diff --git a/rcljava/CMakeLists.txt b/rcljava/CMakeLists.txt index 159d45e8..dbd3d649 100644 --- a/rcljava/CMakeLists.txt +++ b/rcljava/CMakeLists.txt @@ -58,13 +58,19 @@ set(${PROJECT_NAME}_jni_sources "src/main/cpp/org_ros2_rcljava_Time.cpp" "src/main/cpp/org_ros2_rcljava_client_ClientImpl.cpp" "src/main/cpp/org_ros2_rcljava_contexts_ContextImpl.cpp" + "src/main/cpp/org_ros2_rcljava_detail_QosIncompatibleStatus.cpp" "src/main/cpp/org_ros2_rcljava_executors_BaseExecutor.cpp" "src/main/cpp/org_ros2_rcljava_events_EventHandlerImpl.cpp" - "src/main/cpp/org_ros2_rcljava_events_publisher_statuses_LivelinessLost.cpp" + "src/main/cpp/org_ros2_rcljava_publisher_statuses_LivelinessLost.cpp" + "src/main/cpp/org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed.cpp" + "src/main/cpp/org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible.cpp" "src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp" "src/main/cpp/org_ros2_rcljava_publisher_PublisherImpl.cpp" "src/main/cpp/org_ros2_rcljava_service_ServiceImpl.cpp" "src/main/cpp/org_ros2_rcljava_subscription_SubscriptionImpl.cpp" + "src/main/cpp/org_ros2_rcljava_subscription_statuses_LivelinessChanged.cpp" + "src/main/cpp/org_ros2_rcljava_subscription_statuses_RequestedDeadlineMissed.cpp" + "src/main/cpp/org_ros2_rcljava_subscription_statuses_RequestedQosIncompatible.cpp" "src/main/cpp/org_ros2_rcljava_time_Clock.cpp" "src/main/cpp/org_ros2_rcljava_timer_WallTimerImpl.cpp" ) @@ -127,12 +133,15 @@ set(${PROJECT_NAME}_sources "src/main/java/org/ros2/rcljava/consumers/BiConsumer.java" "src/main/java/org/ros2/rcljava/consumers/Consumer.java" "src/main/java/org/ros2/rcljava/consumers/TriConsumer.java" + "src/main/java/org/ros2/rcljava/detail/QosIncompatibleStatus.java" "src/main/java/org/ros2/rcljava/events/EventHandler.java" "src/main/java/org/ros2/rcljava/events/EventHandlerImpl.java" "src/main/java/org/ros2/rcljava/events/EventStatus.java" "src/main/java/org/ros2/rcljava/events/PublisherEventStatus.java" "src/main/java/org/ros2/rcljava/events/SubscriptionEventStatus.java" - "src/main/java/org/ros2/rcljava/events/publisher_statuses/LivelinessLost.java" + "src/main/java/org/ros2/rcljava/publisher/statuses/LivelinessLost.java" + "src/main/java/org/ros2/rcljava/publisher/statuses/OfferedDeadlineMissed.java" + "src/main/java/org/ros2/rcljava/publisher/statuses/OfferedQosIncompatible.java" "src/main/java/org/ros2/rcljava/executors/AnyExecutable.java" "src/main/java/org/ros2/rcljava/executors/BaseExecutor.java" "src/main/java/org/ros2/rcljava/executors/Executor.java" @@ -170,6 +179,9 @@ set(${PROJECT_NAME}_sources "src/main/java/org/ros2/rcljava/service/ServiceImpl.java" "src/main/java/org/ros2/rcljava/subscription/Subscription.java" "src/main/java/org/ros2/rcljava/subscription/SubscriptionImpl.java" + "src/main/java/org/ros2/rcljava/subscription/statuses/LivelinessChanged.java" + "src/main/java/org/ros2/rcljava/subscription/statuses/RequestedDeadlineMissed.java" + "src/main/java/org/ros2/rcljava/subscription/statuses/RequestedQosIncompatible.java" "src/main/java/org/ros2/rcljava/time/Clock.java" "src/main/java/org/ros2/rcljava/time/ClockType.java" "src/main/java/org/ros2/rcljava/timer/Timer.java" diff --git a/rcljava/include/org_ros2_rcljava_detail_QosIncompatibleStatus.h b/rcljava/include/org_ros2_rcljava_detail_QosIncompatibleStatus.h new file mode 100644 index 00000000..af8f7319 --- /dev/null +++ b/rcljava/include/org_ros2_rcljava_detail_QosIncompatibleStatus.h @@ -0,0 +1,54 @@ +// Copyright 2020 Open Source Robotics Foundation, 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. + +#include +/* Header for class org_ros2_rcljava_detail_QosIncompatibleStatus */ + +#ifndef ORG_ROS2_RCLJAVA_DETAIL_QOSINCOMPATIBLESTATUS_H_ +#define ORG_ROS2_RCLJAVA_DETAIL_QOSINCOMPATIBLESTATUS_H_ +#ifdef __cplusplus +extern "C" { +#endif + +/* + * Class: org_ros2_rcljava_detail_QosIncompatibleStatus + * Method: nativeAllocateRCLStatusEvent + * Signature: ()J + */ +JNIEXPORT jlong JNICALL +Java_org_ros2_rcljava_detail_QosIncompatibleStatus_nativeAllocateRCLStatusEvent( + JNIEnv *, jclass); + +/* + * Class: org_ros2_rcljava_detail_QosIncompatibleStatus + * Method: nativeDeallocateRCLStatusEvent + * Signature: (J)V + */ +JNIEXPORT void JNICALL +Java_org_ros2_rcljava_detail_QosIncompatibleStatus_nativeDeallocateRCLStatusEvent( + JNIEnv *, jclass, jlong); + +/* + * Class: org_ros2_rcljava_detail_QosIncompatibleStatus + * Method: nativeFromRCLEvent + * Signature: (J)V + */ +JNIEXPORT void JNICALL +Java_org_ros2_rcljava_detail_QosIncompatibleStatus_nativeFromRCLEvent( + JNIEnv *, jobject, jlong); + +#ifdef __cplusplus +} +#endif +#endif // ORG_ROS2_RCLJAVA_DETAIL_QOSINCOMPATIBLESTATUS_H_ diff --git a/rcljava/include/org_ros2_rcljava_executors_BaseExecutor.h b/rcljava/include/org_ros2_rcljava_executors_BaseExecutor.h index c94a7959..5522ac8d 100644 --- a/rcljava/include/org_ros2_rcljava_executors_BaseExecutor.h +++ b/rcljava/include/org_ros2_rcljava_executors_BaseExecutor.h @@ -134,6 +134,15 @@ JNIEXPORT void JNICALL Java_org_ros2_rcljava_executors_BaseExecutor_nativeWaitSetAddTimer( JNIEnv *, jclass, jlong, jlong); +/* + * Class: org_ros2_rcljava_executors_BaseExecutor + * Method: nativeWaitSetAddEvent + * Signature: (JJ)V + */ +JNIEXPORT void +JNICALL Java_org_ros2_rcljava_executors_BaseExecutor_nativeWaitSetAddEvent( + JNIEnv *, jclass, jlong, jlong); + /* * Class: org_ros2_rcljava_executors_BaseExecutor * Method: nativeWaitSetSubscriptionIsReady @@ -152,6 +161,15 @@ JNIEXPORT jboolean JNICALL Java_org_ros2_rcljava_executors_BaseExecutor_nativeWaitSetTimerIsReady( JNIEnv *, jclass, jlong, jlong); +/* + * Class: org_ros2_rcljava_executors_BaseExecutor + * Method: nativeWaitSetEventIsReady + * Signature: (JJ)Z + */ +JNIEXPORT jboolean +JNICALL Java_org_ros2_rcljava_executors_BaseExecutor_nativeWaitSetEventIsReady( + JNIEnv *, jclass, jlong, jlong); + /* * Class: org_ros2_rcljava_executors_BaseExecutor * Method: nativeWaitSetServiceIsReady diff --git a/rcljava/include/org_ros2_rcljava_events_publisher_statuses_LivelinessLost.h b/rcljava/include/org_ros2_rcljava_publisher_statuses_LivelinessLost.h similarity index 55% rename from rcljava/include/org_ros2_rcljava_events_publisher_statuses_LivelinessLost.h rename to rcljava/include/org_ros2_rcljava_publisher_statuses_LivelinessLost.h index 53126f7b..b8af4373 100644 --- a/rcljava/include/org_ros2_rcljava_events_publisher_statuses_LivelinessLost.h +++ b/rcljava/include/org_ros2_rcljava_publisher_statuses_LivelinessLost.h @@ -13,51 +13,51 @@ // limitations under the License. #include -/* Header for class org_ros2_rcljava_events_publisher_statuses_LivelinessLost */ +/* Header for class org_ros2_rcljava_publisher_statuses_LivelinessLost */ -#ifndef ORG_ROS2_RCLJAVA_EVENTS_PUBLISHER_STATUSES_LIVELINESSLOST_H_ -#define ORG_ROS2_RCLJAVA_EVENTS_PUBLISHER_STATUSES_LIVELINESSLOST_H_ +#ifndef ORG_ROS2_RCLJAVA_PUBLISHER_STATUSES_LIVELINESSLOST_H_ +#define ORG_ROS2_RCLJAVA_PUBLISHER_STATUSES_LIVELINESSLOST_H_ #ifdef __cplusplus extern "C" { #endif /* - * Class: org_ros2_rcljava_events_publisher_statuses_LivelinessLost + * Class: org_ros2_rcljava_publisher_statuses_LivelinessLost * Method: nativeAllocateRCLStatusEvent * Signature: ()J */ JNIEXPORT jlong JNICALL -Java_org_ros2_rcljava_events_publisher_1statuses_LivelinessLost_nativeAllocateRCLStatusEvent( +Java_org_ros2_rcljava_publisher_statuses_LivelinessLost_nativeAllocateRCLStatusEvent( JNIEnv *, jclass); /* - * Class: org_ros2_rcljava_events_publisher_statuses_LivelinessLost + * Class: org_ros2_rcljava_publisher_statuses_LivelinessLost * Method: nativeDeallocateRCLStatusEvent * Signature: (J)V */ JNIEXPORT void JNICALL -Java_org_ros2_rcljava_events_publisher_1statuses_LivelinessLost_nativeDeallocateRCLStatusEvent( +Java_org_ros2_rcljava_publisher_statuses_LivelinessLost_nativeDeallocateRCLStatusEvent( JNIEnv *, jclass, jlong); /* - * Class: org_ros2_rcljava_events_publisher_statuses_LivelinessLost + * Class: org_ros2_rcljava_publisher_statuses_LivelinessLost * Method: nativeFromRCLEvent * Signature: (J)V */ JNIEXPORT void JNICALL -Java_org_ros2_rcljava_events_publisher_1statuses_LivelinessLost_nativeFromRCLEvent( +Java_org_ros2_rcljava_publisher_statuses_LivelinessLost_nativeFromRCLEvent( JNIEnv *, jobject, jlong); /* - * Class: org_ros2_rcljava_events_publisher_statuses_LivelinessLost + * Class: org_ros2_rcljava_publisher_statuses_LivelinessLost * Method: nativeGetPublisherEventType * Signature: ()I */ JNIEXPORT jint JNICALL -Java_org_ros2_rcljava_events_publisher_1statuses_LivelinessLost_nativeGetPublisherEventType( +Java_org_ros2_rcljava_publisher_statuses_LivelinessLost_nativeGetPublisherEventType( JNIEnv *, jclass); #ifdef __cplusplus } #endif -#endif // ORG_ROS2_RCLJAVA_EVENTS_PUBLISHER_STATUSES_LIVELINESSLOST_H_ +#endif // ORG_ROS2_RCLJAVA_PUBLISHER_STATUSES_LIVELINESSLOST_H_ diff --git a/rcljava/include/org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed.h b/rcljava/include/org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed.h new file mode 100644 index 00000000..2f0575c9 --- /dev/null +++ b/rcljava/include/org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed.h @@ -0,0 +1,63 @@ +// Copyright 2020 Open Source Robotics Foundation, 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. + +#include +/* Header for class org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed */ + +#ifndef ORG_ROS2_RCLJAVA_PUBLISHER_STATUSES_OFFEREDDEADLINEMISSED_H_ +#define ORG_ROS2_RCLJAVA_PUBLISHER_STATUSES_OFFEREDDEADLINEMISSED_H_ +#ifdef __cplusplus +extern "C" { +#endif + +/* + * Class: org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed + * Method: nativeAllocateRCLStatusEvent + * Signature: ()J + */ +JNIEXPORT jlong JNICALL +Java_org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed_nativeAllocateRCLStatusEvent( + JNIEnv *, jclass); + +/* + * Class: org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed + * Method: nativeDeallocateRCLStatusEvent + * Signature: (J)V + */ +JNIEXPORT void JNICALL +Java_org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed_nativeDeallocateRCLStatusEvent( + JNIEnv *, jclass, jlong); + +/* + * Class: org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed + * Method: nativeFromRCLEvent + * Signature: (J)V + */ +JNIEXPORT void JNICALL +Java_org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed_nativeFromRCLEvent( + JNIEnv *, jobject, jlong); + +/* + * Class: org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed + * Method: nativeGetPublisherEventType + * Signature: ()I + */ +JNIEXPORT jint JNICALL +Java_org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed_nativeGetPublisherEventType( + JNIEnv *, jclass); + +#ifdef __cplusplus +} +#endif +#endif // ORG_ROS2_RCLJAVA_PUBLISHER_STATUSES_OFFEREDDEADLINEMISSED_H_ diff --git a/rcljava/include/org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible.h b/rcljava/include/org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible.h new file mode 100644 index 00000000..15860176 --- /dev/null +++ b/rcljava/include/org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible.h @@ -0,0 +1,36 @@ +// Copyright 2020 Open Source Robotics Foundation, 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. + +#include +/* Header for class org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible */ + +#ifndef ORG_ROS2_RCLJAVA_PUBLISHER_STATUSES_OFFEREDQOSINCOMPATIBLE_H_ +#define ORG_ROS2_RCLJAVA_PUBLISHER_STATUSES_OFFEREDQOSINCOMPATIBLE_H_ +#ifdef __cplusplus +extern "C" { +#endif + +/* + * Class: org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible + * Method: nativeGetEventType + * Signature: ()I + */ +JNIEXPORT jint JNICALL +Java_org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible_nativeGetEventType( + JNIEnv *, jclass); + +#ifdef __cplusplus +} +#endif +#endif // ORG_ROS2_RCLJAVA_PUBLISHER_STATUSES_OFFEREDQOSINCOMPATIBLE_H_ diff --git a/rcljava/include/org_ros2_rcljava_subscription_SubscriptionImpl.h b/rcljava/include/org_ros2_rcljava_subscription_SubscriptionImpl.h index afb3456c..1f788aef 100644 --- a/rcljava/include/org_ros2_rcljava_subscription_SubscriptionImpl.h +++ b/rcljava/include/org_ros2_rcljava_subscription_SubscriptionImpl.h @@ -29,6 +29,15 @@ JNIEXPORT void JNICALL Java_org_ros2_rcljava_subscription_SubscriptionImpl_nativeDispose( JNIEnv *, jclass, jlong, jlong); +/* + * Class: org_ros2_rcljava_subscription_SubscriptionImpl + * Method: nativeCreateEvent + * Signature: (JJ)J + */ +JNIEXPORT jlong +JNICALL Java_org_ros2_rcljava_subscription_SubscriptionImpl_nativeCreateEvent( + JNIEnv *, jclass, jlong, jint); + #ifdef __cplusplus } #endif diff --git a/rcljava/include/org_ros2_rcljava_subscription_statuses_LivelinessChanged.h b/rcljava/include/org_ros2_rcljava_subscription_statuses_LivelinessChanged.h new file mode 100644 index 00000000..d34198f9 --- /dev/null +++ b/rcljava/include/org_ros2_rcljava_subscription_statuses_LivelinessChanged.h @@ -0,0 +1,63 @@ +// Copyright 2020 Open Source Robotics Foundation, 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. + +#include +/* Header for class org_ros2_rcljava_subscription_statuses_LivelinessChanged */ + +#ifndef ORG_ROS2_RCLJAVA_SUBSCRIPTION_STATUSES_LIVELINESSCHANGED_H_ +#define ORG_ROS2_RCLJAVA_SUBSCRIPTION_STATUSES_LIVELINESSCHANGED_H_ +#ifdef __cplusplus +extern "C" { +#endif + +/* + * Class: org_ros2_rcljava_subscription_statuses_LivelinessChanged + * Method: nativeAllocateRCLStatusEvent + * Signature: ()J + */ +JNIEXPORT jlong JNICALL +Java_org_ros2_rcljava_subscription_statuses_LivelinessChanged_nativeAllocateRCLStatusEvent( + JNIEnv *, jclass); + +/* + * Class: org_ros2_rcljava_subscription_statuses_LivelinessChanged + * Method: nativeDeallocateRCLStatusEvent + * Signature: (J)V + */ +JNIEXPORT void JNICALL +Java_org_ros2_rcljava_subscription_statuses_LivelinessChanged_nativeDeallocateRCLStatusEvent( + JNIEnv *, jclass, jlong); + +/* + * Class: org_ros2_rcljava_subscription_statuses_LivelinessChanged + * Method: nativeFromRCLEvent + * Signature: (J)V + */ +JNIEXPORT void JNICALL +Java_org_ros2_rcljava_subscription_statuses_LivelinessChanged_nativeFromRCLEvent( + JNIEnv *, jobject, jlong); + +/* + * Class: org_ros2_rcljava_subscription_statuses_LivelinessChanged + * Method: nativeGetsubscriptionEventType + * Signature: ()I + */ +JNIEXPORT jint JNICALL +Java_org_ros2_rcljava_subscription_statuses_LivelinessChanged_nativeGetSubscriptionEventType( + JNIEnv *, jclass); + +#ifdef __cplusplus +} +#endif +#endif // ORG_ROS2_RCLJAVA_SUBSCRIPTION_STATUSES_LIVELINESSCHANGED_H_ diff --git a/rcljava/include/org_ros2_rcljava_subscription_statuses_RequestedDeadlineMissed.h b/rcljava/include/org_ros2_rcljava_subscription_statuses_RequestedDeadlineMissed.h new file mode 100644 index 00000000..47c09fdd --- /dev/null +++ b/rcljava/include/org_ros2_rcljava_subscription_statuses_RequestedDeadlineMissed.h @@ -0,0 +1,63 @@ +// Copyright 2020 Open Source Robotics Foundation, 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. + +#include +/* Header for class org_ros2_rcljava_subscription_statuses_RequestedDeadlineMissed */ + +#ifndef ORG_ROS2_RCLJAVA_SUBSCRIPTION_STATUSES_REQUESTEDDEADLINEMISSED_H_ +#define ORG_ROS2_RCLJAVA_SUBSCRIPTION_STATUSES_REQUESTEDDEADLINEMISSED_H_ +#ifdef __cplusplus +extern "C" { +#endif + +/* + * Class: org_ros2_rcljava_subscription_statuses_RequestedDeadlineMissed + * Method: nativeAllocateRCLStatusEvent + * Signature: ()J + */ +JNIEXPORT jlong JNICALL +Java_org_ros2_rcljava_subscription_statuses_RequestedDeadlineMissed_nativeAllocateRCL( + JNIEnv *, jclass); + +/* + * Class: org_ros2_rcljava_subscription_statuses_RequestedDeadlineMissed + * Method: nativeDeallocateRCLStatusEvent + * Signature: (J)V + */ +JNIEXPORT void JNICALL +Java_org_ros2_rcljava_subscription_statuses_RequestedDeadlineMissed_nativeDeallocateRCL( + JNIEnv *, jclass, jlong); + +/* + * Class: org_ros2_rcljava_subscription_statuses_RequestedDeadlineMissed + * Method: nativeFromRCLEvent + * Signature: (J)V + */ +JNIEXPORT void JNICALL +Java_org_ros2_rcljava_subscription_statuses_RequestedDeadlineMissed_nativeFromRCL( + JNIEnv *, jobject, jlong); + +/* + * Class: org_ros2_rcljava_subscription_statuses_RequestedDeadlineMissed + * Method: nativeGetSubscriptionEventType + * Signature: ()I + */ +JNIEXPORT jint JNICALL +Java_org_ros2_rcljava_subscription_statuses_RequestedDeadlineMissed_nativeGetEventType( + JNIEnv *, jclass); + +#ifdef __cplusplus +} +#endif +#endif // ORG_ROS2_RCLJAVA_SUBSCRIPTION_STATUSES_REQUESTEDDEADLINEMISSED_H_ diff --git a/rcljava/include/org_ros2_rcljava_subscription_statuses_RequestedQosIncompatible.h b/rcljava/include/org_ros2_rcljava_subscription_statuses_RequestedQosIncompatible.h new file mode 100644 index 00000000..ef7a0236 --- /dev/null +++ b/rcljava/include/org_ros2_rcljava_subscription_statuses_RequestedQosIncompatible.h @@ -0,0 +1,36 @@ +// Copyright 2020 Open Source Robotics Foundation, 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. + +#include +/* Header for class org_ros2_rcljava_subscription_statuses_RequestedQosIncompatible */ + +#ifndef ORG_ROS2_RCLJAVA_SUBSCRIPTION_STATUSES_REQUESTEDQOSINCOMPATIBLE_H_ +#define ORG_ROS2_RCLJAVA_SUBSCRIPTION_STATUSES_REQUESTEDQOSINCOMPATIBLE_H_ +#ifdef __cplusplus +extern "C" { +#endif + +/* + * Class: org_ros2_rcljava_subscription_statuses_RequestedQosIncompatible + * Method: nativeGetEventType + * Signature: ()I + */ +JNIEXPORT jint JNICALL +Java_org_ros2_rcljava_subscription_statuses_RequestedQosIncompatible_nativeGetEventType( + JNIEnv *, jclass); + +#ifdef __cplusplus +} +#endif +#endif // ORG_ROS2_RCLJAVA_SUBSCRIPTION_STATUSES_REQUESTEDQOSINCOMPATIBLE_H_ diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_detail_QosIncompatibleStatus.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_detail_QosIncompatibleStatus.cpp new file mode 100644 index 00000000..149b90c6 --- /dev/null +++ b/rcljava/src/main/cpp/org_ros2_rcljava_detail_QosIncompatibleStatus.cpp @@ -0,0 +1,114 @@ +// Copyright 2020 Open Source Robotics Foundation, 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. + +#include "org_ros2_rcljava_detail_QosIncompatibleStatus.h" + +#include +#include + +#include "rmw/incompatible_qos_events_statuses.h" +#include "rmw/types.h" +#include "rcl/event.h" +#include "rcljava_common/exceptions.hpp" + +using rcljava_common::exceptions::rcljava_throw_exception; + +JNIEXPORT jlong JNICALL +Java_org_ros2_rcljava_detail_QosIncompatibleStatus_nativeAllocateRCLStatusEvent( + JNIEnv * env, jclass) +{ + void * p = malloc(sizeof(rmw_qos_incompatible_event_status_t)); + if (!p) { + rcljava_throw_exception( + env, "java/lang/OutOfMemoryError", "failed to allocate qos incompatible status"); + } + return reinterpret_cast(p); +} + +JNIEXPORT void JNICALL +Java_org_ros2_rcljava_detail_QosIncompatibleStatus_nativeDeallocateRCLStatusEvent( + JNIEnv *, jclass, jlong handle) +{ + free(reinterpret_cast(handle)); +} + +JNIEXPORT void JNICALL +Java_org_ros2_rcljava_detail_QosIncompatibleStatus_nativeFromRCLEvent( + JNIEnv * env, jobject self, jlong handle) +{ + auto * p = reinterpret_cast(handle); + if (!p) { + rcljava_throw_exception( + env, "java/lang/IllegalArgumentException", "passed rmw object handle is NULL"); + return; + } + // TODO(ivanpauno): class and field lookup could be done at startup time + jclass clazz = env->GetObjectClass(self); + jclass qos_kind_clazz = env->FindClass( + "org/ros2/rcljava/detail/QosIncompatibleStatus$PolicyKind"); + if (env->ExceptionCheck()) { + return; + } + jfieldID total_count_fid = env->GetFieldID(clazz, "totalCount", "I"); + if (env->ExceptionCheck()) { + return; + } + jfieldID total_count_change_fid = env->GetFieldID(clazz, "totalCountChange", "I"); + if (env->ExceptionCheck()) { + return; + } + const char * enum_class_path = + "Lorg/ros2/rcljava/detail/QosIncompatibleStatus$PolicyKind;"; + jfieldID policy_kind_fid = env->GetFieldID(clazz, "lastPolicyKind", enum_class_path); + if (env->ExceptionCheck()) { + return; + } + + jfieldID enum_value_fid; + switch (p->last_policy_kind) { + case RMW_QOS_POLICY_INVALID: + enum_value_fid = env->GetStaticFieldID(qos_kind_clazz, "INVALID", enum_class_path); + break; + case RMW_QOS_POLICY_DURABILITY: + enum_value_fid = env->GetStaticFieldID(qos_kind_clazz, "DURABILITY", enum_class_path); + break; + case RMW_QOS_POLICY_DEADLINE: + enum_value_fid = env->GetStaticFieldID(qos_kind_clazz, "DEADLINE", enum_class_path); + break; + case RMW_QOS_POLICY_LIVELINESS: + enum_value_fid = env->GetStaticFieldID(qos_kind_clazz, "LIVELINESS", enum_class_path); + break; + case RMW_QOS_POLICY_RELIABILITY: + enum_value_fid = env->GetStaticFieldID(qos_kind_clazz, "RELIABILITY", enum_class_path); + break; + case RMW_QOS_POLICY_HISTORY: + enum_value_fid = env->GetStaticFieldID(qos_kind_clazz, "HISTORY", enum_class_path); + break; + case RMW_QOS_POLICY_LIFESPAN: + enum_value_fid = env->GetStaticFieldID(qos_kind_clazz, "LIFESPAN", enum_class_path); + break; + default: + rcljava_throw_exception( + env, "java/lang/IllegalArgumentException", "unknown rmw qos policy kind"); + break; + } + if (env->ExceptionCheck()) { + return; + } + jobject enum_value = env->GetStaticObjectField(qos_kind_clazz, enum_value_fid); + + env->SetIntField(self, total_count_fid, p->total_count); + env->SetIntField(self, total_count_change_fid, p->total_count_change); + env->SetObjectField(self, policy_kind_fid, enum_value); +} diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_executors_BaseExecutor.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_executors_BaseExecutor.cpp index ad515de5..287a175f 100644 --- a/rcljava/src/main/cpp/org_ros2_rcljava_executors_BaseExecutor.cpp +++ b/rcljava/src/main/cpp/org_ros2_rcljava_executors_BaseExecutor.cpp @@ -276,6 +276,21 @@ Java_org_ros2_rcljava_executors_BaseExecutor_nativeWaitSetAddTimer( } } +JNIEXPORT void JNICALL +Java_org_ros2_rcljava_executors_BaseExecutor_nativeWaitSetAddEvent( + JNIEnv * env, jclass, jlong wait_set_handle, jlong event_handle) +{ + auto * wait_set = reinterpret_cast(wait_set_handle); + auto * event = reinterpret_cast(event_handle); + rcl_ret_t ret = rcl_wait_set_add_event(wait_set, event, nullptr); + if (ret != RCL_RET_OK) { + std::string msg = + "Failed to add event to wait set: " + std::string(rcl_get_error_string().str); + rcl_reset_error(); + rcljava_throw_rclexception(env, ret, msg); + } +} + JNIEXPORT jobject JNICALL Java_org_ros2_rcljava_executors_BaseExecutor_nativeTakeRequest( JNIEnv * env, jclass, jlong service_handle, jlong jrequest_from_java_converter_handle, @@ -435,6 +450,14 @@ Java_org_ros2_rcljava_executors_BaseExecutor_nativeWaitSetTimerIsReady( return wait_set->timers[index] != nullptr; } +JNIEXPORT jboolean JNICALL +Java_org_ros2_rcljava_executors_BaseExecutor_nativeWaitSetEventIsReady( + JNIEnv *, jclass, jlong wait_set_handle, jlong index) +{ + rcl_wait_set_t * wait_set = reinterpret_cast(wait_set_handle); + return wait_set->events[index] != nullptr; +} + JNIEXPORT jboolean JNICALL Java_org_ros2_rcljava_executors_BaseExecutor_nativeWaitSetServiceIsReady( JNIEnv *, jclass, jlong wait_set_handle, jlong index) diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_events_publisher_statuses_LivelinessLost.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_publisher_statuses_LivelinessLost.cpp similarity index 76% rename from rcljava/src/main/cpp/org_ros2_rcljava_events_publisher_statuses_LivelinessLost.cpp rename to rcljava/src/main/cpp/org_ros2_rcljava_publisher_statuses_LivelinessLost.cpp index 95bad689..8e1118fc 100644 --- a/rcljava/src/main/cpp/org_ros2_rcljava_events_publisher_statuses_LivelinessLost.cpp +++ b/rcljava/src/main/cpp/org_ros2_rcljava_publisher_statuses_LivelinessLost.cpp @@ -12,19 +12,19 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "org_ros2_rcljava_events_publisher_statuses_LivelinessLost.h" +#include "org_ros2_rcljava_publisher_statuses_LivelinessLost.h" #include #include -#include "rmw/events_statuses/liveliness_lost.h" +#include "rmw/types.h" #include "rcl/event.h" #include "rcljava_common/exceptions.hpp" using rcljava_common::exceptions::rcljava_throw_exception; JNIEXPORT jlong JNICALL -Java_org_ros2_rcljava_events_publisher_1statuses_LivelinessLost_nativeAllocateRCLStatusEvent( +Java_org_ros2_rcljava_publisher_statuses_LivelinessLost_nativeAllocateRCLStatusEvent( JNIEnv * env, jclass) { void * p = malloc(sizeof(rmw_liveliness_lost_status_t)); @@ -36,28 +36,29 @@ Java_org_ros2_rcljava_events_publisher_1statuses_LivelinessLost_nativeAllocateRC } JNIEXPORT void JNICALL -Java_org_ros2_rcljava_events_publisher_1statuses_LivelinessLost_nativeDeallocateRCLStatusEvent( +Java_org_ros2_rcljava_publisher_statuses_LivelinessLost_nativeDeallocateRCLStatusEvent( JNIEnv *, jclass, jlong handle) { free(reinterpret_cast(handle)); } JNIEXPORT void JNICALL -Java_org_ros2_rcljava_events_publisher_1statuses_LivelinessLost_nativeFromRCLEvent( +Java_org_ros2_rcljava_publisher_statuses_LivelinessLost_nativeFromRCLEvent( JNIEnv * env, jobject self, jlong handle) { auto * p = reinterpret_cast(handle); if (!p) { rcljava_throw_exception( env, "java/lang/IllegalArgumentException", "passed rmw object handle is NULL"); + return; } // TODO(ivanpauno): class and field lookup could be done at startup time jclass clazz = env->GetObjectClass(self); - jfieldID total_count_fid = env->GetFieldID(clazz, "total_count", "I"); + jfieldID total_count_fid = env->GetFieldID(clazz, "totalCount", "I"); if (env->ExceptionCheck()) { return; } - jfieldID total_count_change_fid = env->GetFieldID(clazz, "total_count_change", "I"); + jfieldID total_count_change_fid = env->GetFieldID(clazz, "totalCountChange", "I"); if (env->ExceptionCheck()) { return; } @@ -66,7 +67,7 @@ Java_org_ros2_rcljava_events_publisher_1statuses_LivelinessLost_nativeFromRCLEve } JNIEXPORT jint JNICALL -Java_org_ros2_rcljava_events_publisher_1statuses_LivelinessLost_nativeGetPublisherEventType( +Java_org_ros2_rcljava_publisher_statuses_LivelinessLost_nativeGetPublisherEventType( JNIEnv *, jclass) { return RCL_PUBLISHER_LIVELINESS_LOST; diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed.cpp new file mode 100644 index 00000000..bce491af --- /dev/null +++ b/rcljava/src/main/cpp/org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed.cpp @@ -0,0 +1,74 @@ +// Copyright 2020 Open Source Robotics Foundation, 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. + +#include "org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed.h" + +#include +#include + +#include "rmw/types.h" +#include "rcl/event.h" +#include "rcljava_common/exceptions.hpp" + +using rcljava_common::exceptions::rcljava_throw_exception; + +JNIEXPORT jlong JNICALL +Java_org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed_nativeAllocateRCLStatusEvent( + JNIEnv * env, jclass) +{ + void * p = malloc(sizeof(rmw_offered_deadline_missed_status_t)); + if (!p) { + rcljava_throw_exception( + env, "java/lang/OutOfMemoryError", "failed to allocate deadline missed status"); + } + return reinterpret_cast(p); +} + +JNIEXPORT void JNICALL +Java_org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed_nativeDeallocateRCLStatusEvent( + JNIEnv *, jclass, jlong handle) +{ + free(reinterpret_cast(handle)); +} + +JNIEXPORT void JNICALL +Java_org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed_nativeFromRCLEvent( + JNIEnv * env, jobject self, jlong handle) +{ + auto * p = reinterpret_cast(handle); + if (!p) { + rcljava_throw_exception( + env, "java/lang/IllegalArgumentException", "passed rmw object handle is NULL"); + return; + } + // TODO(ivanpauno): class and field lookup could be done at startup time + jclass clazz = env->GetObjectClass(self); + jfieldID total_count_fid = env->GetFieldID(clazz, "totalCount", "I"); + if (env->ExceptionCheck()) { + return; + } + jfieldID total_count_change_fid = env->GetFieldID(clazz, "totalCountChange", "I"); + if (env->ExceptionCheck()) { + return; + } + env->SetIntField(self, total_count_fid, p->total_count); + env->SetIntField(self, total_count_change_fid, p->total_count_change); +} + +JNIEXPORT jint JNICALL +Java_org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed_nativeGetPublisherEventType( + JNIEnv *, jclass) +{ + return RCL_PUBLISHER_OFFERED_DEADLINE_MISSED; +} diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible.cpp new file mode 100644 index 00000000..d2e681c3 --- /dev/null +++ b/rcljava/src/main/cpp/org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible.cpp @@ -0,0 +1,26 @@ +// Copyright 2020 Open Source Robotics Foundation, 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. + +#include "org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible.h" + +#include + +#include "rcl/event.h" + +JNIEXPORT jint JNICALL +Java_org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible_nativeGetEventType( + JNIEnv *, jclass) +{ + return RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS; +} diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_subscription_SubscriptionImpl.