Support wall-time and ROS-time timers

rcljava/CMakeLists.txt

@@ -65,7 +65,7 @@ set(${PROJECT_NAME}_jni_sources
   "src/main/cpp/org_ros2_rcljava_service_ServiceImpl.cpp"
   "src/main/cpp/org_ros2_rcljava_subscription_SubscriptionImpl.cpp"
   "src/main/cpp/org_ros2_rcljava_time_Clock.cpp"
-  "src/main/cpp/org_ros2_rcljava_timer_WallTimerImpl.cpp"
+  "src/main/cpp/org_ros2_rcljava_timer_TimerImpl.cpp"
 )
 
 foreach(_jni_source ${${PROJECT_NAME}_jni_sources})
@@ -167,6 +167,7 @@ set(${PROJECT_NAME}_sources
   "src/main/java/org/ros2/rcljava/time/ClockType.java"
   "src/main/java/org/ros2/rcljava/time/TimeSource.java"
   "src/main/java/org/ros2/rcljava/timer/Timer.java"
+  "src/main/java/org/ros2/rcljava/timer/TimerImpl.java"
   "src/main/java/org/ros2/rcljava/timer/WallTimer.java"
   "src/main/java/org/ros2/rcljava/timer/WallTimerImpl.java"
 )

rcljava/include/org_ros2_rcljava_timer_TimerImpl.h

@@ -0,0 +1,108 @@
+// Copyright 2017-2018 Esteve Fernandez <esteve@apache.org>
+//
+// 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_timer_TimerImpl */
+
+#ifndef ORG_ROS2_RCLJAVA_TIMER_TIMERIMPL_H_
+#define ORG_ROS2_RCLJAVA_TIMER_TIMERIMPL_H_
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * Class:     org_ros2_rcljava_timer_TimerImpl
+ * Method:    nativeDispose
+ * Signature: (J)V
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_timer_TimerImpl_nativeDispose(JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_timer_TimerImpl
+ * Method:    nativeIsReady
+ * Signature: (J)Z
+ */
+JNIEXPORT jboolean
+JNICALL Java_org_ros2_rcljava_timer_TimerImpl_nativeIsReady(JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_timer_TimerImpl
+ * Method:    nativeIsCanceled
+ * Signature: (J)Z
+ */
+JNIEXPORT jboolean
+JNICALL Java_org_ros2_rcljava_timer_TimerImpl_nativeIsCanceled(JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_timer_TimerImpl
+ * Method:    nativeReset
+ * Signature: (J)Z
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_timer_TimerImpl_nativeReset(JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_timer_TimerImpl
+ * Method:    nativeCancel
+ * Signature: (J)Z
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_timer_TimerImpl_nativeCancel(JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_timer_TimerImpl
+ * Method:    nativeTimeUntilNextCall
+ * Signature: (J)J
+ */
+JNIEXPORT jlong
+JNICALL Java_org_ros2_rcljava_timer_TimerImpl_nativeTimeUntilNextCall(JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_timer_TimerImpl
+ * Method:    nativeTimeSinceLastCall
+ * Signature: (J)J
+ */
+JNIEXPORT jlong
+JNICALL Java_org_ros2_rcljava_timer_TimerImpl_nativeTimeSinceLastCall(JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_timer_TimerImpl
+ * Method:    nativeGetTimerPeriodNS
+ * Signature: (J)J
+ */
+JNIEXPORT jlong
+JNICALL Java_org_ros2_rcljava_timer_TimerImpl_nativeGetTimerPeriodNS(JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_timer_TimerImpl
+ * Method:    nativeSetTimerPeriodNS
+ * Signature: (JJ)Z
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_timer_TimerImpl_nativeSetTimerPeriodNS(
+  JNIEnv *, jclass, jlong, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_timer_TimerImpl
+ * Method:    nativeCallTimer
+ * Signature: (J)Z
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_timer_TimerImpl_nativeCallTimer(JNIEnv *, jclass, jlong);
+
+#ifdef __cplusplus
+}
+#endif
+#endif  // ORG_ROS2_RCLJAVA_TIMER_TIMERIMPL_H_