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Port changes from osrf/galactic-devel #215

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ae53ab7
Add MessageLost subscription event status (osrf/ros2_java#29)
ivanpauno Sep 2, 2020
c63d806
Add convenient error handling macros (osrf/ros2_java#30)
ivanpauno Sep 3, 2020
56b6135
Update qos profile -- take 2 (osrf/ros2_java#25)
ivanpauno Sep 9, 2020
2a03d23
Add get topic names and type method to Node class (osrf/ros2_java#32)
ivanpauno Sep 10, 2020
dfea329
Add getPublishersInfo method to Node (osrf/ros2_java#26)
ivanpauno Sep 11, 2020
83c0681
Add get node names method to Node class (osrf/ros2_java#31)
ivanpauno Sep 16, 2020
9a5ca1b
Use rcpputils::scope_exit in native getTopicNamesAndTypes Node method…
ivanpauno Sep 16, 2020
8c2054d
Add getSubscriptionsInfo to Node class (osrf/ros2_java#27)
ivanpauno Sep 17, 2020
158f7c7
Implement nativeGetServiceNamesAndTypes method (osrf/ros2_java#33)
ivanpauno Sep 17, 2020
a938544
Log error if calls to dispose fail (osrf/ros2_java#40)
jacobperron Sep 18, 2020
60ac293
Add get publishers by node (osrf/ros2_java#34)
ivanpauno Sep 18, 2020
54ebfb3
Revamp Time (osrf/ros2_java#6)
clalancette Aug 24, 2020
6952494
Document TimeSource class (osrf/ros2_java#21)
jacobperron Aug 25, 2020
e8837c8
Add tests for TimeSource (osrf/ros2_java#22)
jacobperron Sep 17, 2020
6cfc727
Support wall-time and ROS-time timers (osrf/ros2_java#39)
jacobperron Sep 18, 2020
aa9f8d7
Add getClock method to Node interface (osrf/ros2_java#43)
jacobperron Sep 22, 2020
9487121
Add get subscription names and types by node method to Node class (os…
ivanpauno Sep 22, 2020
43e9d32
Add getServiceNamesAndTypes method to Node class (osrf/ros2_java#36)
ivanpauno Sep 22, 2020
9787870
Add getClientNamesAndTypes by Node (osrf/ros2_java#37)
ivanpauno Sep 23, 2020
6a94c9d
Add toMsg method to Time class (osrf/ros2_java#44)
jacobperron Sep 23, 2020
d6523f3
Pass command line arguments in context init method (osrf/ros2_java#45)
ivanpauno Sep 29, 2020
a65edc5
Initialize parameter services based on node options (osrf/ros2_java#46)
ivanpauno Sep 30, 2020
e4ebbdb
Fix issues with parameters descriptors (osrf/ros2_java#50)
jacobperron Nov 10, 2020
0b20500
Allow undeclared parameters in parameters client tests
jacobperron Nov 10, 2020
a4d41d9
Fix spinSome logic (osrf/ros2_java#49)
jacobperron Nov 10, 2020
622982e
Enable and fix AsyncParametersClientTest (osrf/ros2_java#51)
jacobperron Nov 11, 2020
884963b
Use array instead of List for ROS message types (osrf/ros2_java#55)
jacobperron Jan 7, 2021
15a1567
Add action interfaces for goal request and goal response (osrf/ros2_j…
jacobperron Jan 20, 2021
d2ea45d
Add action server with logic for accepting and canceling goals (osrf/…
jacobperron Jan 21, 2021
5374f31
Build sources jar for rcljava (osrf/ros2_java#56)
gonzodepedro Mar 30, 2021
1b00e9e
Add source jars generation for rosidl_generator_java (osrf/ros2_java#57)
gonzodepedro Apr 7, 2021
6819ecc
Add transition from accepted to executing in the action server (osrf/…
ivanpauno Apr 13, 2021
95b25c3
Do not use multiple message types in the same topic (osrf/ros2_java#61)
ivanpauno Apr 14, 2021
e6ca69b
Use action FeedbackMessage and not Feedback message type to subscribe…
ivanpauno Apr 14, 2021
8747a58
Added namespace constructor to BaseComposableNode (osrf/ros2_java#62)
jgyorfi Apr 14, 2021
b191b8b
Added sources for rcljava_common (osrf/ros2_java#64)
gonzodepedro May 4, 2021
9577ed8
Complete action server implementation (osrf/ros2_java#65)
ivanpauno May 7, 2021
2775f66
Ignore unused vm argument in JNI_OnUnload (osrf/ros2_java#67)
ivanpauno May 13, 2021
822f613
Log debug message when jni library is loaded, not info message (osrf/…
ivanpauno May 13, 2021
3c0e575
Fix MessageLost native methods names causing loading issues (osrf/ros…
ivanpauno May 13, 2021
51d6fb8
Fix cpp compiler warnings (osrf/ros2_java#71)
ivanpauno May 14, 2021
8753c5b
Fix some java compiler warnings (osrf/ros2_java#72)
ivanpauno May 17, 2021
141e5d4
Fix linter issues in rosidl_generator_java and in its generated code …
ivanpauno May 18, 2021
8b88b39
Cleanup service/client creation code (osrf/ros2_java#74)
ivanpauno May 21, 2021
616c22e
Add methods to create a parameter client in Node (osrf/ros2_java#75)
ivanpauno Jun 1, 2021
3b01f34
Fix rosidl_generator_java_warnings (osrf/ros2_java#77)
ivanpauno Jul 9, 2021
775d1bb
Avoid blocking forever in RCLFuture.get() with timeout (osrf/ros2_jav…
jacobperron Jul 12, 2021
c383fdf
Refactor future implementation (osrf/ros2_java#80)
ivanpauno Jul 29, 2021
509a7cd
Add remove pending request method (osrf/ros2_java#81)
ivanpauno Oct 12, 2021
58aa351
Add method to prune pending requests in client (osrf/ros2_java#82)
ivanpauno Nov 2, 2021
e7bdfa4
Fix some java compiler warnings (osrf/ros2_java#79)
ivanpauno Nov 15, 2021
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113 changes: 103 additions & 10 deletions rcljava/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -2,15 +2,19 @@ cmake_minimum_required(VERSION 3.5)

