Fix cpp compiler warnings

rcljava/include/org_ros2_rcljava_action_ActionServerImpl.h

@@ -92,7 +92,7 @@ JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_nativeTakeResultRequest(
  */
 JNIEXPORT void
 JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_nativeSendGoalResponse(
-  JNIEnv *, jclass, jlong, jobject, jlong, jlong, jlong, jobject);
+  JNIEnv *, jclass, jlong, jobject, jlong, jlong, jobject);
 
 /*
  * Class:     org_ros2_rcljava_action_ActionServerImpl
@@ -101,7 +101,7 @@ JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_nativeSendGoalResponse(
  */
 JNIEXPORT void
 JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_nativeSendCancelResponse(
-  JNIEnv *, jclass, jlong, jobject, jlong, jlong, jlong, jobject);
+  JNIEnv *, jclass, jlong, jobject, jlong, jlong, jobject);
 
 /*
  * Class:     org_ros2_rcljava_action_ActionServerImpl
@@ -110,7 +110,7 @@ JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_nativeSendCancelResponse(
  */
 JNIEXPORT void
 JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_nativeSendResultResponse(
-  JNIEnv *, jclass, jlong, jobject, jlong, jlong, jlong, jobject);
+  JNIEnv *, jclass, jlong, jobject, jlong, jlong, jobject);
 
 /*
  * Class:     org_ros2_rcljava_action_ActionServerImpl

rcljava/include/org_ros2_rcljava_client_ClientImpl.h

@@ -27,7 +27,7 @@ extern "C" {
  */
 JNIEXPORT jlong
 JNICALL Java_org_ros2_rcljava_client_ClientImpl_nativeSendClientRequest(
-  JNIEnv *, jclass, jlong, jlong, jlong, jlong, jobject);
+  JNIEnv *, jclass, jlong, jlong, jlong, jobject);
 
 /*
  * Class:     org_ros2_rcljava_client_ClientImpl

rcljava/include/org_ros2_rcljava_executors_BaseExecutor.h

@@ -123,7 +123,7 @@ JNICALL Java_org_ros2_rcljava_executors_BaseExecutor_nativeTakeRequest(
  */
 JNIEXPORT void
 JNICALL Java_org_ros2_rcljava_executors_BaseExecutor_nativeSendServiceResponse(
-  JNIEnv *, jclass, jlong, jobject, jlong, jlong, jlong, jobject);
+  JNIEnv *, jclass, jlong, jobject, jlong, jlong, jobject);
 
 /*
  * Class:     org_ros2_rcljava_executors_BaseExecutor

rcljava/src/main/cpp/org_ros2_rcljava_action_ActionServerImpl.cpp

@@ -212,9 +212,8 @@ Java_org_ros2_rcljava_action_ActionServerImpl_nativeCreateActionServer(
       return nullptr; \
     } \
     if (RCL_RET_OK == ret) { \
-      jobject jtaken_msg = convert_to_java(taken_msg, jrequest_msg); \
+      convert_to_java(taken_msg, jrequest_msg); \
       destroy_ros_message(taken_msg); \
-      assert(jtaken_msg != nullptr); \
       jobject jheader = rcljava::convert_rmw_request_id_to_java(env, &header); \
       return jheader; \
     } \
@@ -226,7 +225,6 @@ Java_org_ros2_rcljava_action_ActionServerImpl_nativeCreateActionServer(
 #define RCLJAVA_ACTION_SERVER_SEND_RESPONSE(Type) \
   do { \
     assert(jresponse_from_java_converter_handle != 0); \
-    assert(jresponse_to_java_converter_handle != 0); \
     assert(jresponse_destructor_handle != 0); \
     rcl_action_server_t * action_server = reinterpret_cast<rcl_action_server_t *>( \
       action_server_handle); \
@@ -275,26 +273,26 @@ JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_nativeTakeResultRequest(
 JNIEXPORT void
 JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_nativeSendGoalResponse(
   JNIEnv * env, jclass, jlong action_server_handle, jobject jrequest_id,
-  jlong jresponse_from_java_converter_handle, jlong jresponse_to_java_converter_handle,
-  jlong jresponse_destructor_handle, jobject jresponse_msg)
+  jlong jresponse_from_java_converter_handle, jlong jresponse_destructor_handle,
+  jobject jresponse_msg)
 {
   RCLJAVA_ACTION_SERVER_SEND_RESPONSE(goal);
 }
 
