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ivanpaunoivanpauno
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Update qos profile -- take 2 (osrf#25)
* Improve QoSProfile constructors * Add documentation to QoSProfile class * Add fromRCL method to QoSProfile * Use fromRCL to create the built-in qos profiles. Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
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-37
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8 files changed

+484
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lines changed

‎rcljava/CMakeLists.txt‎

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@@ -66,6 +66,7 @@ set(${PROJECT_NAME}_jni_sources
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"src/main/cpp/org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible.cpp"
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"src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp"
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"src/main/cpp/org_ros2_rcljava_publisher_PublisherImpl.cpp"
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"src/main/cpp/org_ros2_rcljava_qos_QoSProfile.cpp"
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"src/main/cpp/org_ros2_rcljava_service_ServiceImpl.cpp"
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"src/main/cpp/org_ros2_rcljava_subscription_SubscriptionImpl.cpp"
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"src/main/cpp/org_ros2_rcljava_subscription_statuses_LivelinessChanged.cpp"

‎rcljava/include/org_ros2_rcljava_qos_QoSProfile.h‎

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// Copyright 2020 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <jni.h>
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/* Header for class org_ros2_rcljava_qos_QoSProfile */
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#ifndef ORG_ROS2_RCLJAVA_QOS_QOSPROFILE_H_
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#define ORG_ROS2_RCLJAVA_QOS_QOSPROFILE_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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/*
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* Class: org_ros2_rcljava_qos_QoSProfile
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* Method: nativeFromRCL
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* Signature: (J)V
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*/
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JNIEXPORT void
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JNICALL Java_org_ros2_rcljava_qos_QoSProfile_nativeFromRCL(JNIEnv *, jobject, jlong);
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/*
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* Class: org_ros2_rcljava_qos_QoSProfile
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* Method: nativeGetHandleFromName
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* Signature: (Ljava/lang/String;)J
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*/
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JNIEXPORT jlong
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JNICALL Java_org_ros2_rcljava_qos_QoSProfile_nativeGetHandleFromName(JNIEnv *, jclass, jstring);
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#ifdef __cplusplus
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}
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#endif
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#endif // ORG_ROS2_RCLJAVA_QOS_QOSPROFILE_H_

