Port from fork: update qos profile, rcl events, message lost event

rcljava/CMakeLists.txt

@@ -59,6 +59,8 @@ set(${PROJECT_NAME}_jni_sources
   "src/main/cpp/org_ros2_rcljava_client_ClientImpl.cpp"
   "src/main/cpp/org_ros2_rcljava_contexts_ContextImpl.cpp"
   "src/main/cpp/org_ros2_rcljava_executors_BaseExecutor.cpp"
+  "src/main/cpp/org_ros2_rcljava_events_EventHandlerImpl.cpp"
+  "src/main/cpp/org_ros2_rcljava_events_publisher_statuses_LivelinessLost.cpp"
   "src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp"
   "src/main/cpp/org_ros2_rcljava_publisher_PublisherImpl.cpp"
   "src/main/cpp/org_ros2_rcljava_service_ServiceImpl.cpp"
@@ -125,6 +127,12 @@ set(${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/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/executors/AnyExecutable.java"
   "src/main/java/org/ros2/rcljava/executors/BaseExecutor.java"
   "src/main/java/org/ros2/rcljava/executors/Executor.java"
@@ -153,6 +161,7 @@ set(${PROJECT_NAME}_sources
   "src/main/java/org/ros2/rcljava/publisher/PublisherImpl.java"
   "src/main/java/org/ros2/rcljava/qos/policies/Durability.java"
   "src/main/java/org/ros2/rcljava/qos/policies/History.java"
+  "src/main/java/org/ros2/rcljava/qos/policies/Liveliness.java"
   "src/main/java/org/ros2/rcljava/qos/policies/QoSPolicy.java"
   "src/main/java/org/ros2/rcljava/qos/policies/Reliability.java"
   "src/main/java/org/ros2/rcljava/qos/QoSProfile.java"
@@ -237,6 +246,7 @@ if(BUILD_TESTING)
     # "src/test/java/org/ros2/rcljava/parameters/AsyncParametersClientTest.java"
     # "src/test/java/org/ros2/rcljava/parameters/SyncParametersClientTest.java"
     "src/test/java/org/ros2/rcljava/publisher/PublisherTest.java"
+    "src/test/java/org/ros2/rcljava/qos/QoSProfileTest.java"
     "src/test/java/org/ros2/rcljava/subscription/SubscriptionTest.java"
     "src/test/java/org/ros2/rcljava/timer/TimerTest.java"
   )
@@ -252,6 +262,7 @@ if(BUILD_TESTING)
     "org.ros2.rcljava.node.NodeTest"
     # "org.ros2.rcljava.parameters.SyncParametersClientTest"
     "org.ros2.rcljava.publisher.PublisherTest"
+    "org.ros2.rcljava.qos.QoSProfileTest"
     "org.ros2.rcljava.subscription.SubscriptionTest"
     "org.ros2.rcljava.timer.TimerTest"
   )

rcljava/include/org_ros2_rcljava_RCLJava.h

@@ -52,7 +52,8 @@ JNICALL Java_org_ros2_rcljava_RCLJava_nativeGetRMWIdentifier(JNIEnv *, jclass);
  */
 JNIEXPORT jlong
 JNICALL Java_org_ros2_rcljava_RCLJava_nativeConvertQoSProfileToHandle(
-  JNIEnv *, jclass, jint, jint, jint, jint, jboolean);
+  JNIEnv *, jclass,
+  jint, jint, jint, jint, jlong, jint, jlong, jint, jint, jlong, jint, jboolean);
 