 JNIEXPORT void
 JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_nativeSendCancelResponse(
   JNIEnv * env, jclass, jlong action_server_handle, jobject jrequest_id,
-  jlong jresponse_from_java_converter_handle, jlong jresponse_to_java_converter_handle,
-  jlong jresponse_destructor_handle, jobject jresponse_msg)
+  jlong jresponse_from_java_converter_handle, jlong jresponse_destructor_handle,
+  jobject jresponse_msg)
 {
   RCLJAVA_ACTION_SERVER_SEND_RESPONSE(cancel);
 }
 
 JNIEXPORT void
 JNICALL Java_org_ros2_rcljava_action_ActionServerImpl_nativeSendResultResponse(
   JNIEnv * env, jclass, jlong action_server_handle, jobject jrequest_id,
-  jlong jresponse_from_java_converter_handle, jlong jresponse_to_java_converter_handle,
-  jlong jresponse_destructor_handle, jobject jresponse_msg)
+  jlong jresponse_from_java_converter_handle, jlong jresponse_destructor_handle,
+  jobject jresponse_msg)
 {
   RCLJAVA_ACTION_SERVER_SEND_RESPONSE(result);
 }

rcljava/src/main/cpp/org_ros2_rcljava_client_ClientImpl.cpp

@@ -36,13 +36,11 @@ using rcljava_common::signatures::destroy_ros_message_signature;
 
 JNIEXPORT jlong JNICALL
 Java_org_ros2_rcljava_client_ClientImpl_nativeSendClientRequest(
-  JNIEnv * env, jclass, jlong client_handle,
-  jlong jrequest_from_java_converter_handle, jlong jrequest_to_java_converter_handle,
+  JNIEnv * env, jclass, jlong client_handle, jlong jrequest_from_java_converter_handle,
   jlong jrequest_destructor_handle, jobject jrequest_msg)
 {
   assert(client_handle != 0);
   assert(jrequest_from_java_converter_handle != 0);
-  assert(jrequest_to_java_converter_handle != 0);
   assert(jrequest_destructor_handle != 0);
   assert(jrequest_msg != nullptr);
 

rcljava/src/main/cpp/org_ros2_rcljava_detail_QosIncompatibleStatus.cpp

@@ -75,7 +75,7 @@ Java_org_ros2_rcljava_detail_QosIncompatibleStatus_nativeFromRCLEvent(
     return;
   }
 
-  jfieldID enum_value_fid;
+  jfieldID enum_value_fid = nullptr;
   switch (p->last_policy_kind) {
     case RMW_QOS_POLICY_INVALID:
       enum_value_fid = env->GetStaticFieldID(qos_kind_clazz, "INVALID", enum_class_path);

rcljava/src/main/cpp/org_ros2_rcljava_executors_BaseExecutor.cpp

@@ -165,9 +165,7 @@ Java_org_ros2_rcljava_executors_BaseExecutor_nativeTake(
       reinterpret_cast<convert_to_java_signature>(jto_java_converter);
 
     jobject jtaken_msg = convert_to_java(taken_msg, nullptr);
-
     destroy_ros_message(taken_msg);
-
     return jtaken_msg;
   }
 
@@ -291,12 +289,9 @@ Java_org_ros2_rcljava_executors_BaseExecutor_nativeTakeRequest(
   }
 
   if (ret != RCL_RET_SERVICE_TAKE_FAILED) {
-    jobject jtaken_msg = convert_to_java(taken_msg, jrequest_msg);
-
+    convert_to_java(taken_msg, jrequest_msg);
     destroy_ros_message(taken_msg);
 
-    assert(jtaken_msg != nullptr);
-
     jobject jheader = rcljava::convert_rmw_request_id_to_java(env, &header);
     return jheader;
   }
@@ -309,12 +304,11 @@ Java_org_ros2_rcljava_executors_BaseExecutor_nativeTakeRequest(
 JNIEXPORT void JNICALL
 Java_org_ros2_rcljava_executors_BaseExecutor_nativeSendServiceResponse(
   JNIEnv * env, jclass, jlong service_handle, jobject jrequest_id,
-  jlong jresponse_from_java_converter_handle, jlong jresponse_to_java_converter_handle,
-  jlong jresponse_destructor_handle, jobject jresponse_msg)
+  jlong jresponse_from_java_converter_handle, jlong jresponse_destructor_handle,
+  jobject jresponse_msg)
 {
   assert(service_handle != 0);
   assert(jresponse_from_java_converter_handle != 0);
-  assert(jresponse_to_java_converter_handle != 0);
   assert(jresponse_destructor_handle != 0);
   assert(jresponse_msg != nullptr);
 
