Fix some java compiler warnings

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

@@ -176,9 +176,9 @@ public synchronized void publishFeedback(FeedbackDefinition<T> feedback) {
         ActionServerImpl.this.actionTypeInstance.getFeedbackMessageType();
       FeedbackMessageDefinition<T> feedbackMessage = null;
       try {
-        feedbackMessage = feedbackMessageType.newInstance();
-      } catch (Exception ex) {
-        throw new IllegalArgumentException("Failed to instantiate feedback message", ex);
+        feedbackMessage = feedbackMessageType.getDeclaredConstructor().newInstance();
+      } catch (ReflectiveOperationException ex) {
+        throw new IllegalArgumentException("Failed to instantiate feedback message: ", ex);
       }
       feedbackMessage.setFeedback(feedback);
       feedbackMessage.setGoalUuid(this.goalInfo.getGoalId().getUuidAsList());
@@ -202,7 +202,7 @@ public final long getHandle() {
 
     private synchronized final void toTerminalState(byte status, ResultDefinition<T> result) {
       nativeUpdateGoalState(this.handle, status);
-      ResultResponseDefinition resultResponse = ActionServerImpl.this.createResultResponse();
+      ResultResponseDefinition<T> resultResponse = ActionServerImpl.this.createResultResponse();
       resultResponse.setGoalStatus(status);
       resultResponse.setResult(result);
       ActionServerImpl.this.sendResult(goalInfo.getGoalId().getUuidAsList(), resultResponse);
@@ -265,9 +265,9 @@ public ActionServerImpl(
       final Consumer<ActionServerGoalHandle<T>> acceptedCallback) throws IllegalArgumentException {
     this.nodeReference = nodeReference;
     try {
-      this.actionTypeInstance = actionType.newInstance();
-    } catch (Exception ex) {
-      throw new IllegalArgumentException("Failed to instantiate provided action type", ex);
+      this.actionTypeInstance = actionType.getDeclaredConstructor().newInstance();
+    } catch (ReflectiveOperationException ex) {
+      throw new IllegalArgumentException("Failed to instantiate provided action type: ", ex);
     }
     this.actionName = actionName;
     this.goalCallback = goalCallback;
@@ -545,9 +545,10 @@ private action_msgs.msg.GoalInfo createGoalInfo(List<Byte> goalUuid) {
   private ResultResponseDefinition<T> createResultResponse() {
     ResultResponseDefinition<T> resultResponse;
     try {
-      resultResponse = this.actionTypeInstance.getGetResultResponseType().newInstance();
-    } catch (Exception ex) {
-      throw new IllegalArgumentException("Failed to instantiate provided action type", ex);
+      resultResponse =
+        this.actionTypeInstance.getGetResultResponseType().getDeclaredConstructor().newInstance();
+    } catch (ReflectiveOperationException ex) {
+      throw new IllegalStateException("Failed to instantiate provided action type: ", ex);
     }
     return resultResponse;
   }
@@ -582,12 +583,10 @@ public void execute() {
       GoalResponseDefinition<T> responseMessage = null;
 
       try {
-        requestMessage = requestType.newInstance();
-        responseMessage = responseType.newInstance();
-      } catch (InstantiationException ie) {
-        ie.printStackTrace();
-      } catch (IllegalAccessException iae) {
-        iae.printStackTrace();
+        requestMessage = requestType.getDeclaredConstructor().newInstance();
+        responseMessage = responseType.getDeclaredConstructor().newInstance();
+      } catch (ReflectiveOperationException ex) {
+        throw new IllegalStateException("Failed to instantiate request or responce: ", ex);
       }
 
       if (requestMessage != null && responseMessage != null) {
@@ -648,9 +647,9 @@ public void execute() {
 
       ResultRequestDefinition<T> requestMessage = null;
       try {
-        requestMessage = requestType.newInstance();
-      } catch (Exception ex) {
-        throw new IllegalArgumentException("Failed to instantiate action result request", ex);
+        requestMessage = requestType.getDeclaredConstructor().newInstance();
+      } catch (ReflectiveOperationException ex) {
+        throw new IllegalArgumentException("Failed to instantiate action result request: ", ex);
       }
 
       if (requestMessage != null) {

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

@@ -15,17 +15,18 @@
 
 package org.ros2.rcljava.executors;
 
+import java.lang.SuppressWarnings;
 import java.util.AbstractMap;
 import java.util.ArrayList;
 import java.util.Iterator;
 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;
 
+
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 
@@ -81,6 +82,23 @@ protected void removeNode(ComposableNode node) {
     this.nodes.remove(node);
   }
 