 /*
  * Class:     org_ros2_rcljava_RCLJava

rcljava/include/org_ros2_rcljava_events_EventHandlerImpl.h

@@ -0,0 +1,45 @@
+// 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_events_EventHandlerImpl */
+
+#ifndef ORG_ROS2_RCLJAVA_EVENTS_EVENTHANDLERIMPL_H_
+#define ORG_ROS2_RCLJAVA_EVENTS_EVENTHANDLERIMPL_H_
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * Class:     org_ros2_rcljava_events_EventHandlerImpl
+ * Method:    nativeDispose
+ * Signature: (J)V
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_events_EventHandlerImpl_nativeDispose(
+  JNIEnv *, jclass, jlong event_handle);
+
+/*
+ * Class:     org_ros2_rcljava_events_EventHandlerImpl
+ * Method:    nativeTake
+ * Signature: (JJ)V
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_events_EventHandlerImpl_nativeTake(
+  JNIEnv *, jclass, jlong event_handle, jlong event_status_handle);
+
+#ifdef __cplusplus
+}
+#endif
+#endif  // ORG_ROS2_RCLJAVA_EVENTS_EVENTHANDLERIMPL_H_

rcljava/include/org_ros2_rcljava_events_publisher_statuses_LivelinessLost.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_events_publisher_statuses_LivelinessLost */
+
+#ifndef ORG_ROS2_RCLJAVA_EVENTS_PUBLISHER_STATUSES_LIVELINESSLOST_H_
+#define ORG_ROS2_RCLJAVA_EVENTS_PUBLISHER_STATUSES_LIVELINESSLOST_H_
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * Class:     org_ros2_rcljava_events_publisher_statuses_LivelinessLost
+ * Method:    nativeAllocateRCLStatusEvent
+ * Signature: ()J
+ */
+JNIEXPORT jlong JNICALL
+Java_org_ros2_rcljava_events_publisher_1statuses_LivelinessLost_nativeAllocateRCLStatusEvent(
+  JNIEnv *, jclass);
+
+/*
+ * Class:     org_ros2_rcljava_events_publisher_statuses_LivelinessLost
+ * Method:    nativeDeallocateRCLStatusEvent
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL
+Java_org_ros2_rcljava_events_publisher_1statuses_LivelinessLost_nativeDeallocateRCLStatusEvent(
+  JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_events_publisher_statuses_LivelinessLost
+ * Method:    nativeFromRCLEvent
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL
+Java_org_ros2_rcljava_events_publisher_1statuses_LivelinessLost_nativeFromRCLEvent(
+  JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_events_publisher_statuses_LivelinessLost
+ * Method:    nativeGetPublisherEventType
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_org_ros2_rcljava_events_publisher_1statuses_LivelinessLost_nativeGetPublisherEventType(
+  JNIEnv *, jclass);
+
+#ifdef __cplusplus
+}
+#endif
+#endif  // ORG_ROS2_RCLJAVA_EVENTS_PUBLISHER_STATUSES_LIVELINESSLOST_H_

rcljava/include/org_ros2_rcljava_publisher_PublisherImpl.h

@@ -38,6 +38,15 @@ JNIEXPORT void
 JNICALL Java_org_ros2_rcljava_publisher_PublisherImpl_nativeDispose(
   JNIEnv *, jclass, jlong, jlong);
 
+/*
+ * Class:     org_ros2_rcljava_publisher_PublisherImpl
+ * Method:    nativeCreateEvent
+ * Signature: (JJ)J
+ */
+JNIEXPORT jlong
+JNICALL Java_org_ros2_rcljava_publisher_PublisherImpl_nativeCreateEvent(
+  JNIEnv *, jclass, jlong, jint);
+
 #ifdef __cplusplus
 }
 #endif

rcljava/src/main/cpp/org_ros2_rcljava_RCLJava.cpp

@@ -31,6 +31,7 @@
 
 #include "org_ros2_rcljava_RCLJava.h"
 
+using rcljava_common::exceptions::rcljava_throw_exception;
 using rcljava_common::exceptions::rcljava_throw_rclexception;
 using rcljava_common::signatures::convert_from_java_signature;
 using rcljava_common::signatures::convert_to_java_signature;
@@ -152,9 +153,31 @@ Java_org_ros2_rcljava_RCLJava_nativeGetRMWIdentifier(JNIEnv * env, jclass)
   return env->NewStringUTF(rmw_implementation_identifier);
 }
 