@@ -381,12 +375,9 @@ Java_org_ros2_rcljava_executors_BaseExecutor_nativeTakeResponse(
   }
 
   if (ret != RCL_RET_CLIENT_TAKE_FAILED) {
-    jobject jtaken_msg = convert_to_java(taken_msg, jresponse_msg);
-
+    convert_to_java(taken_msg, jresponse_msg);
     destroy_ros_message(taken_msg);
 
-    assert(jtaken_msg != nullptr);
-
     jobject jheader = rcljava::convert_rmw_request_id_to_java(env, &header);
     return jheader;
   }

rcljava/src/main/cpp/org_ros2_rcljava_graph_EndpointInfo.cpp

@@ -59,7 +59,7 @@ Java_org_ros2_rcljava_graph_EndpointInfo_nativeFromRCL(JNIEnv * env, jobject sel
   jstring jtopic_type = env->NewStringUTF(p->topic_type);
   RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
   env->SetObjectField(self, topic_type_fid, jtopic_type);
-  jfieldID enum_value_fid;
+  jfieldID enum_value_fid = nullptr;
   switch (p->endpoint_type) {
     case RMW_ENDPOINT_INVALID:
       enum_value_fid = env->GetStaticFieldID(

rcljava/src/main/cpp/org_ros2_rcljava_qos_QoSProfile.cpp

@@ -78,7 +78,7 @@ qos_from_rcl(JNIEnv * env, const rmw_qos_profile_t & qos, jobject jqos)
   RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
 
   jclass history_clazz = env->FindClass("org/ros2/rcljava/qos/policies/History");
-  jfieldID history_value_fid;
+  jfieldID history_value_fid = nullptr;
   switch (qos.history) {
     case RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT:
       history_value_fid = env->GetStaticFieldID(
@@ -108,7 +108,7 @@ qos_from_rcl(JNIEnv * env, const rmw_qos_profile_t & qos, jobject jqos)
   env->SetIntField(jqos, depth_fid, qos.depth);
 
   jclass reliability_clazz = env->FindClass("org/ros2/rcljava/qos/policies/Reliability");
-  jfieldID reliability_value_fid;
+  jfieldID reliability_value_fid = nullptr;
   switch (qos.reliability) {
     case RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT:
       reliability_value_fid = env->GetStaticFieldID(
@@ -136,7 +136,7 @@ qos_from_rcl(JNIEnv * env, const rmw_qos_profile_t & qos, jobject jqos)
   env->SetObjectField(jqos, reliability_fid, reliability_value);
 
   jclass durability_clazz = env->FindClass("org/ros2/rcljava/qos/policies/Durability");
-  jfieldID durability_value_fid;
+  jfieldID durability_value_fid = nullptr;
   switch (qos.durability) {
     case RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT:
       durability_value_fid = env->GetStaticFieldID(
@@ -173,7 +173,7 @@ qos_from_rcl(JNIEnv * env, const rmw_qos_profile_t & qos, jobject jqos)
   RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
 
   jclass liveliness_clazz = env->FindClass("org/ros2/rcljava/qos/policies/Liveliness");
-  jfieldID liveliness_value_fid;
+  jfieldID liveliness_value_fid = nullptr;
   switch (qos.liveliness) {
     case RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT:
       liveliness_value_fid = env->GetStaticFieldID(

rcljava/src/main/java/org/ros2/rcljava/action/ActionServerImpl.java

@@ -415,14 +415,12 @@ private void sendResultResponse(
     ResultResponseDefinition<T> resultResponse)
   {
     long resultFromJavaConverterHandle = resultResponse.getFromJavaConverterInstance();
-    long resultToJavaConverterHandle = resultResponse.getToJavaConverterInstance();
     long resultDestructorHandle = resultResponse.getDestructorInstance();
 
     nativeSendResultResponse(
       this.handle,
       rmwRequestId,
       resultFromJavaConverterHandle,
-      resultToJavaConverterHandle,
       resultDestructorHandle,
       resultResponse);
   }
@@ -452,23 +450,20 @@ private static native void nativeSendGoalResponse(
     long actionServerHandle,
     RMWRequestId header,
     long responseFromJavaConverterHandle,
-    long responseToJavaConverterHandle,
     long responseDestructorHandle,
     MessageDefinition responseMessage);
 
   private static native void nativeSendCancelResponse(
     long actionServerHandle,
     RMWRequestId header,
     long responseFromJavaConverterHandle,
-    long responseToJavaConverterHandle,
     long responseDestructorHandle,
     MessageDefinition responseMessage);
 
   private static native void nativeSendResultResponse(
     long actionServerHandle,
     RMWRequestId header,
     long responseFromJavaConverterHandle,
-    long responseToJavaConverterHandle,
     long responseDestructorHandle,
     MessageDefinition responseMessage);
 
