpret_cast<rcl_node_t *>(node_handle);

Expand All @@ -138,7 +128,8 @@ Java_org_ros2_rcljava_node_NodeImpl_nativeCreateServiceHandle(
rmw_qos_profile_t * qos_profile = reinterpret_cast<rmw_qos_profile_t *>(qos_profile_handle);
service_ops.qos = *qos_profile;

rcl_ret_t ret = rcl_service_init(service, node, ts, service_name.c_str(), &service_ops);
rcl_ret_t ret = rcl_service_init(service, node, ts, service_name, &service_ops);
env->ReleaseStringUTFChars(jservice_name, service_name);

if (ret != RCL_RET_OK) {
std::string msg = "Failed to create service: " + std::string(rcl_get_error_string().str);
Expand All @@ -164,11 +155,7 @@ Java_org_ros2_rcljava_node_NodeImpl_nativeCreateClientHandle(

assert(jts != 0);

const char * service_name_tmp = env->GetStringUTFChars(jservice_name, 0);

std::string service_name(service_name_tmp);

env->ReleaseStringUTFChars(jservice_name, service_name_tmp);
const char * service_name = env->GetStringUTFChars(jservice_name, 0);

rcl_node_t * node = reinterpret_cast<rcl_node_t *>(node_handle);

Expand All @@ -181,7 +168,8 @@ Java_org_ros2_rcljava_node_NodeImpl_nativeCreateClientHandle(
rmw_qos_profile_t * qos_profile = reinterpret_cast<rmw_qos_profile_t *>(qos_profile_handle);
client_ops.qos = *qos_profile;

rcl_ret_t ret = rcl_client_init(client, node, ts, service_name.c_str(), &client_ops);
rcl_ret_t ret = rcl_client_init(client, node, ts, service_name, &client_ops);
env->ReleaseStringUTFChars(jservice_name, service_name);

if (ret != RCL_RET_OK) {
std::string msg = "Failed to create client: " + std::string(rcl_get_error_string().str);
Expand Down