+#define RCLJAVA_QOS_SET_RMW_TIME(qos_profile, policy_name, seconds, nanos) \
+  do { \
+    if (seconds < 0) { \
+      rcljava_throw_exception( \
+        env, "java/lang/IllegalArgumentException", \
+        "seconds must not be negative for " #policy_name); \
+      free(qos_profile); \
+      return 0; \
+    } \
+    if (nanos < 0) { \
+      rcljava_throw_exception( \
+        env, "java/lang/IllegalArgumentException", \
+        "nanoseconds must not be negative for " #policy_name); \
+      free(qos_profile); \
+      return 0; \
+    } \
+    qos_profile->policy_name.sec = static_cast<uint64_t>(seconds); \
+    qos_profile->policy_name.nsec = static_cast<uint64_t>(nanos); \
+  } while (0)
+
 JNIEXPORT jlong JNICALL
 Java_org_ros2_rcljava_RCLJava_nativeConvertQoSProfileToHandle(
-  JNIEnv *, jclass, jint history, jint depth, jint reliability, jint durability,
+  JNIEnv * env, jclass, jint history, jint depth, jint reliability, jint durability,
+  jlong deadline_sec, jint deadline_nanos, jlong lifespan_sec, jint lifespan_nanos,
+  jint liveliness, jlong liveliness_lease_sec, jint liveliness_lease_nanos,
   jboolean avoidROSNamespaceConventions)
 {
   rmw_qos_profile_t * qos_profile =
@@ -163,11 +186,11 @@ Java_org_ros2_rcljava_RCLJava_nativeConvertQoSProfileToHandle(
   qos_profile->depth = depth;
   qos_profile->reliability = static_cast<rmw_qos_reliability_policy_t>(reliability);
   qos_profile->durability = static_cast<rmw_qos_durability_policy_t>(durability);
-  // TODO(jacobperron): Expose deadline, lifespan, and liveliness settings as parameters
-  qos_profile->deadline = rmw_qos_profile_default.deadline;
-  qos_profile->lifespan = rmw_qos_profile_default.lifespan;
-  qos_profile->liveliness = rmw_qos_profile_default.liveliness;
-  qos_profile->liveliness_lease_duration = rmw_qos_profile_default.liveliness_lease_duration;
+  RCLJAVA_QOS_SET_RMW_TIME(qos_profile, deadline, deadline_sec, deadline_nanos);
+  RCLJAVA_QOS_SET_RMW_TIME(qos_profile, lifespan, lifespan_sec, lifespan_nanos);
+  qos_profile->liveliness = static_cast<rmw_qos_liveliness_policy_t>(liveliness);
+  RCLJAVA_QOS_SET_RMW_TIME(
+    qos_profile, liveliness_lease_duration, liveliness_lease_sec, liveliness_lease_nanos);
   qos_profile->avoid_ros_namespace_conventions = avoidROSNamespaceConventions;
   return reinterpret_cast<jlong>(qos_profile);
 }