‎rcljava/src/main/cpp/org_ros2_rcljava_qos_QoSProfile.cpp‎

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// Copyright 2020 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "org_ros2_rcljava_qos_QoSProfile.h"
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#include <jni.h>
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#include <limits>
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#include "rcljava_common/exceptions.hpp"
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#include "rmw/qos_profiles.h"
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#include "rmw/types.h"
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using rcljava_common::exceptions::rcljava_throw_exception;
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static void
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qos_set_duration(JNIEnv * env, uint64_t seconds, uint64_t nanos, jobject jqos, jfieldID fid)
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{
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if (static_cast<uint64_t>(std::numeric_limits<jlong>::max()) < seconds) {
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// Throwing an exception here would be weird, as we cannot control the durability that was set
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// on all other endpoints in the network. Set jqos seconds to jlong max.
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seconds = static_cast<uint64_t>(std::numeric_limits<jlong>::max());
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}
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if (static_cast<uint64_t>(std::numeric_limits<jlong>::max()) < nanos) {
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// This should never happen, as nanoseconds within a second can perfectly be represented
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// in a jlong.
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nanos = static_cast<uint64_t>(std::numeric_limits<jlong>::max());
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}
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jclass duration_clazz = env->FindClass("java/time/Duration");
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RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
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jmethodID factory_mid = env->GetStaticMethodID(
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duration_clazz, "ofSeconds", "(JJ)Ljava/time/Duration;");
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RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
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jobject jduration = env->CallStaticObjectMethod(
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duration_clazz, factory_mid, static_cast<jlong>(seconds), static_cast<jlong>(nanos));
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RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
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env->SetObjectField(jqos, fid, jduration);
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}
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static void
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qos_from_rcl(JNIEnv * env, const rmw_qos_profile_t & qos, jobject jqos)
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{
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// TODO(ivanpauno): class and field lookup could be done at startup time
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jclass clazz = env->GetObjectClass(jqos);
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const char * history_class_path = "Lorg/ros2/rcljava/qos/policies/History;";
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jfieldID history_fid = env->GetFieldID(clazz, "history", history_class_path);
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RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
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jfieldID depth_fid = env->GetFieldID(clazz, "depth", "I");
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RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
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const char * reliability_class_path = "Lorg/ros2/rcljava/qos/policies/Reliability;";
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jfieldID reliability_fid = env->GetFieldID(clazz, "reliability", reliability_class_path);
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RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
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const char * durability_class_path = "Lorg/ros2/rcljava/qos/policies/Durability;";
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jfieldID durability_fid = env->GetFieldID(clazz, "durability", durability_class_path);
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RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
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jfieldID deadline_fid = env->GetFieldID(clazz, "deadline", "Ljava/time/Duration;");
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RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
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jfieldID lifespan_fid = env->GetFieldID(clazz, "lifespan", "Ljava/time/Duration;");
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RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
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const char * liveliness_class_path = "Lorg/ros2/rcljava/qos/policies/Liveliness;";
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jfieldID liveliness_fid = env->GetFieldID(clazz, "liveliness", liveliness_class_path);
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RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
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jfieldID liveliness_lease_fid = env->GetFieldID(
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clazz, "livelinessLeaseDuration", "Ljava/time/Duration;");
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RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
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jfieldID avoid_ros_conventions_fid = env->GetFieldID(
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clazz, "avoidROSNamespaceConventions", "Z");
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RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
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jclass history_clazz = env->FindClass("org/ros2/rcljava/qos/policies/History");
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jfieldID history_value_fid;
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switch (qos.history) {
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case RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT:
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history_value_fid = env->GetStaticFieldID(
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history_clazz, "SYSTEM_DEFAULT", history_class_path);
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break;
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case RMW_QOS_POLICY_HISTORY_KEEP_LAST:
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history_value_fid = env->GetStaticFieldID(
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history_clazz, "KEEP_LAST", history_class_path);
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break;
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case RMW_QOS_POLICY_HISTORY_KEEP_ALL:
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history_value_fid = env->GetStaticFieldID(
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history_clazz, "KEEP_ALL", history_class_path);
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break;
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case RMW_QOS_POLICY_HISTORY_UNKNOWN:
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history_value_fid = env->GetStaticFieldID(
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history_clazz, "UNKNOWN", history_class_path);
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break;
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default:
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rcljava_throw_exception(
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env, "java/lang/IllegalStateException", "unknown history policy value");
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break;
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}
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RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
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jobject history_value = env->GetStaticObjectField(history_clazz, history_value_fid);
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env->SetObjectField(jqos, history_fid, history_value);
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env->SetIntField(jqos, depth_fid, qos.depth);
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jclass reliability_clazz = env->FindClass("org/ros2/rcljava/qos/policies/Reliability");
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jfieldID reliability_value_fid;
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switch (qos.reliability) {
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case RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT:
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reliability_value_fid = env->GetStaticFieldID(
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reliability_clazz, "SYSTEM_DEFAULT", reliability_class_path);
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break;
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case RMW_QOS_POLICY_RELIABILITY_RELIABLE:
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reliability_value_fid = env->GetStaticFieldID(
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reliability_clazz, "RELIABLE", reliability_class_path);
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break;
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case RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT:
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reliability_value_fid = env->GetStaticFieldID(
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reliability_clazz, "BEST_EFFORT", reliability_class_path);
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break;
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case RMW_QOS_POLICY_RELIABILITY_UNKNOWN:
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reliability_value_fid = env->GetStaticFieldID(
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reliability_clazz, "UNKNOWN", reliability_class_path);
