Update qos profile -- take 2

rcljava/CMakeLists.txt

@@ -66,6 +66,7 @@ set(${PROJECT_NAME}_jni_sources
   "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_qos_QoSProfile.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"

rcljava/include/org_ros2_rcljava_qos_QoSProfile.h

@@ -0,0 +1,41 @@
+// 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_qos_QoSProfile */
+
+#ifndef ORG_ROS2_RCLJAVA_QOS_QOSPROFILE_H_
+#define ORG_ROS2_RCLJAVA_QOS_QOSPROFILE_H_
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     org_ros2_rcljava_qos_QoSProfile
+ * Method:    nativeFromRCL
+ * Signature: (J)V
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_qos_QoSProfile_nativeFromRCL(JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_qos_QoSProfile
+ * Method:    nativeGetHandleFromName
+ * Signature: (Ljava/lang/String;)J
+ */
+JNIEXPORT jlong
+JNICALL Java_org_ros2_rcljava_qos_QoSProfile_nativeGetHandleFromName(JNIEnv *, jclass, jstring);
+#ifdef __cplusplus
+}
+#endif
+#endif  // ORG_ROS2_RCLJAVA_QOS_QOSPROFILE_H_

rcljava/src/main/cpp/org_ros2_rcljava_qos_QoSProfile.cpp

@@ -0,0 +1,250 @@
+// 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_qos_QoSProfile.h"
+
+#include <jni.h>
+#include <limits>
+
+#include "rcljava_common/exceptions.hpp"
+#include "rmw/qos_profiles.h"
+#include "rmw/types.h"
+
+using rcljava_common::exceptions::rcljava_throw_exception;
+
+static void
+qos_set_duration(JNIEnv * env, uint64_t seconds, uint64_t nanos, jobject jqos, jfieldID fid)
+{
+  if (static_cast<uint64_t>(std::numeric_limits<jlong>::max()) < seconds) {
+    // Throwing an exception here would be weird, as we cannot control the durability that was set
+    // on all other endpoints in the network. Set jqos seconds to jlong max.
+    seconds = static_cast<uint64_t>(std::numeric_limits<jlong>::max());
+  }
+  if (static_cast<uint64_t>(std::numeric_limits<jlong>::max()) < nanos) {
+    // This should never happen, as nanoseconds within a second can perfectly be represented
+    // in a jlong.
+    nanos = static_cast<uint64_t>(std::numeric_limits<jlong>::max());
+  }
+  jclass duration_clazz = env->FindClass("java/time/Duration");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jmethodID factory_mid = env->GetStaticMethodID(
+    duration_clazz, "ofSeconds", "(JJ)Ljava/time/Duration;");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jobject jduration = env->CallStaticObjectMethod(
+    duration_clazz, factory_mid, static_cast<jlong>(seconds), static_cast<jlong>(nanos));
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  env->SetObjectField(jqos, fid, jduration);
+}
+
+static void
+qos_from_rcl(JNIEnv * env, const rmw_qos_profile_t & qos, jobject jqos)
+{
+  // TODO(ivanpauno): class and field lookup could be done at startup time
+  jclass clazz = env->GetObjectClass(jqos);
+  const char * history_class_path = "Lorg/ros2/rcljava/qos/policies/History;";
+  jfieldID history_fid = env->GetFieldID(clazz, "history", history_class_path);
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jfieldID depth_fid = env->GetFieldID(clazz, "depth", "I");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  const char * reliability_class_path = "Lorg/ros2/rcljava/qos/policies/Reliability;";
+  jfieldID reliability_fid = env->GetFieldID(clazz, "reliability", reliability_class_path);
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  const char * durability_class_path = "Lorg/ros2/rcljava/qos/policies/Durability;";
+  jfieldID durability_fid = env->GetFieldID(clazz, "durability", durability_class_path);
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jfieldID deadline_fid = env->GetFieldID(clazz, "deadline", "Ljava/time/Duration;");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jfieldID lifespan_fid = env->GetFieldID(clazz, "lifespan", "Ljava/time/Duration;");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  const char * liveliness_class_path = "Lorg/ros2/rcljava/qos/policies/Liveliness;";