rcljava/src/main/cpp/org_ros2_rcljava_events_EventHandlerImpl.cpp

@@ -0,0 +1,72 @@
+// 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>
+
+#include <string>
+
+#include "rcl/error_handling.h"
+#include "rcl/event.h"
+
+#include "rcljava_common/exceptions.hpp"
+
+#include "org_ros2_rcljava_events_EventHandlerImpl.h"
+
+using rcljava_common::exceptions::rcljava_throw_exception;
+using rcljava_common::exceptions::rcljava_throw_rclexception;
+
+JNIEXPORT void JNICALL
+Java_org_ros2_rcljava_events_EventHandlerImpl_nativeDispose(
+  JNIEnv * env, jclass, jlong event_handle)
+{
+  if (event_handle == 0) {
+    // everything is ok, already destroyed
+    return;
+  }
+
+  auto * event = reinterpret_cast<rcl_event_t *>(event_handle);
+
+  rcl_ret_t ret = rcl_event_fini(event);
+
+  if (RCL_RET_OK != ret) {
+    std::string msg = "Failed to destroy event: " + std::string(rcl_get_error_string().str);
+    rcl_reset_error();
+    rcljava_throw_exception(env, "java/lang/IllegalStateException", msg);
+  }
+}
+
+JNIEXPORT void JNICALL
+Java_org_ros2_rcljava_events_EventHandlerImpl_nativeTake(
+  JNIEnv * env, jclass, jlong event_handle, jlong event_status_handle)
+{
+  auto * event = reinterpret_cast<rcl_event_t *>(event_handle);
+  if (!event) {
+    rcljava_throw_exception(
+      env,
+      "java/lang/IllegalArgumentException",
+      "The underlying rcl_event_t has been already disposed");
+  }
+  void * event_status = reinterpret_cast<void *>(event_status_handle);
+  if (!event_status) {
+    rcljava_throw_exception(
+      env,
+      "java/lang/IllegalArgumentException",
+      "The passed event status is NULL");
+  }
+  rcl_ret_t ret = rcl_take_event(event, event_status);
+  if (RCL_RET_OK != ret) {
+    rcljava_throw_rclexception(env, ret, rcl_get_error_string().str);
+    rcl_reset_error();
+  }
+}

rcljava/src/main/cpp/org_ros2_rcljava_events_publisher_statuses_LivelinessLost.cpp

@@ -0,0 +1,73 @@
+// 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_events_publisher_statuses_LivelinessLost.h"
+
+#include <jni.h>
+#include <stdlib.h>
+
+#include "rmw/events_statuses/liveliness_lost.h"
+#include "rcl/event.h"
+#include "rcljava_common/exceptions.hpp"
+
+using rcljava_common::exceptions::rcljava_throw_exception;
+
+JNIEXPORT jlong JNICALL
+Java_org_ros2_rcljava_events_publisher_1statuses_LivelinessLost_nativeAllocateRCLStatusEvent(
+  JNIEnv * env, jclass)
+{
+  void * p = malloc(sizeof(rmw_liveliness_lost_status_t));
+  if (!p) {
+    rcljava_throw_exception(
+      env, "java/lang/OutOfMemoryError", "failed to allocate liveliness lost status");
+  }
+  return reinterpret_cast<jlong>(p);
+}
+
+JNIEXPORT void JNICALL
+Java_org_ros2_rcljava_events_publisher_1statuses_LivelinessLost_nativeDeallocateRCLStatusEvent(
+  JNIEnv *, jclass, jlong handle)
+{
+  free(reinterpret_cast<void *>(handle));
+}
+
+JNIEXPORT void JNICALL
+Java_org_ros2_rcljava_events_publisher_1statuses_LivelinessLost_nativeFromRCLEvent(
+  JNIEnv * env, jobject self, jlong handle)
+{
+  auto * p = reinterpret_cast<rmw_liveliness_lost_status_t *>(handle);
+  if (!p) {
+    rcljava_throw_exception(
+      env, "java/lang/IllegalArgumentException", "passed rmw object handle is NULL");
+  }
+  // TODO(ivanpauno): class and field lookup could be done at startup time
+  jclass clazz = env->GetObjectClass(self);
+  jfieldID total_count_fid = env->GetFieldID(clazz, "total_count", "I");
+  if (env->ExceptionCheck()) {
+    return;
+  }
+  jfieldID total_count_change_fid = env->GetFieldID(clazz, "total_count_change", "I");
+  if (env->ExceptionCheck()) {
+    return;
+  }
+  env->SetIntField(self, total_count_fid, p->total_count);
+  env->SetIntField(self, total_count_change_fid, p->total_count_change);
+}
+
+JNIEXPORT jint JNICALL
+Java_org_ros2_rcljava_events_publisher_1statuses_LivelinessLost_nativeGetPublisherEventType(
+  JNIEnv *, jclass)
+{
+  return RCL_PUBLISHER_LIVELINESS_LOST;
+}