@@ -600,7 +595,6 @@ public void execute() {
         long requestToJavaConverterHandle = requestMessage.getToJavaConverterInstance();
         long requestDestructorHandle = requestMessage.getDestructorInstance();
         long responseFromJavaConverterHandle = responseMessage.getFromJavaConverterInstance();
-        long responseToJavaConverterHandle = responseMessage.getToJavaConverterInstance();
         long responseDestructorHandle = responseMessage.getDestructorInstance();
 
         RMWRequestId rmwRequestId =
@@ -612,8 +606,7 @@ public void execute() {
           ActionServerGoalHandle<T> goalHandle = this.executeGoalRequest(
             rmwRequestId, requestMessage, responseMessage);
           nativeSendGoalResponse(
-            this.handle, rmwRequestId,
-            responseFromJavaConverterHandle, responseToJavaConverterHandle,
+            this.handle, rmwRequestId, responseFromJavaConverterHandle,
             responseDestructorHandle, responseMessage);
         }
       }
@@ -646,8 +639,7 @@ public void execute() {
         responseMessage = executeCancelRequest(responseMessage);
         nativeSendCancelResponse(
           this.handle, rmwRequestId,
-          responseFromJavaConverterHandle, responseToJavaConverterHandle,
-          responseDestructorHandle, responseMessage);
+          responseFromJavaConverterHandle, responseDestructorHandle, responseMessage);
       }
     }
 

rcljava/src/main/java/org/ros2/rcljava/client/ClientImpl.java

@@ -81,7 +81,7 @@ public void accept(Future<V> input) {}
     synchronized (pendingRequests) {
       long sequenceNumber = nativeSendClientRequest(
           handle, request.getFromJavaConverterInstance(),
-          request.getToJavaConverterInstance(), request.getDestructorInstance(), request);
+          request.getDestructorInstance(), request);
       RCLFuture<V> future = new RCLFuture<V>(this.nodeReference);
 
       Map.Entry<Consumer, RCLFuture> entry =
@@ -109,8 +109,8 @@ public final <U extends MessageDefinition> void handleResponse(
   }
 
   private static native long nativeSendClientRequest(
-      long handle, long requestFromJavaConverterHandle, long requestToJavaConverterHandle,
-      long requestDestructorHandle, MessageDefinition requestMessage);
+      long handle, long requestFromJavaConverterHandle, long requestDestructorHandle,
+      MessageDefinition requestMessage);
 
   public final Class<MessageDefinition> getRequestType() {
     return this.requestType;

rcljava/src/main/java/org/ros2/rcljava/executors/BaseExecutor.java

@@ -127,8 +127,7 @@ protected void executeAnyExecutable(AnyExecutable anyExecutable) {
         if (rmwRequestId != null) {
           anyExecutable.service.executeCallback(rmwRequestId, requestMessage, responseMessage);
           nativeSendServiceResponse(anyExecutable.service.getHandle(), rmwRequestId,
-              responseFromJavaConverterHandle, responseToJavaConverterHandle,
-              responseDestructorHandle, responseMessage);
+              responseFromJavaConverterHandle, responseDestructorHandle, responseMessage);
         }
       }
       serviceHandles.remove(anyExecutable.service.getHandle());
@@ -515,8 +514,8 @@ private static native RMWRequestId nativeTakeRequest(long serviceHandle,
       long requestFromJavaConverterHandle, long requestToJavaConverterHandle,
       long requestDestructorHandle, MessageDefinition requestMessage);
 
-  private static native void nativeSendServiceResponse(long serviceHandle, RMWRequestId header,
-      long responseFromJavaConverterHandle, long responseToJavaConverterHandle,
+  private static native void nativeSendServiceResponse(
+      long serviceHandle, RMWRequestId header, long responseFromJavaConverterHandle,
       long responseDestructorHandle, MessageDefinition responseMessage);
 
   private static native RMWRequestId nativeTakeResponse(long clientHandle,