+  jfieldID liveliness_fid = env->GetFieldID(clazz, "liveliness", liveliness_class_path);
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jfieldID liveliness_lease_fid = env->GetFieldID(
+    clazz, "livelinessLeaseDuration", "Ljava/time/Duration;");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jfieldID avoid_ros_conventions_fid = env->GetFieldID(
+    clazz, "avoidROSNamespaceConventions", "Z");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+
+  jclass history_clazz = env->FindClass("org/ros2/rcljava/qos/policies/History");
+  jfieldID history_value_fid;
+  switch (qos.history) {
+    case RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT:
+      history_value_fid = env->GetStaticFieldID(
+        history_clazz, "SYSTEM_DEFAULT", history_class_path);
+      break;
+    case RMW_QOS_POLICY_HISTORY_KEEP_LAST:
+      history_value_fid = env->GetStaticFieldID(
+        history_clazz, "KEEP_LAST", history_class_path);
+      break;
+    case RMW_QOS_POLICY_HISTORY_KEEP_ALL:
+      history_value_fid = env->GetStaticFieldID(
+        history_clazz, "KEEP_ALL", history_class_path);
+      break;
+    case RMW_QOS_POLICY_HISTORY_UNKNOWN:
+      history_value_fid = env->GetStaticFieldID(
+        history_clazz, "UNKNOWN", history_class_path);
+      break;
+    default:
+      rcljava_throw_exception(
+        env, "java/lang/IllegalStateException", "unknown history policy value");
+      break;
+  }
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jobject history_value = env->GetStaticObjectField(history_clazz, history_value_fid);
+  env->SetObjectField(jqos, history_fid, history_value);
+
+  env->SetIntField(jqos, depth_fid, qos.depth);
+
+  jclass reliability_clazz = env->FindClass("org/ros2/rcljava/qos/policies/Reliability");
+  jfieldID reliability_value_fid;
+  switch (qos.reliability) {
+    case RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT:
+      reliability_value_fid = env->GetStaticFieldID(
+        reliability_clazz, "SYSTEM_DEFAULT", reliability_class_path);
+      break;
+    case RMW_QOS_POLICY_RELIABILITY_RELIABLE:
+      reliability_value_fid = env->GetStaticFieldID(
+        reliability_clazz, "RELIABLE", reliability_class_path);
+      break;
+    case RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT:
+      reliability_value_fid = env->GetStaticFieldID(
+        reliability_clazz, "BEST_EFFORT", reliability_class_path);
+      break;
+    case RMW_QOS_POLICY_RELIABILITY_UNKNOWN:
+      reliability_value_fid = env->GetStaticFieldID(
+        reliability_clazz, "UNKNOWN", reliability_class_path);
+      break;
+    default:
+      rcljava_throw_exception(
+        env, "java/lang/IllegalStateException", "unknown reliability policy value");
+      break;
+  }
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jobject reliability_value = env->GetStaticObjectField(reliability_clazz, reliability_value_fid);
+  env->SetObjectField(jqos, reliability_fid, reliability_value);
+
+  jclass durability_clazz = env->FindClass("org/ros2/rcljava/qos/policies/Durability");
+  jfieldID durability_value_fid;
+  switch (qos.durability) {
+    case RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT:
+      durability_value_fid = env->GetStaticFieldID(
+        durability_clazz, "SYSTEM_DEFAULT", durability_class_path);
+      break;
+    case RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:
+      durability_value_fid = env->GetStaticFieldID(
+        durability_clazz, "TRANSIENT_LOCAL", durability_class_path);
+      break;
+    case RMW_QOS_POLICY_DURABILITY_VOLATILE:
+      durability_value_fid = env->GetStaticFieldID(
+        durability_clazz, "VOLATILE", durability_class_path);
+      break;