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_subscription_SubscriptionImpl.cpp index 151bc0a0..5c995f26 100644 --- a/rcljava/src/main/cpp/org_ros2_rcljava_subscription_SubscriptionImpl.cpp +++ b/rcljava/src/main/cpp/org_ros2_rcljava_subscription_SubscriptionImpl.cpp @@ -19,6 +19,7 @@ #include #include "rcl/error_handling.h" +#include "rcl/event.h" #include "rcl/node.h" #include "rcl/rcl.h" #include "rmw/rmw.h" @@ -29,6 +30,7 @@ #include "org_ros2_rcljava_subscription_SubscriptionImpl.h" +using rcljava_common::exceptions::rcljava_throw_exception; using rcljava_common::exceptions::rcljava_throw_rclexception; JNIEXPORT void JNICALL @@ -61,3 +63,31 @@ Java_org_ros2_rcljava_subscription_SubscriptionImpl_nativeDispose( rcljava_throw_rclexception(env, ret, msg); } } + +JNIEXPORT jlong +JNICALL Java_org_ros2_rcljava_subscription_SubscriptionImpl_nativeCreateEvent( + JNIEnv * env, jclass, jlong subscription_handle, jint event_type) +{ + auto * subscription = reinterpret_cast(subscription_handle); + if (!subscription) { + rcljava_throw_exception( + env, "java/lang/IllegalArgumentException", "passed rcl_subscription_t handle is NULL"); + return 0; + } + auto * event = static_cast(malloc(sizeof(rcl_event_t))); + if (!event) { + rcljava_throw_exception(env, "java/lang/OutOfMemoryError", "failed to allocate rcl_event_t"); + return 0; + } + *event = rcl_get_zero_initialized_event(); + rcl_ret_t ret = rcl_subscription_event_init( + event, subscription, static_cast(event_type)); + if (RCL_RET_OK != ret) { + std::string msg = "Failed to create event: " + std::string(rcl_get_error_string().str); + rcl_reset_error(); + rcljava_throw_rclexception(env, ret, msg); + free(event); + return 0; + } + return reinterpret_cast(event); +} diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_subscription_statuses_LivelinessChanged.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_subscription_statuses_LivelinessChanged.cpp new file mode 100644 index 00000000..4c6102d5 --- /dev/null +++ b/rcljava/src/main/cpp/org_ros2_rcljava_subscription_statuses_LivelinessChanged.cpp @@ -0,0 +1,84 @@ +// Copyright 2020 Open Source Robotics Foundation, 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. + +#include "org_ros2_rcljava_subscription_statuses_LivelinessChanged.h" + +#include +#include + +#include "rmw/types.h" +#include "rcl/event.h" +#include "rcljava_common/exceptions.hpp" + +using rcljava_common::exceptions::rcljava_throw_exception; + +JNIEXPORT jlong JNICALL +Java_org_ros2_rcljava_subscription_statuses_LivelinessChanged_nativeAllocateRCLStatusEvent( + JNIEnv * env, jclass) +{ + void * p = malloc(sizeof(rmw_liveliness_changed_status_t)); + if (!p) { + rcljava_throw_exception( + env, "java/lang/OutOfMemoryError", "failed to allocate liveliness changed status"); + } + return reinterpret_cast(p); +} + +JNIEXPORT void JNICALL +Java_org_ros2_rcljava_subscription_statuses_LivelinessChanged_nativeDeallocateRCLStatusEvent( + JNIEnv *, jclass, jlong handle) +{ + free(reinterpret_cast(handle)); +} + +JNIEXPORT void JNICALL +Java_org_ros2_rcljava_subscription_statuses_LivelinessChanged_nativeFromRCLEvent( + JNIEnv * env, jobject self, jlong handle) +{ + auto * p = reinterpret_cast(handle); + if (!p) { + rcljava_throw_exception( + env, "java/lang/IllegalArgumentException", "passed rmw object handle is NULL"); + return; + } + // TODO(ivanpauno): class and field lookup could be done at startup time + jclass clazz = env->GetObjectClass(self); + jfieldID alive_count_fid = env->GetFieldID(clazz, "aliveCount", "I"); + if (env->ExceptionCheck()) { + return; + } + jfieldID not_alive_count_fid = env->GetFieldID(clazz, "notAliveCount", "I"); + if (env->ExceptionCheck()) { + return; + } + jfieldID alive_count_change_fid = env->GetFieldID(clazz, "aliveCountChange", "I"); + if (env->ExceptionCheck()) { + return; + } + jfieldID not_alive_count_change_fid = env->GetFieldID(clazz, "notAliveCountChange", "I"); + if (env->ExceptionCheck()) { + return; + } + env->SetIntField(self, alive_count_fid, p->alive_count); + env->SetIntField(self, not_alive_count_fid, p->not_alive_count); + env->SetIntField(self, alive_count_change_fid, p->alive_count_change); + env->SetIntField(self, not_alive_count_change_fid, p->not_alive_count_change); +} + +JNIEXPORT jint JNICALL +Java_org_ros2_rcljava_subscription_statuses_LivelinessChanged_nativeGetSubscriptionEventType( + JNIEnv *, jclass) +{ + return RCL_SUBSCRIPTION_LIVELINESS_CHANGED; +} diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_subscription_statuses_RequestedDeadlineMissed.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_subscription_statuses_RequestedDeadlineMissed.cpp new file mode 100644 index 00000000..b3f06cbc --- /dev/null +++ b/rcljava/src/main/cpp/org_ros2_rcljava_subscription_statuses_RequestedDeadlineMissed.cpp @@ -0,0 +1,74 @@ +// Copyright 2020 Open Source Robotics Foundation, 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. + +#include "org_ros2_rcljava_subscription_statuses_RequestedDeadlineMissed.h" + +#include +#include + +#include "rmw/types.h" +#include "rcl/event.h" +#include "rcljava_common/exceptions.hpp" + +using rcljava_common::exceptions::rcljava_throw_exception; + +JNIEXPORT jlong JNICALL +Java_org_ros2_rcljava_subscription_statuses_RequestedDeadlineMissed_nativeAllocateRCL( + JNIEnv * env, jclass) +{ + void * p = malloc(sizeof(rmw_requested_deadline_missed_status_t)); + if (!p) { + rcljava_throw_exception( + env, "java/lang/OutOfMemoryError", "failed to allocate missed deadline status"); + } + return reinterpret_cast(p); +} + +JNIEXPORT void JNICALL +Java_org_ros2_rcljava_subscription_statuses_RequestedDeadlineMissed_nativeDeallocateRCL( + JNIEnv *, jclass, jlong handle) +{ + free(reinterpret_cast(handle)); +} + +JNIEXPORT void JNICALL +Java_org_ros2_rcljava_subscription_statuses_RequestedDeadlineMissed_nativeFromRCL( + JNIEnv * env, jobject self, jlong handle) +{ + auto * p = reinterpret_cast(handle); + if (!p) { + rcljava_throw_exception( + env, "java/lang/IllegalArgumentException", "passed rmw object handle is NULL"); + return; + } + // TODO(ivanpauno): class and field lookup could be done at startup time + jclass clazz = env->GetObjectClass(self); + jfieldID total_count_fid = env->GetFieldID(clazz, "totalCount", "I"); + if (env->ExceptionCheck()) { + return; + } + jfieldID total_count_change_fid = env->GetFieldID(clazz, "totalCountChange", "I"); + if (env->ExceptionCheck()) { + return; + } + env->SetIntField(self, total_count_fid, p->total_count); + env->SetIntField(self, total_count_change_fid, p->total_count_change); +} + +JNIEXPORT jint JNICALL +Java_org_ros2_rcljava_subscription_statuses_RequestedDeadlineMissed_nativeGetEventType( + JNIEnv *, jclass) +{ + return RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED; +} diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_subscription_statuses_RequestedQosIncompatible.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_subscription_statuses_RequestedQosIncompatible.cpp new file mode 100644 index 00000000..fc506e5e --- /dev/null +++ b/rcljava/src/main/cpp/org_ros2_rcljava_subscription_statuses_RequestedQosIncompatible.cpp @@ -0,0 +1,26 @@ +// Copyright 2020 Open Source Robotics Foundation, 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. + +#include "org_ros2_rcljava_subscription_statuses_RequestedQosIncompatible.h" + +#include + +#include "rcl/event.h" + +JNIEXPORT jint JNICALL +Java_org_ros2_rcljava_subscription_statuses_RequestedQosIncompatible_nativeGetEventType( + JNIEnv *, jclass) +{ + return RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS; +} diff --git a/rcljava/src/main/java/org/ros2/rcljava/detail/QosIncompatibleStatus.java b/rcljava/src/main/java/org/ros2/rcljava/detail/QosIncompatibleStatus.java new file mode 100644 index 00000000..91a3e9b4 --- /dev/null +++ b/rcljava/src/main/java/org/ros2/rcljava/detail/QosIncompatibleStatus.java @@ -0,0 +1,65 @@ +// Copyright 2020 Open Source Robotics Foundation, 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.ros2.rcljava.detail; + +import org.ros2.rcljava.common.JNIUtils; +import org.ros2.rcljava.events.EventStatus; + +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; + +/** + * This class serves as a bridge between rmw_qos_incompatible_event_status_t + * and RCLJava. + */ +public class QosIncompatibleStatus implements EventStatus { + public int totalCount; + public int totalCountChange; + public PolicyKind lastPolicyKind; + + public enum PolicyKind { + INVALID, + DURABILITY, + DEADLINE, + LIVELINESS, + RELIABILITY, + HISTORY, + LIFESPAN; + } + + public final long allocateRCLStatusEvent() { + return nativeAllocateRCLStatusEvent(); + } + public final void deallocateRCLStatusEvent(long handle) { + nativeDeallocateRCLStatusEvent(handle); + } + public final void fromRCLEvent(long handle) { + nativeFromRCLEvent(handle); + } + + private static final Logger logger = LoggerFactory.getLogger(QosIncompatibleStatus.class); + static { + try { + JNIUtils.loadImplementation(QosIncompatibleStatus.class); + } catch (UnsatisfiedLinkError ule) { + logger.error("Native code library failed to load.