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break;
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default:
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rcljava_throw_exception(
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env, "java/lang/IllegalStateException", "unknown reliability policy value");
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break;
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}
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RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
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jobject reliability_value = env->GetStaticObjectField(reliability_clazz, reliability_value_fid);
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env->SetObjectField(jqos, reliability_fid, reliability_value);
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jclass durability_clazz = env->FindClass("org/ros2/rcljava/qos/policies/Durability");
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jfieldID durability_value_fid;
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switch (qos.durability) {
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case RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT:
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durability_value_fid = env->GetStaticFieldID(
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durability_clazz, "SYSTEM_DEFAULT", durability_class_path);
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break;
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case RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:
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durability_value_fid = env->GetStaticFieldID(
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durability_clazz, "TRANSIENT_LOCAL", durability_class_path);
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break;
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case RMW_QOS_POLICY_DURABILITY_VOLATILE:
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durability_value_fid = env->GetStaticFieldID(
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durability_clazz, "VOLATILE", durability_class_path);
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break;
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case RMW_QOS_POLICY_DURABILITY_UNKNOWN:
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durability_value_fid = env->GetStaticFieldID(
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durability_clazz, "UNKNOWN", durability_class_path);
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break;
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default:
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rcljava_throw_exception(
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env, "java/lang/IllegalStateException", "unknown durability policy value");
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break;
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}
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RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
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jobject durability_value = env->GetStaticObjectField(durability_clazz, durability_value_fid);
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env->SetObjectField(jqos, durability_fid, durability_value);
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qos_set_duration(env, qos.deadline.sec, qos.deadline.nsec, jqos, deadline_fid);
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RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
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qos_set_duration(env, qos.lifespan.sec, qos.lifespan.nsec, jqos, lifespan_fid);
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RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
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qos_set_duration(
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env, qos.liveliness_lease_duration.sec,
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qos.liveliness_lease_duration.nsec, jqos, liveliness_lease_fid);
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RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
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jclass liveliness_clazz = env->FindClass("org/ros2/rcljava/qos/policies/Liveliness");
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jfieldID liveliness_value_fid;
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switch (qos.liveliness) {
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case RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT:
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liveliness_value_fid = env->GetStaticFieldID(
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liveliness_clazz, "SYSTEM_DEFAULT", liveliness_class_path);
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break;
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case RMW_QOS_POLICY_LIVELINESS_AUTOMATIC:
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liveliness_value_fid = env->GetStaticFieldID(
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liveliness_clazz, "AUTOMATIC", liveliness_class_path);
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break;
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case RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC:
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liveliness_value_fid = env->GetStaticFieldID(
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liveliness_clazz, "MANUAL_BY_TOPIC", liveliness_class_path);
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break;
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case RMW_QOS_POLICY_LIVELINESS_UNKNOWN:
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liveliness_value_fid = env->GetStaticFieldID(
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liveliness_clazz, "UNKNOWN", liveliness_class_path);
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break;
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default:
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rcljava_throw_exception(
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env, "java/lang/IllegalStateException", "unknown liveliness policy value");
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break;
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}
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RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
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jobject liveliness_value = env->GetStaticObjectField(liveliness_clazz, liveliness_value_fid);
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env->SetObjectField(jqos, liveliness_fid, liveliness_value);
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env->SetBooleanField(jqos, avoid_ros_conventions_fid, qos.avoid_ros_namespace_conventions);
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}
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JNIEXPORT void JNICALL
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Java_org_ros2_rcljava_qos_QoSProfile_nativeFromRCL(JNIEnv * env, jobject jqos, jlong handle)
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{
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auto * qos_profile = reinterpret_cast<rmw_qos_profile_t *>(handle);
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if (!handle) {
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rcljava_throw_exception(
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env, "java/lang/IllegalArgumentException", "rmw qos profile handle is NULL");
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return;
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}
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qos_from_rcl(env, *qos_profile, jqos);
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}
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JNIEXPORT jlong JNICALL
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Java_org_ros2_rcljava_qos_QoSProfile_nativeGetHandleFromName(
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JNIEnv * env, jclass, jstring jprofile_name)
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{
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const rmw_qos_profile_t * qos = NULL;
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const char * profile_name = env->GetStringUTFChars(jprofile_name, NULL);
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if (strcmp(profile_name, "default") == 0) {
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qos = &rmw_qos_profile_default;
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}
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if (strcmp(profile_name, "system_default") == 0) {
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qos = &rmw_qos_profile_system_default;
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}
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if (strcmp(profile_name, "sensor_data") == 0) {
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qos = &rmw_qos_profile_sensor_data;
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}
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if (strcmp(profile_name, "parameters") == 0) {
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qos = &rmw_qos_profile_parameters;
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}
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if (strcmp(profile_name, "services") == 0) {
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qos = &rmw_qos_profile_services_default;
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}
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if (strcmp(profile_name, "parameter_events") == 0) {
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qos = &rmw_qos_profile_parameter_events;
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}
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env->ReleaseStringUTFChars(jprofile_name, profile_name);
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if (qos) {
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return reinterpret_cast<jlong>(qos);
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}
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rcljava_throw_exception(
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env, "java/lang/IllegalArgumentException", "unexpected profile identifier");
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return 0;
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}

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