org.ros.internal.message.definition.MessageDefinitionReflectionProvider.java Source code

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Here is the source code for org.ros.internal.message.definition.MessageDefinitionReflectionProvider.java

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/*
 * Copyright (C) 2011 Google Inc.
 *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */

package org.ros.internal.message.definition;

import com.google.common.annotations.VisibleForTesting;
import com.google.common.collect.Maps;

import org.ros.exception.RosRuntimeException;
import org.ros.message.MessageDefinitionProvider;
import org.ros.message.MessageIdentifier;

import java.util.Collection;
import java.util.Map;

/**
 * A {@link MessageDefinitionProvider} that uses reflection to load the message
 * definition {@link String} from a generated interface {@link Class}.
 * <p>
 * Note that this {@link MessageDefinitionProvider} does not support enumerating
 * messages by package.
 *
 * @author damonkohler@google.com (Damon Kohler)
 */
public class MessageDefinitionReflectionProvider implements MessageDefinitionProvider {

    private static final String DEFINITION_FIELD = "_DEFINITION";

    private final Map<String, String> cache;

    public MessageDefinitionReflectionProvider() {
        cache = Maps.newConcurrentMap();
    }

    @Override
    public String get(String messageType) {
        String messageDefinition = cache.get(messageType);
        if (messageDefinition == null) {
            String className = messageType.replace("/", ".");
            try {
                Class<?> loadedClass = getClass().getClassLoader().loadClass(className);
                messageDefinition = (String) loadedClass.getDeclaredField(DEFINITION_FIELD).get(null);
                cache.put(messageType, messageDefinition);
            } catch (Exception e) {
                throw new RosRuntimeException(e);
            }
        }
        return messageDefinition;
    }

    @Override
    public boolean has(String messageType) {
        try {
            get(messageType);
        } catch (Exception e) {
            return false;
        }
        return true;
    }

    @Override
    public Collection<String> getPackages() {
        throw new UnsupportedOperationException();
    }

    @Override
    public Collection<MessageIdentifier> getMessageIdentifiersByPackage(String pkg) {
        throw new UnsupportedOperationException();
    }

    @VisibleForTesting
    public void add(String messageType, String messageDefinition) {
        cache.put(messageType, messageDefinition);
    }
}