\n" + ule); + System.exit(1); + } + } + + private static native long nativeAllocateRCLStatusEvent(); + private static native void nativeDeallocateRCLStatusEvent(long handle); + private native void nativeFromRCLEvent(long handle); +} diff --git a/rcljava/src/main/java/org/ros2/rcljava/events/EventHandlerImpl.java b/rcljava/src/main/java/org/ros2/rcljava/events/EventHandlerImpl.java index 25545c7f..74e4e6dd 100644 --- a/rcljava/src/main/java/org/ros2/rcljava/events/EventHandlerImpl.java +++ b/rcljava/src/main/java/org/ros2/rcljava/events/EventHandlerImpl.java @@ -64,16 +64,19 @@ public class EventHandlerImpl< * @param eventStatusFactory Factory of an event status. * @param callback The callback function that will be called when the event * is triggered. + * @param disposeCallback Callback that will be called when this object is disposed. */ public EventHandlerImpl( final WeakReference parentReference, final long handle, final Supplier eventStatusFactory, - final Consumer callback) { + final Consumer callback, + final Consumer disposeCallback) { this.parentReference = parentReference; this.handle = handle; this.eventStatusFactory = eventStatusFactory; this.callback = callback; + this.disposeCallback = disposeCallback; } /** @@ -102,9 +105,11 @@ public final long getHandle() { * {@inheritDoc} */ public synchronized final void dispose() { - if (this.handle != 0) { - nativeDispose(this.handle); + if (this.handle == 0) { + return; } + this.disposeCallback.accept(this); + nativeDispose(this.handle); this.handle = 0; } @@ -126,11 +131,12 @@ public synchronized final void executeCallback() { nativeTake(this.handle, nativeEventStatusHandle); eventStatus.fromRCLEvent(nativeEventStatusHandle); eventStatus.deallocateRCLStatusEvent(nativeEventStatusHandle); - callback.accept(eventStatus); + this.callback.accept(eventStatus); } private final Supplier eventStatusFactory; private final WeakReference parentReference; private long handle; private final Consumer callback; + private final Consumer disposeCallback; } diff --git a/rcljava/src/main/java/org/ros2/rcljava/executors/AnyExecutable.java b/rcljava/src/main/java/org/ros2/rcljava/executors/AnyExecutable.java index f6ce97b9..dd3d3039 100644 --- a/rcljava/src/main/java/org/ros2/rcljava/executors/AnyExecutable.java +++ b/rcljava/src/main/java/org/ros2/rcljava/executors/AnyExecutable.java @@ -16,6 +16,7 @@ package org.ros2.rcljava.executors; import org.ros2.rcljava.client.Client; +import org.ros2.rcljava.events.EventHandler; import org.ros2.rcljava.subscription.Subscription; import org.ros2.rcljava.service.Service; import org.ros2.rcljava.timer.Timer; @@ -25,4 +26,5 @@ public class AnyExecutable { public Subscription subscription; public Service service; public Client client; + public EventHandler eventHandler; } diff --git a/rcljava/src/main/java/org/ros2/rcljava/executors/BaseExecutor.java b/rcljava/src/main/java/org/ros2/rcljava/executors/BaseExecutor.java index f00ddf75..1ed9218e 100644 --- a/rcljava/src/main/java/org/ros2/rcljava/executors/BaseExecutor.java +++ b/rcljava/src/main/java/org/ros2/rcljava/executors/BaseExecutor.java @@ -21,6 +21,7 @@ import java.util.List; import java.util.Map; +import java.util.Collection; import java.util.concurrent.BlockingQueue; import java.util.concurrent.ConcurrentHashMap; import java.util.concurrent.LinkedBlockingQueue; @@ -31,11 +32,13 @@ import org.ros2.rcljava.RCLJava; import org.ros2.rcljava.client.Client; import org.ros2.rcljava.common.JNIUtils; +import org.ros2.rcljava.events.EventHandler; import org.ros2.rcljava.executors.AnyExecutable; import org.ros2.rcljava.executors.Executor; import org.ros2.rcljava.interfaces.MessageDefinition; import org.ros2.rcljava.interfaces.ServiceDefinition; import org.ros2.rcljava.node.ComposableNode; +import org.ros2.rcljava.publisher.Publisher; import org.ros2.rcljava.service.RMWRequestId; import org.ros2.rcljava.service.Service; import org.ros2.rcljava.subscription.Subscription; @@ -64,6 +67,8 @@ public class BaseExecutor { private List> clientHandles = new ArrayList>(); + private List> eventHandles = new ArrayList>(); + protected void addNode(ComposableNode node) { this.nodes.add(node); } @@ -158,6 +163,11 @@ protected void executeAnyExecutable(AnyExecutable anyExecutable) { } clientHandles.remove(anyExecutable.client.getHandle()); } + + if (anyExecutable.eventHandler != null) { + anyExecutable.eventHandler.executeCallback(); + eventHandles.remove(anyExecutable.eventHandler.getHandle()); + } } protected void waitForWork(long timeout) { @@ -165,11 +175,25 @@ protected void waitForWork(long timeout) { this.timerHandles.clear(); this.serviceHandles.clear(); this.clientHandles.clear(); + this.eventHandles.clear(); for (ComposableNode node : this.nodes) { for (Subscription subscription : node.getNode().getSubscriptions()) { this.subscriptionHandles.add(new AbstractMap.SimpleEntry( subscription.getHandle(), subscription)); + Collection eventHandlers = subscription.getEventHandlers(); + for (EventHandler eventHandler : eventHandlers) { + this.eventHandles.add(new AbstractMap.SimpleEntry( + eventHandler.getHandle(), eventHandler)); + } + } + + for (Publisher publisher : node.getNode().getPublishers()) { + Collection eventHandlers = publisher.getEventHandlers(); + for (EventHandler eventHandler : eventHandlers) { + this.eventHandles.add(new AbstractMap.SimpleEntry( + eventHandler.getHandle(), eventHandler)); + } } for (Timer timer : node.getNode().getTimers()) { @@ -191,6 +215,7 @@ protected void waitForWork(long timeout) { int timersSize = 0; int clientsSize = 0; int servicesSize = 0; + int eventsSize = this.eventHandles.size(); for (ComposableNode node : this.nodes) { subscriptionsSize += node.getNode().getSubscriptions().size(); @@ -205,7 +230,9 @@ protected void waitForWork(long timeout) { long waitSetHandle = nativeGetZeroInitializedWaitSet(); long contextHandle = RCLJava.getDefaultContext().getHandle(); - nativeWaitSetInit(waitSetHandle, contextHandle, subscriptionsSize, 0, timersSize, clientsSize, servicesSize, 0); + nativeWaitSetInit( + waitSetHandle, contextHandle, subscriptionsSize, 0, + timersSize, clientsSize, servicesSize, eventsSize); nativeWaitSetClear(waitSetHandle); @@ -225,6 +252,10 @@ protected void waitForWork(long timeout) { nativeWaitSetAddClient(waitSetHandle, entry.getKey()); } + for (Map.Entry entry : this.eventHandles) { + nativeWaitSetAddEvent(waitSetHandle, entry.getKey()); + } + nativeWait(waitSetHandle, timeout); for (int i = 0; i < this.subscriptionHandles.size(); ++i) { @@ -251,6 +282,12 @@ protected void waitForWork(long timeout) { } } + for (int i = 0; i < this.eventHandles.size(); ++i) { + if (!nativeWaitSetEventIsReady(waitSetHandle, i)) { + this.eventHandles.get(i).setValue(null); + } + } + Iterator> subscriptionIterator = this.subscriptionHandles.iterator(); while (subscriptionIterator.hasNext()) { @@ -284,6 +321,14 @@ protected void waitForWork(long timeout) { } } + Iterator> eventIterator = this.eventHandles.iterator(); + while (eventIterator.hasNext()) { + Map.Entry entry = eventIterator.next(); + if (entry.getValue() == null) { + eventIterator.remove(); + } + } + nativeDisposeWaitSet(waitSetHandle); } @@ -325,6 +370,14 @@ protected AnyExecutable getNextExecutable() { } } + for (Map.Entry entry : this.eventHandles) { + if (entry.getValue() != null) { + anyExecutable.eventHandler = entry.getValue(); + entry.setValue(null); + return anyExecutable; + } + } + return null; } @@ -405,6 +458,8 @@ private static native MessageDefinition nativeTake( private static native void nativeWaitSetAddTimer(long waitSetHandle, long timerHandle); + private static native void nativeWaitSetAddEvent(long waitSetHandle, long eventHandle); + private static native RMWRequestId nativeTakeRequest(long serviceHandle, long requestFromJavaConverterHandle, long requestToJavaConverterHandle, long requestDestructorHandle, MessageDefinition requestMessage); @@ -421,6 +476,8 @@ private static native RMWRequestId nativeTakeResponse(long clientHandle, private static native boolean nativeWaitSetTimerIsReady(long waitSetHandle, long index); + private static native boolean nativeWaitSetEventIsReady(long waitSetHandle, long index); + private static native boolean nativeWaitSetServiceIsReady(long waitSetHandle, long index); private static native boolean nativeWaitSetClientIsReady(long waitSetHandle, long index); diff --git a/rcljava/src/main/java/org/ros2/rcljava/publisher/Publisher.java b/rcljava/src/main/java/org/ros2/rcljava/publisher/Publisher.java index d21eece2..47c857ff 100644 --- a/rcljava/src/main/java/org/ros2/rcljava/publisher/Publisher.java +++ b/rcljava/src/main/java/org/ros2/rcljava/publisher/Publisher.java @@ -16,6 +16,7 @@ package org.ros2.rcljava.publisher; import java.lang.ref.WeakReference; +import java.util.Collection; import java.util.function.Supplier; import org.ros2.rcljava.consumers.Consumer; @@ -64,4 +65,11 @@ EventHandler createEventHandler( */ void removeEventHandler( EventHandler eventHandler); + + /** + * Get the event handlers that were registered in this Publisher. + * + * @return The registered event handlers. + */ + Collection getEventHandlers(); } diff --git a/rcljava/src/main/java/org/ros2/rcljava/publisher/PublisherImpl.java b/rcljava/src/main/java/org/ros2/rcljava/publisher/PublisherImpl.java index 2bba3892..0e93531e 100644 --- a/rcljava/src/main/java/org/ros2/rcljava/publisher/PublisherImpl.java +++ b/rcljava/src/main/java/org/ros2/rcljava/publisher/PublisherImpl.java @@ -117,10 +117,20 @@ public final WeakReference getNodeReference() { public final EventHandler createEventHandler(Supplier factory, Consumer callback) { + final WeakReference> weakEventHandlers = new WeakReference( + this.eventHandlers); + Consumer disposeCallback = new Consumer() { + public void accept(EventHandler eventHandler) { + Collection eventHandlers = weakEventHandlers.get(); + if (eventHandlers != null) { + eventHandlers.remove(eventHandler); + } + } + }; T status = factory.get(); long eventHandle = nativeCreateEvent(this.handle, status.getPublisherEventType()); EventHandler eventHandler = new EventHandlerImpl( - new WeakReference(this), eventHandle, factory, callback); + new WeakReference(this), eventHandle, factory, callback, disposeCallback); this.eventHandlers.add(eventHandler); return eventHandler; } @@ -139,7 +149,15 @@ void