+  @SuppressWarnings("unchecked")
+  protected static void executeSubscriptionCallbackUnchecked(
+    Subscription subscription,
+    MessageDefinition message)
+  {
+    subscription.executeCallback(message);
+  }
+
+  @SuppressWarnings("unchecked")
+  protected static void clientHandleResponseUnchecked(
+    Client client,
+    RMWRequestId rmwRequestId,
+    MessageDefinition response)
+  {
+    client.handleResponse(rmwRequestId, response);
+  }
+
   protected void executeAnyExecutable(AnyExecutable anyExecutable) {
     if (anyExecutable.timer != null) {
       anyExecutable.timer.callTimer();
@@ -92,25 +110,25 @@ protected void executeAnyExecutable(AnyExecutable anyExecutable) {
       MessageDefinition message = nativeTake(
           anyExecutable.subscription.getHandle(), anyExecutable.subscription.getMessageType());
       if (message != null) {
-        anyExecutable.subscription.executeCallback(message);
+        // Safety: nativeTake() will return the correct type here.
+        // We can't do much better here, as subscriptions are type erased.
+        executeSubscriptionCallbackUnchecked(anyExecutable.subscription, message);
       }
       subscriptionHandles.remove(anyExecutable.subscription.getHandle());
     }
 
     if (anyExecutable.service != null) {
-      Class<MessageDefinition> requestType = anyExecutable.service.getRequestType();
-      Class<MessageDefinition> responseType = anyExecutable.service.getResponseType();
+      Class<? extends MessageDefinition> requestType = anyExecutable.service.getRequestType();
+      Class<? extends MessageDefinition> responseType = anyExecutable.service.getResponseType();
 
       MessageDefinition requestMessage = null;
       MessageDefinition responseMessage = null;
 
       try {
-        requestMessage = requestType.newInstance();
-        responseMessage = responseType.newInstance();
-      } catch (InstantiationException ie) {
-        ie.printStackTrace();
-      } catch (IllegalAccessException iae) {
-        iae.printStackTrace();
+        requestMessage = requestType.getDeclaredConstructor().newInstance();
+        responseMessage = responseType.getDeclaredConstructor().newInstance();
+      } catch (ReflectiveOperationException e) {
+        throw new IllegalStateException("Failed to instantiate service request/response");
       }
 
       if (requestMessage != null && responseMessage != null) {
@@ -134,24 +152,18 @@ protected void executeAnyExecutable(AnyExecutable anyExecutable) {
     }
 
     if (anyExecutable.client != null) {
-      Class<MessageDefinition> requestType = anyExecutable.client.getRequestType();
-      Class<MessageDefinition> responseType = anyExecutable.client.getResponseType();
+      Class<? extends MessageDefinition> requestType = anyExecutable.client.getRequestType();
+      Class<? extends MessageDefinition> responseType = anyExecutable.client.getResponseType();
 
-      MessageDefinition requestMessage = null;
       MessageDefinition responseMessage = null;
 
       try {
-        requestMessage = requestType.newInstance();
-        responseMessage = responseType.newInstance();
-      } catch (InstantiationException ie) {
-        ie.printStackTrace();
-      } catch (IllegalAccessException iae) {
-        iae.printStackTrace();
+        responseMessage = responseType.getDeclaredConstructor().newInstance();
+      } catch (ReflectiveOperationException ie) {
+        throw new IllegalStateException("Failed to instantiate service response");
       }
 
-      if (requestMessage != null && responseMessage != null) {
-        long requestFromJavaConverterHandle = requestMessage.getFromJavaConverterInstance();
-        long requestToJavaConverterHandle = requestMessage.getToJavaConverterInstance();
+      if (responseMessage != null) {
         long responseFromJavaConverterHandle = responseMessage.getFromJavaConverterInstance();
         long responseToJavaConverterHandle = responseMessage.getToJavaConverterInstance();
         long responseDestructorHandle = responseMessage.getDestructorInstance();
@@ -161,7 +173,9 @@ protected void executeAnyExecutable(AnyExecutable anyExecutable) {
                 responseToJavaConverterHandle, responseDestructorHandle, responseMessage);
 
         if (rmwRequestId != null) {
-          anyExecutable.client.handleResponse(rmwRequestId, responseMessage);
+          // Safety: nativeTakeResponse() will return the correct type here.
+          // We can't do much better here, as subscriptions are type erased.
+          clientHandleResponseUnchecked(anyExecutable.client, rmwRequestId, responseMessage);
         }
       }
       clientHandles.remove(anyExecutable.client.getHandle());
@@ -187,7 +201,7 @@ protected void waitForWork(long timeout) {
     this.actionServerHandles.clear();
 
     for (ComposableNode node : this.nodes) {
-      for (Subscription<MessageDefinition> subscription : node.getNode().getSubscriptions()) {
+      for (Subscription subscription : node.getNode().getSubscriptions()) {
         this.subscriptionHandles.add(new AbstractMap.SimpleEntry<Long, Subscription>(
             subscription.getHandle(), subscription));
         Collection<EventHandler> eventHandlers = subscription.getEventHandlers();
@@ -209,17 +223,17 @@ protected void waitForWork(long timeout) {
         this.timerHandles.add(new AbstractMap.SimpleEntry<Long, Timer>(timer.getHandle(), timer));
       }
 
