Port rcl events support

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"

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 <jni.h>
+/* 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_

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

rcljava/include/org_ros2_rcljava_events_publisher_statuses_LivelinessLost.h → rcljava/include/org_ros2_rcljava_publisher_statuses_LivelinessLost.h

@@ -13,51 +13,51 @@
 // limitations under the License.
 
 #include <jni.h>
-/* 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_

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 <jni.h>
+/* 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_

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 <jni.h>
+/* 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_

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

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 <jni.h>
+/* 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_