removeEventHandler( } /** - * Create a publisher event (rcl_event_t). + * {@inheritDoc} + */ + public final + Collection getEventHandlers() { + return this.eventHandlers; + } + + /** + * Create a publisher event (rcl_event_t) * * The ownership of the created event handle will immediately be transferred to an * @{link EventHandlerImpl}, that will be responsible of disposing it. diff --git a/rcljava/src/main/java/org/ros2/rcljava/events/publisher_statuses/LivelinessLost.java b/rcljava/src/main/java/org/ros2/rcljava/publisher/statuses/LivelinessLost.java similarity index 95% rename from rcljava/src/main/java/org/ros2/rcljava/events/publisher_statuses/LivelinessLost.java rename to rcljava/src/main/java/org/ros2/rcljava/publisher/statuses/LivelinessLost.java index 615126be..bf49a1f0 100644 --- a/rcljava/src/main/java/org/ros2/rcljava/events/publisher_statuses/LivelinessLost.java +++ b/rcljava/src/main/java/org/ros2/rcljava/publisher/statuses/LivelinessLost.java @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -package org.ros2.rcljava.events.publisher_statuses; +package org.ros2.rcljava.publisher.statuses; import java.util.function.Supplier; @@ -26,8 +26,8 @@ * This class serves as a bridge between a rmw_liveliness_lost_status_t and RCLJava. */ public class LivelinessLost implements PublisherEventStatus { - int total_count; - int total_count_change; + public int totalCount; + public int totalCountChange; public final long allocateRCLStatusEvent() { return nativeAllocateRCLStatusEvent(); diff --git a/rcljava/src/main/java/org/ros2/rcljava/publisher/statuses/OfferedDeadlineMissed.java b/rcljava/src/main/java/org/ros2/rcljava/publisher/statuses/OfferedDeadlineMissed.java new file mode 100644 index 00000000..f4409806 --- /dev/null +++ b/rcljava/src/main/java/org/ros2/rcljava/publisher/statuses/OfferedDeadlineMissed.java @@ -0,0 +1,65 @@ +// Copyright 2020 Open Source Robotics Foundation, 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.ros2.rcljava.publisher.statuses; + +import java.util.function.Supplier; + +import org.ros2.rcljava.common.JNIUtils; +import org.ros2.rcljava.events.PublisherEventStatus; + +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; + +/** + * This class serves as a bridge between a rmw_offered_deadline_missed_status_t and RCLJava. + */ +public class OfferedDeadlineMissed implements PublisherEventStatus { + public int totalCount; + public int totalCountChange; + + public final long allocateRCLStatusEvent() { + return nativeAllocateRCLStatusEvent(); + } + public final void deallocateRCLStatusEvent(long handle) { + nativeDeallocateRCLStatusEvent(handle); + } + public final void fromRCLEvent(long handle) { + nativeFromRCLEvent(handle); + } + public final int getPublisherEventType() { + return nativeGetPublisherEventType(); + } + // TODO(ivanpauno): Remove this when -source 8 can be used (method references for the win) + public static final Supplier factory = new Supplier() { + public OfferedDeadlineMissed get() { + return new OfferedDeadlineMissed(); + } + }; + + private static final Logger logger = LoggerFactory.getLogger(OfferedDeadlineMissed.class); + static { + try { + JNIUtils.loadImplementation(OfferedDeadlineMissed.class); + } catch (UnsatisfiedLinkError ule) { + logger.error("Native code library failed to load.\n" + ule); + System.exit(1); + } + } + + private static native long nativeAllocateRCLStatusEvent(); + private static native void nativeDeallocateRCLStatusEvent(long handle); + private native void nativeFromRCLEvent(long handle); + private static native int nativeGetPublisherEventType(); +} diff --git a/rcljava/src/main/java/org/ros2/rcljava/publisher/statuses/OfferedQosIncompatible.java b/rcljava/src/main/java/org/ros2/rcljava/publisher/statuses/OfferedQosIncompatible.java new file mode 100644 index 00000000..ba633cd6 --- /dev/null +++ b/rcljava/src/main/java/org/ros2/rcljava/publisher/statuses/OfferedQosIncompatible.java @@ -0,0 +1,53 @@ +// Copyright 2020 Open Source Robotics Foundation, 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.ros2.rcljava.publisher.statuses; + +import java.util.function.Supplier; + +import org.ros2.rcljava.common.JNIUtils; +import org.ros2.rcljava.detail.QosIncompatibleStatus; +import org.ros2.rcljava.events.PublisherEventStatus; + +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; + +/** + * This class serves as a bridge between rmw_offered_qos_incompatible_event_status_t and RCLJava. + */ +public class OfferedQosIncompatible +extends QosIncompatibleStatus implements PublisherEventStatus { + public final int getPublisherEventType() { + return nativeGetEventType(); + } + // TODO(ivanpauno): Remove this when -source 8 can be used (method references for the win) + public static final Supplier + factory = new Supplier() { + public OfferedQosIncompatible get() { + return new OfferedQosIncompatible(); + } + }; + + private static final Logger logger = LoggerFactory.getLogger(OfferedQosIncompatible.class); + static { + try { + JNIUtils.loadImplementation(OfferedQosIncompatible.class); + } catch (UnsatisfiedLinkError ule) { + logger.error("Native code library failed to load.\n" + ule); + System.exit(1); + } + } + + private static native int nativeGetEventType(); +} diff --git a/rcljava/src/main/java/org/ros2/rcljava/subscription/Subscription.java b/rcljava/src/main/java/org/ros2/rcljava/subscription/Subscription.java index c74cc9bd..732d8bbb 100644 --- a/rcljava/src/main/java/org/ros2/rcljava/subscription/Subscription.java +++ b/rcljava/src/main/java/org/ros2/rcljava/subscription/Subscription.java @@ -16,8 +16,12 @@ package org.ros2.rcljava.subscription; import java.lang.ref.WeakReference; +import java.util.Collection; +import java.util.function.Supplier; import org.ros2.rcljava.consumers.Consumer; +import org.ros2.rcljava.events.EventHandler; +import org.ros2.rcljava.events.SubscriptionEventStatus; import org.ros2.rcljava.interfaces.Disposable; import org.ros2.rcljava.interfaces.MessageDefinition; import org.ros2.rcljava.node.Node; @@ -42,4 +46,30 @@ public interface Subscription extends Disposable { WeakReference getNodeReference(); void executeCallback(T message); + + /** + * Create an event handler. + * + * @param A subscription event status type. + * @param factory A factory that can instantiate an event status of type T. + * @param callback Callback that will be called when the event is triggered. + */ + EventHandler createEventHandler( + Supplier factory, Consumer callback); + + /** + * Remove a previously registered event handler. + * + * @param A subscription event status type. + * @param eventHandler An event handler that was registered previously in this object. + */ + void removeEventHandler( + EventHandler eventHandler); + + /** + * Get the event handlers that were registered in this Subscription. + * + * @return The registered event handlers. + */ + Collection getEventHandlers(); } diff --git a/rcljava/src/main/java/org/ros2/rcljava/subscription/SubscriptionImpl.java b/rcljava/src/main/java/org/ros2/rcljava/subscription/SubscriptionImpl.java index 47fce59a..8e20d81d 100644 --- a/rcljava/src/main/java/org/ros2/rcljava/subscription/SubscriptionImpl.java +++ b/rcljava/src/main/java/org/ros2/rcljava/subscription/SubscriptionImpl.java @@ -16,10 +16,17 @@ package org.ros2.rcljava.subscription; import java.lang.ref.WeakReference; +import java.util.Collection; +import java.util.concurrent.LinkedBlockingQueue; +import java.util.function.Supplier; import org.ros2.rcljava.RCLJava; import org.ros2.rcljava.common.JNIUtils; +import org.ros2.rcljava.consumers.BiConsumer; import org.ros2.rcljava.consumers.Consumer; +import org.ros2.rcljava.events.EventHandler; +import org.ros2.rcljava.events.EventHandlerImpl; +import org.ros2.rcljava.events.SubscriptionEventStatus; import org.ros2.rcljava.interfaces.MessageDefinition; import org.ros2.rcljava.node.Node; @@ -68,6 +75,8 @@ public class SubscriptionImpl implements Subscripti */ private final Consumer callback; + private final Collection eventHandlers; + /** * Constructor. * @@ -90,6 +99,7 @@ public SubscriptionImpl(final WeakReference nodeReference, final long hand this.messageType = messageType; this.topic = topic; this.callback = callback; + this.eventHandlers = new LinkedBlockingQueue(); } /** @@ -113,6 +123,64 @@ public final WeakReference getNodeReference() { return this.nodeReference; } + /** + * {@inheritDoc} + */ + public final + EventHandler + createEventHandler(Supplier factory, Consumer callback) { + final WeakReference> weakEventHandlers = new WeakReference( + this.eventHandlers); + Consumer disposeCallback = new Consumer() { + public void accept(EventHandler eventHandler) { + Collection eventHandlers = weakEventHandlers.get(); + if (eventHandlers != null) { + eventHandlers.remove(eventHandler); + } + } + }; + T status = factory.get(); + long eventHandle = nativeCreateEvent(this.handle, status.getSubscriptionEventType()); + EventHandler eventHandler = new EventHandlerImpl( + new WeakReference(this), eventHandle, factory, callback, disposeCallback); + this.eventHandlers.add(eventHandler); + return eventHandler; + } + + /** + * {@inheritDoc} + */ + public final + void removeEventHandler( + EventHandler eventHandler) + { + if (!this.eventHandlers.remove(eventHandler)) { + throw new IllegalArgumentException( + "The passed eventHandler wasn't created by this subscription"); + } + eventHandler.dispose(); + } + + /** + * {@inheritDoc} + */ + public final + Collection getEventHandlers() { + return this.eventHandlers; + } + + /** + * Create a subscription event (rcl_event_t) + * + * The ownership of the created event handle will immediately be transferred to an + * @{link EventHandlerImpl}, that will be