+    case RMW_QOS_POLICY_DURABILITY_UNKNOWN:
+      durability_value_fid = env->GetStaticFieldID(
+        durability_clazz, "UNKNOWN", durability_class_path);
+      break;
+    default:
+      rcljava_throw_exception(
+        env, "java/lang/IllegalStateException", "unknown durability policy value");
+      break;
+  }
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jobject durability_value = env->GetStaticObjectField(durability_clazz, durability_value_fid);
+  env->SetObjectField(jqos, durability_fid, durability_value);
+
+  qos_set_duration(env, qos.deadline.sec, qos.deadline.nsec, jqos, deadline_fid);
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  qos_set_duration(env, qos.lifespan.sec, qos.lifespan.nsec, jqos, lifespan_fid);
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  qos_set_duration(
+    env, qos.liveliness_lease_duration.sec,
+    qos.liveliness_lease_duration.nsec, jqos, liveliness_lease_fid);
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+
+  jclass liveliness_clazz = env->FindClass("org/ros2/rcljava/qos/policies/Liveliness");
+  jfieldID liveliness_value_fid;
+  switch (qos.liveliness) {
+    case RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT:
+      liveliness_value_fid = env->GetStaticFieldID(
+        liveliness_clazz, "SYSTEM_DEFAULT", liveliness_class_path);
+      break;
+    case RMW_QOS_POLICY_LIVELINESS_AUTOMATIC:
+      liveliness_value_fid = env->GetStaticFieldID(
+        liveliness_clazz, "AUTOMATIC", liveliness_class_path);
+      break;
+    case RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC:
+      liveliness_value_fid = env->GetStaticFieldID(
+        liveliness_clazz, "MANUAL_BY_TOPIC", liveliness_class_path);
+      break;
+    case RMW_QOS_POLICY_LIVELINESS_UNKNOWN:
+      liveliness_value_fid = env->GetStaticFieldID(
+        liveliness_clazz, "UNKNOWN", liveliness_class_path);
+      break;
+    default:
+      rcljava_throw_exception(
+        env, "java/lang/IllegalStateException", "unknown liveliness policy value");
+      break;
+  }
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jobject liveliness_value = env->GetStaticObjectField(liveliness_clazz, liveliness_value_fid);
+  env->SetObjectField(jqos, liveliness_fid, liveliness_value);
+
+  env->SetBooleanField(jqos, avoid_ros_conventions_fid, qos.avoid_ros_namespace_conventions);
+}
+
+JNIEXPORT void JNICALL
+Java_org_ros2_rcljava_qos_QoSProfile_nativeFromRCL(JNIEnv * env, jobject jqos, jlong handle)
+{
+  auto * qos_profile = reinterpret_cast<rmw_qos_profile_t *>(handle);
+  if (!handle) {
+    rcljava_throw_exception(
+      env, "java/lang/IllegalArgumentException", "rmw qos profile handle is NULL");
+    return;
+  }
+  qos_from_rcl(env, *qos_profile, jqos);
+}
+
+JNIEXPORT jlong JNICALL
+Java_org_ros2_rcljava_qos_QoSProfile_nativeGetHandleFromName(
+  JNIEnv * env, jclass, jstring jprofile_name)
+{
+  const rmw_qos_profile_t * qos = NULL;
+  const char * profile_name = env->GetStringUTFChars(jprofile_name, NULL);
+  if (strcmp(profile_name, "default") == 0) {
+    qos = &rmw_qos_profile_default;
+  }
+  if (strcmp(profile_name, "system_default") == 0) {
+    qos = &rmw_qos_profile_system_default;
+  }
+  if (strcmp(profile_name, "sensor_data") == 0) {
+    qos = &rmw_qos_profile_sensor_data;
+  }
+  if (strcmp(profile_name, "parameters") == 0) {
+    qos = &rmw_qos_profile_parameters;
+  }
+  if (strcmp(profile_name, "services") == 0) {
+    qos = &rmw_qos_profile_services_default;
+  }
+  if (strcmp(profile_name, "parameter_events") == 0) {
+    qos = &rmw_qos_profile_parameter_events;
+  }
+
+  env->ReleaseStringUTFChars(jprofile_name, profile_name);
+  if (qos) {
+    return reinterpret_cast<jlong>(qos);
+  }
+  rcljava_throw_exception(
+    env, "java/lang/IllegalArgumentException", "unexpected profile identifier");
+  return 0;
+}