-      for (Service<ServiceDefinition> service : node.getNode().getServices()) {
+      for (Service service : node.getNode().getServices()) {
         this.serviceHandles.add(
             new AbstractMap.SimpleEntry<Long, Service>(service.getHandle(), service));
       }
 
-      for (Client<ServiceDefinition> client : node.getNode().getClients()) {
+      for (Client client : node.getNode().getClients()) {
         this.clientHandles.add(
             new AbstractMap.SimpleEntry<Long, Client>(client.getHandle(), client));
       }
 
-      for (ActionServer<ActionDefinition> actionServer : node.getNode().getActionServers()) {
+      for (ActionServer actionServer : node.getNode().getActionServers()) {
         this.actionServerHandles.add(
             new AbstractMap.SimpleEntry<Long, ActionServer>(actionServer.getHandle(), actionServer));
       }
@@ -498,7 +512,7 @@ private static native void nativeWaitSetAddSubscription(
   private static native void nativeWait(long waitSetHandle, long timeout);
 
   private static native MessageDefinition nativeTake(
-      long subscriptionHandle, Class<MessageDefinition> messageType);
+      long subscriptionHandle, Class<? extends MessageDefinition> messageType);
 
   private static native void nativeWaitSetAddService(long waitSetHandle, long serviceHandle);
 

rcljava/src/main/java/org/ros2/rcljava/graph/NameAndTypes.java

@@ -45,12 +45,12 @@ public class NameAndTypes {
    */
   public NameAndTypes(final String name, final Collection<String> types) {
     this.name = name;
-    this.types = new ArrayList(types);
+    this.types = new ArrayList<String>(types);
   }
 
   /// @internal Default constructor, only used from jni code.
   private NameAndTypes() {
-    this.types = new ArrayList();
+    this.types = new ArrayList<String>();
   }
 
   @Override

rcljava/src/main/java/org/ros2/rcljava/node/Node.java

@@ -233,6 +233,7 @@ <T extends ActionDefinition> ActionServer<T> createActionServer(final Class<T> a
    * @param callback Function that is called when the timer expires.
    * @return The created timer.
    */
+  @SuppressWarnings("deprecation")
   WallTimer createWallTimer(final long period, final TimeUnit unit, final Callback callback);
 
   /**

rcljava/src/main/java/org/ros2/rcljava/node/NodeImpl.java

@@ -482,17 +482,19 @@ public final long getHandle() {
 
   private static native long nativeCreateTimerHandle(long clockHandle, long contextHandle, long timerPeriod);
 
+  @SuppressWarnings("deprecation")
   private Timer createTimer(Clock clock, final long period, final TimeUnit unit, final Callback callback) {
     long timerPeriodNS = TimeUnit.NANOSECONDS.convert(period, unit);
     long timerHandle = nativeCreateTimerHandle(clock.getHandle(), this.context.getHandle(), timerPeriodNS);
-    WallTimer timer = new WallTimerImpl(new WeakReference<Node>(this), timerHandle, callback, timerPeriodNS);
+    Timer timer = new WallTimerImpl(new WeakReference<Node>(this), timerHandle, callback, timerPeriodNS);
     this.timers.add(timer);
     return timer;
   }
 
   /**
    * {@inheritDoc}
    */
+  @SuppressWarnings("deprecation")
   public WallTimer createWallTimer(final long period, final TimeUnit unit, final Callback callback) {
     return (WallTimer) this.createTimer(this.wall_clock, period, unit, callback);
   }

rcljava/src/test/java/org/ros2/rcljava/parameters/SyncParametersClientTest.java

@@ -136,7 +136,7 @@ public final void testListParameters() throws Exception {
 
     assertArrayEquals(
         parametersAndPrefixes.getNames(), new String[] {"foo.first", "foo.second"});
-    assertEquals(parametersAndPrefixes.getPrefixes(), new String[] {"foo"});
+    assertArrayEquals(parametersAndPrefixes.getPrefixes(), new String[] {"foo"});
   }
 
   @Test