responsible of disposing it. + * + * @param handle A pointer to the underlying ROS 2 subscription structure. + * Must not be zero. + * @param eventType The rcl event type. + */ + private static native long nativeCreateEvent(long handle, int eventType); + /** * Destroy a ROS2 subscription (rcl_subscription_t). * @@ -127,6 +195,10 @@ public final WeakReference getNodeReference() { * {@inheritDoc} */ public final void dispose() { + for (EventHandler eventHandler : this.eventHandlers) { + eventHandler.dispose(); + } + this.eventHandlers.clear(); Node node = this.nodeReference.get(); if (node != null) { node.removeSubscription(this); diff --git a/rcljava/src/main/java/org/ros2/rcljava/subscription/statuses/LivelinessChanged.java b/rcljava/src/main/java/org/ros2/rcljava/subscription/statuses/LivelinessChanged.java new file mode 100644 index 00000000..f126508b --- /dev/null +++ b/rcljava/src/main/java/org/ros2/rcljava/subscription/statuses/LivelinessChanged.java @@ -0,0 +1,69 @@ +// Copyright 2020 Open Source Robotics Foundation, 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.ros2.rcljava.subscription.statuses; + +import java.util.function.Supplier; + +import org.ros2.rcljava.common.JNIUtils; +import org.ros2.rcljava.events.SubscriptionEventStatus; + +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; + +/** + * This class serves as a bridge between rmw_liveliness_changed_status_t + * and RCLJava. + */ +public class LivelinessChanged implements SubscriptionEventStatus { + public int aliveCount; + public int notAliveCount; + public int aliveCountChange; + public int notAliveCountChange; + + public final long allocateRCLStatusEvent() { + return nativeAllocateRCLStatusEvent(); + } + public final void deallocateRCLStatusEvent(long handle) { + nativeDeallocateRCLStatusEvent(handle); + } + public final void fromRCLEvent(long handle) { + nativeFromRCLEvent(handle); + } + public final int getSubscriptionEventType() { + return nativeGetSubscriptionEventType(); + } + // TODO(ivanpauno): Remove this when -source 8 can be used (method references for the win) + public static final Supplier + factory = new Supplier() { + public LivelinessChanged get() { + return new LivelinessChanged(); + } + }; + + private static final Logger logger = LoggerFactory.getLogger(LivelinessChanged.class); + static { + try { + JNIUtils.loadImplementation(LivelinessChanged.class); + } catch (UnsatisfiedLinkError ule) { + logger.error("Native code library failed to load.\n" + ule); + System.exit(1); + } + } + + private static native long nativeAllocateRCLStatusEvent(); + private static native void nativeDeallocateRCLStatusEvent(long handle); + private native void nativeFromRCLEvent(long handle); + private static native int nativeGetSubscriptionEventType(); +} diff --git a/rcljava/src/main/java/org/ros2/rcljava/subscription/statuses/RequestedDeadlineMissed.java b/rcljava/src/main/java/org/ros2/rcljava/subscription/statuses/RequestedDeadlineMissed.java new file mode 100644 index 00000000..fa56f36d --- /dev/null +++ b/rcljava/src/main/java/org/ros2/rcljava/subscription/statuses/RequestedDeadlineMissed.java @@ -0,0 +1,65 @@ +// Copyright 2020 Open Source Robotics Foundation, 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.ros2.rcljava.subscription.statuses; + +import java.util.function.Supplier; + +import org.ros2.rcljava.common.JNIUtils; +import org.ros2.rcljava.events.SubscriptionEventStatus; + +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; + +/** + * This class serves as a bridge between a rmw_requested_deadline_missed_status_t and RCLJava. + */ +public class RequestedDeadlineMissed implements SubscriptionEventStatus { + public int totalCount; + public int totalCountChange; + + public final long allocateRCLStatusEvent() { + return nativeAllocateRCL(); + } + public final void deallocateRCLStatusEvent(long handle) { + nativeDeallocateRCL(handle); + } + public final void fromRCLEvent(long handle) { + nativeFromRCL(handle); + } + public final int getSubscriptionEventType() { + return nativeGetEventType(); + } + // TODO(ivanpauno): Remove this when -source 8 can be used (method references for the win) + public static final Supplier factory = new Supplier() { + public RequestedDeadlineMissed get() { + return new RequestedDeadlineMissed(); + } + }; + + private static final Logger logger = LoggerFactory.getLogger(RequestedDeadlineMissed.class); + static { + try { + JNIUtils.loadImplementation(RequestedDeadlineMissed.class); + } catch (UnsatisfiedLinkError ule) { + logger.error("Native code library failed to load.\n" + ule); + System.exit(1); + } + } + + private static native long nativeAllocateRCL(); + private static native void nativeDeallocateRCL(long handle); + private native void nativeFromRCL(long handle); + private static native int nativeGetEventType(); +} diff --git a/rcljava/src/main/java/org/ros2/rcljava/subscription/statuses/RequestedQosIncompatible.java b/rcljava/src/main/java/org/ros2/rcljava/subscription/statuses/RequestedQosIncompatible.java new file mode 100644 index 00000000..33c0ea38 --- /dev/null +++ b/rcljava/src/main/java/org/ros2/rcljava/subscription/statuses/RequestedQosIncompatible.java @@ -0,0 +1,54 @@ +// Copyright 2020 Open Source Robotics Foundation, 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.ros2.rcljava.subscription.statuses; + +import java.util.function.Supplier; + +import org.ros2.rcljava.common.JNIUtils; +import org.ros2.rcljava.detail.QosIncompatibleStatus; +import org.ros2.rcljava.events.SubscriptionEventStatus; + +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; + +/** + * This class serves as a bridge between rmw_requested_qos_incompatible_event_status_t + * and RCLJava. + */ +public class RequestedQosIncompatible +extends QosIncompatibleStatus implements SubscriptionEventStatus { + public final int getSubscriptionEventType() { + return nativeGetEventType(); + } + // TODO(ivanpauno): Remove this when -source 8 can be used (method references for the win) + public static final Supplier + factory = new Supplier() { + public RequestedQosIncompatible get() { + return new RequestedQosIncompatible(); + } + }; + + private static final Logger logger = LoggerFactory.getLogger(RequestedQosIncompatible.class); + static { + try { + JNIUtils.loadImplementation(RequestedQosIncompatible.class); + } catch (UnsatisfiedLinkError ule) { + logger.error("Native code library failed to load.\n" + ule); + System.exit(1); + } + } + + private static native int nativeGetEventType(); +} diff --git a/rcljava/src/test/java/org/ros2/rcljava/SpinTest.java b/rcljava/src/test/java/org/ros2/rcljava/SpinTest.java index e8d97644..c5b8beb3 100644 --- a/rcljava/src/test/java/org/ros2/rcljava/SpinTest.java +++ b/rcljava/src/test/java/org/ros2/rcljava/SpinTest.java @@ -18,6 +18,7 @@ import static org.junit.Assert.assertEquals; import static org.junit.Assert.assertNotEquals; +import java.lang.System; import java.lang.reflect.Method; import java.util.concurrent.TimeUnit; @@ -27,11 +28,21 @@ import org.ros2.rcljava.RCLJava; import org.ros2.rcljava.concurrent.Callback; +import org.ros2.rcljava.consumers.Consumer; +import org.ros2.rcljava.events.EventHandler; +import org.ros2.rcljava.publisher.statuses.OfferedQosIncompatible; import org.ros2.rcljava.executors.Executor; import org.ros2.rcljava.executors.SingleThreadedExecutor; import org.ros2.rcljava.node.ComposableNode; import org.ros2.rcljava.node.Node; import org.ros2.rcljava.timer.WallTimer; +import org.ros2.rcljava.publisher.Publisher; +import org.ros2.rcljava.qos.policies.Durability; +import org.ros2.rcljava.qos.policies.History; +import org.ros2.rcljava.qos.policies.Reliability; +import org.ros2.rcljava.qos.QoSProfile; +import org.ros2.rcljava.subscription.Subscription; +import org.ros2.rcljava.subscription.statuses.RequestedQosIncompatible; public class SpinTest { public static class TimerCallback implements Callback { @@ -345,4 +356,119 @@ public Node getNode() { executor.spinAll(100*1000*1000); assertEquals(1, timerCallback.getCounter()); } + + // custom event consumer + public static class OfferedQosIncompatibleConsumer implements Consumer { + public boolean done = false; + + public void accept(final OfferedQosIncompatible status) { + assertEquals(status.totalCount, 1); + assertEquals(status.totalCountChange, 1); + assertEquals(status.lastPolicyKind, OfferedQosIncompatible.PolicyKind.RELIABILITY); + this.done = true; + } + } + + @Test + public final void testSpinPublisherEvent() { + String identifier = RCLJava.getRMWIdentifier(); + if (identifier.equals("rmw_fastrtps_cpp") || identifier.equals("rmw_fastrtps_dynamic_cpp")) { + // OfferedQosIncompatible events is not supported in these implementations. + return; + } + final Node node = RCLJava.createNode("test_node_spin_publisher_event"); + Publisher publisher = node.createPublisher( + std_msgs.msg.String.class, "test_topic_spin_publisher_event", new QoSProfile( + History.KEEP_LAST, 1, + Reliability.BEST_EFFORT, + Durability.VOLATILE, + false)); + // create a OfferedQoSIncompatible event handler with custom event consumer + OfferedQosIncompatibleConsumer eventConsumer = new OfferedQosIncompatibleConsumer(); + EventHandler eventHandler = publisher.createEventHandler( + OfferedQosIncompatible.factory, eventConsumer + ); + // create an incompatible subscription (reliable vs best effort publisher) + Subscription subscription = node.createSubscription( + std_msgs.msg.String.class, "test_topic_spin_publisher_event", + new Consumer() { + public void accept(final std_msgs.msg.String msg) {} + }, + new QoSProfile( + History.KEEP_LAST, 1, + Reliability.RELIABLE, + Durability.VOLATILE, + false)); + // set up executor + ComposableNode composableNode = new ComposableNode() { + public Node getNode() { + return node; + } + }; + Executor executor = new SingleThreadedExecutor(); + executor.addNode(composableNode); + long start = System.currentTimeMillis(); + do { + executor.spinAll((1000 + System.currentTimeMillis() - start) * 1000 * 1000); + } while (!eventConsumer.done && System.currentTimeMillis() < start + 1000); + assert(eventConsumer.done); + } + + public static class RequestedQosIncompatibleConsumer + implements Consumer { + public boolean done = false; + + public void accept(final RequestedQosIncompatible status) { + assertEquals(status.totalCount, 1); + assertEquals(status.totalCountChange, 1); + assertEquals(status.lastPolicyKind, RequestedQosIncompatible.PolicyKind.RELIABILITY); + this.done = true; + } + } + + @Test + public final void testSpinSubscriptionEvent() { + String identifier = RCLJava.getRMWIdentifier(); + if (identifier.equals("rmw_fastrtps_cpp") || identifier.equals("rmw_fastrtps_dynamic_cpp")) { + // RequestedQosIncompatible events is not supported in these implementations. + return; + } + final Node node = RCLJava.createNode("test_node_spin_subscription_event"); + // create an incompatible subscription (reliable vs best effort publisher) + Subscription subscription = node.createSubscription( + std_msgs.msg.String.class, "test_topic_spin_subscription_event", + new Consumer() { + public void accept(final std_msgs.msg.String msg) {} + }, + new QoSProfile( + History.KEEP_LAST, 1, + Reliability.RELIABLE, + Durability.VOLATILE, + false)); + // create a RequestedQoSIncompatible event handler with custom event consumer + RequestedQosIncompatibleConsumer eventConsumer = new RequestedQosIncompatibleConsumer(); + EventHandler eventHandler = subscription.createEventHandler( + RequestedQosIncompatible.factory, eventConsumer + ); + Publisher publisher = node.createPublisher( + std_msgs.msg.String.class, "test_topic_spin_subscription_event", new QoSProfile( + History.KEEP_LAST, 1, + Reliability.BEST_EFFORT, + Durability.VOLATILE, + false)); + + // set up executor + ComposableNode composableNode = new ComposableNode() { + public Node getNode() { + return node; + } + }; + Executor executor = new SingleThreadedExecutor(); + executor.addNode(composableNode); + long start = System.currentTimeMillis(); + do { + executor.spinAll((1000 + System.currentTimeMillis() - start) * 1000 * 1000); + } while (!eventConsumer.done && System.currentTimeMillis() < start + 1000); + assert(eventConsumer.done); + } } diff --git a/rcljava/src/test/java/org/ros2/rcljava/publisher/PublisherTest.java b/rcljava/src/test/java/org/ros2/rcljava/publisher/PublisherTest.java index c4e0bd99..ed9d7bd0 100644 --- a/rcljava/src/test/java/org/ros2/rcljava/publisher/PublisherTest.java +++ b/rcljava/src/test/java/org/ros2/rcljava/publisher/PublisherTest.java @@ -26,7 +26,10 @@ import org.ros2.rcljava.RCLJava; import org.ros2.rcljava.consumers.Consumer; import org.ros2.rcljava.events.EventHandler; -import org.ros2.rcljava.events.publisher_statuses.LivelinessLost; +import org.ros2.rcljava.publisher.statuses.LivelinessLost; +import org.ros2.rcljava.publisher.statuses.OfferedDeadlineMissed; +import org.ros2.rcljava.publisher.statuses.OfferedQosIncompatible; +import org.ros2.rcljava.exceptions.RCLException; import org.ros2.rcljava.node.Node; public class PublisherTest { @@ -75,10 +78,66 @@ public final void testCreateLivelinessLostEvent() { node.createPublisher(std_msgs.msg.String.class, "test_topic"); EventHandler eventHandler = publisher.createEventHandler( LivelinessLost.factory, new Consumer() { - public void accept(final LivelinessLost status) {} + public void accept(final LivelinessLost status) { + assertEquals(status.totalCount, 0); + assertEquals(status.totalCountChange, 0); + } } ); assertNotEquals(0, eventHandler.getHandle()); + // force executing the callback, so we check that taking an event works + eventHandler.executeCallback(); + RCLJava.shutdown(); + assertEquals(0, eventHandler.getHandle()); + } + + @Test + public final void testCreateOfferedQosIncompatibleEvent() { + String identifier = RCLJava.getRMWIdentifier(); + if (identifier.equals("rmw_fastrtps_cpp") || identifier.equals("rmw_fastrtps_dynamic_cpp")) { + // event not supported in these implementations + return; + } + RCLJava.rclJavaInit(); + Node node = RCLJava.createNode("test_node"); + Publisher publisher = + node.createPublisher(std_msgs.msg.String.class, "test_topic"); + EventHandler eventHandler = publisher.createEventHandler( + OfferedQosIncompatible.factory, new Consumer() { + public void accept(final OfferedQosIncompatible status) { + assertEquals(status.totalCount, 0); + assertEquals(status.totalCountChange, 0); + assertEquals(status.lastPolicyKind, OfferedQosIncompatible.PolicyKind.INVALID); + } + } + ); + assertNotEquals(0, eventHandler.getHandle()); + assertEquals(1, publisher.getEventHandlers().size()); + // force executing the callback, so we check that taking an event works + eventHandler.executeCallback(); + eventHandler.dispose(); + assertEquals(0, eventHandler.getHandle()); + assertEquals(0, publisher.getEventHandlers().size()); + RCLJava.shutdown(); + } + + @Test + public final void testCreateOfferedDeadlineMissedEvent() { + RCLJava.rclJavaInit(); + Node node = RCLJava.createNode("test_node"); + Publisher publisher = + node.createPublisher(std_msgs.msg.String.class, "test_topic"); + EventHandler eventHandler = publisher.createEventHandler( + OfferedDeadlineMissed.factory, new Consumer() { + public void accept(final OfferedDeadlineMissed status) { + assertEquals(status.totalCount, 0); + assertEquals(status.totalCountChange, 0); + } + } + ); + assertNotEquals(0, eventHandler.getHandle()); + // force executing the callback, so we check that taking an event works + eventHandler.executeCallback(); RCLJava.shutdown(); assertEquals(0, eventHandler.getHandle()); } diff --git a/rcljava/src/test/java/org/ros2/rcljava/subscription/SubscriptionTest.java b/rcljava/src/test/java/org/ros2/rcljava/subscription/SubscriptionTest.java index 61e9c448..21299024 100644 --- a/rcljava/src/test/java/org/ros2/rcljava/subscription/SubscriptionTest.java +++ b/rcljava/src/test/java/org/ros2/rcljava/subscription/SubscriptionTest.java @@ -25,7 +25,11 @@ import org.ros2.rcljava.RCLJava; import org.ros2.rcljava.consumers.Consumer; +import org.ros2.rcljava.events.EventHandler; import org.ros2.rcljava.node.Node; +import org.ros2.rcljava.subscription.statuses.LivelinessChanged; +import org.ros2.rcljava.subscription.statuses.RequestedDeadlineMissed; +import org.ros2.rcljava.subscription.statuses.RequestedQosIncompatible; public class SubscriptionTest { @BeforeClass @@ -66,4 +70,83 @@ public void accept(final std_msgs.msg.String msg) {} RCLJava.shutdown(); } + + @Test + public final void testCreateLivelinessChangedEvent() { + String identifier = RCLJava.getRMWIdentifier(); + RCLJava.rclJavaInit(); + Node node = RCLJava.createNode("test_node"); + Subscription subscription = node.createSubscription( + std_msgs.msg.String.class, "test_topic", new Consumer() { + public void accept(final std_msgs.msg.String msg) {} + }); + EventHandler eventHandler = subscription.createEventHandler( + LivelinessChanged.factory, new Consumer() { + public void accept(final LivelinessChanged status) { + assertEquals(status.aliveCount, 0); + assertEquals(status.notAliveCount, 0); + assertEquals(status.aliveCountChange, 0); + assertEquals(status.notAliveCountChange, 0); + } + } + ); + assertNotEquals(0, eventHandler.getHandle()); + // force executing the callback, so we check that taking an event works + eventHandler.executeCallback(); + RCLJava.shutdown(); + assertEquals(0, eventHandler.getHandle()); + } + + @Test + public final void testCreateRequestedDeadlineMissedEvent() { + String identifier = RCLJava.getRMWIdentifier(); + RCLJava.rclJavaInit(); + Node node = RCLJava.createNode("test_node"); + Subscription subscription = node.createSubscription( + std_msgs.msg.String.class, "test_topic", new Consumer() { + public void accept(final std_msgs.msg.String msg) {} + }); + EventHandler eventHandler = subscription.createEventHandler( + RequestedDeadlineMissed.factory, new Consumer() { + public void accept(final RequestedDeadlineMissed status) { + assertEquals(status.totalCount, 0); + assertEquals(status.totalCountChange, 0); + } + } + ); + assertNotEquals(0, eventHandler.getHandle()); + // force executing the callback, so we check that taking an event works + eventHandler.executeCallback(); + RCLJava.shutdown(); + assertEquals(0, eventHandler.getHandle()); + } + + @Test + public final void testCreateRequestedQosIncompatibleEvent() { + String identifier = RCLJava.getRMWIdentifier(); + if (identifier.equals("rmw_fastrtps_cpp") || identifier.equals("rmw_fastrtps_dynamic_cpp")) { + // event not supported in these implementations + return; + } + RCLJava.rclJavaInit(); + Node node = RCLJava.createNode("test_node"); + Subscription subscription = node.createSubscription( + std_msgs.msg.String.class, "test_topic", new Consumer() { + public void accept(final std_msgs.msg.String msg) {} + }); + EventHandler eventHandler = subscription.createEventHandler( + RequestedQosIncompatible.factory, new Consumer() { + public void accept(final RequestedQosIncompatible status) { + assertEquals(status.totalCount, 0); + assertEquals(status.totalCountChange, 0); + assertEquals(status.lastPolicyKind, RequestedQosIncompatible.PolicyKind.INVALID); + } + } + ); + assertNotEquals(0, eventHandler.getHandle()); + // force executing the callback, so we check that taking an event works + eventHandler.executeCallback(); + RCLJava.shutdown(); + assertEquals(0, eventHandler.getHandle()); + } }