project(rcljava)

find_package(action_msgs REQUIRED)
find_package(ament_cmake REQUIRED)
find_package(ament_cmake_export_jars REQUIRED)
find_package(ament_cmake_export_jni_libraries REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(rcl REQUIRED)
find_package(rcl_action REQUIRED)
find_package(rcl_interfaces REQUIRED)
find_package(rcljava_common REQUIRED)
find_package(rmw REQUIRED)
find_package(rmw_implementation_cmake REQUIRED)
find_package(rosgraph_msgs REQUIRED)
find_package(unique_identifier_msgs REQUIRED)

include(CrossCompilingExtra)

Expand Down Expand Up @@ -56,23 +60,28 @@ endif()
set(${PROJECT_NAME}_jni_sources
"src/main/cpp/org_ros2_rcljava_RCLJava.cpp"
"src/main/cpp/org_ros2_rcljava_Time.cpp"
"src/main/cpp/org_ros2_rcljava_action_ActionServerImpl.cpp"
"src/main/cpp/org_ros2_rcljava_action_ActionServerImpl_GoalHandleImpl.cpp"
"src/main/cpp/org_ros2_rcljava_client_ClientImpl.cpp"
"src/main/cpp/org_ros2_rcljava_contexts_ContextImpl.cpp"
"src/main/cpp/org_ros2_rcljava_detail_QosIncompatibleStatus.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_graph_EndpointInfo"
"src/main/cpp/org_ros2_rcljava_publisher_statuses_LivelinessLost.cpp"
"src/main/cpp/org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed.cpp"
"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"
"src/main/cpp/org_ros2_rcljava_subscription_statuses_MessageLost.cpp"
"src/main/cpp/org_ros2_rcljava_subscription_statuses_RequestedDeadlineMissed.cpp"
"src/main/cpp/org_ros2_rcljava_subscription_statuses_RequestedQosIncompatible.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})
Expand Down Expand Up @@ -101,10 +110,14 @@ foreach(_jni_source ${${PROJECT_NAME}_jni_sources})
endif()

ament_target_dependencies(${_target_name}
"rcl"
"rcljava_common"
"action_msgs"
"builtin_interfaces"
"rcl"
"rcl_action"
"rcl_interfaces"
"rcljava_common"
"rosgraph_msgs"
"unique_identifier_msgs"
)

target_include_directories(${_target_name}
Expand All @@ -124,8 +137,15 @@ endforeach()
set(${PROJECT_NAME}_sources
"src/main/java/org/ros2/rcljava/RCLJava.java"
"src/main/java/org/ros2/rcljava/Time.java"
"src/main/java/org/ros2/rcljava/action/ActionServer.java"
"src/main/java/org/ros2/rcljava/action/ActionServerGoalHandle.java"
"src/main/java/org/ros2/rcljava/action/ActionServerImpl.java"
"src/main/java/org/ros2/rcljava/action/CancelCallback.java"
"src/main/java/org/ros2/rcljava/action/GoalCallback.java"
"src/main/java/org/ros2/rcljava/action/GoalStatus.java"
"src/main/java/org/ros2/rcljava/client/Client.java"
"src/main/java/org/ros2/rcljava/client/ClientImpl.java"
"src/main/java/org/ros2/rcljava/client/ResponseFuture.java"
"src/main/java/org/ros2/rcljava/concurrent/Callback.java"
"src/main/java/org/ros2/rcljava/concurrent/RCLFuture.java"
"src/main/java/org/ros2/rcljava/contexts/Context.java"
Expand All @@ -139,14 +159,14 @@ set(${PROJECT_NAME}_sources
"src/main/java/org/ros2/rcljava/events/EventStatus.java"
"src/main/java/org/ros2/rcljava/events/PublisherEventStatus.java"
"src/main/java/org/ros2/rcljava/events/SubscriptionEventStatus.java"
"src/main/java/org/ros2/rcljava/publisher/statuses/LivelinessLost.java"
"src/main/java/org/ros2/rcljava/publisher/statuses/OfferedDeadlineMissed.java"
"src/main/java/org/ros2/rcljava/publisher/statuses/OfferedQosIncompatible.java"
"src/main/java/org/ros2/rcljava/graph/NameAndTypes.java"
"src/main/java/org/ros2/rcljava/graph/NodeNameInfo.java"
"src/main/java/org/ros2/rcljava/executors/AnyExecutable.java"
"src/main/java/org/ros2/rcljava/executors/BaseExecutor.java"
"src/main/java/org/ros2/rcljava/executors/Executor.java"
"src/main/java/org/ros2/rcljava/executors/MultiThreadedExecutor.java"
"src/main/java/org/ros2/rcljava/executors/SingleThreadedExecutor.java"
"src/main/java/org/ros2/rcljava/graph/EndpointInfo.java"
"src/main/java/org/ros2/rcljava/node/BaseComposableNode.java"
"src/main/java/org/ros2/rcljava/node/ComposableNode.java"
"src/main/java/org/ros2/rcljava/node/Node.java"
Expand All @@ -168,6 +188,9 @@ set(${PROJECT_NAME}_sources
"src/main/java/org/ros2/rcljava/parameters/service/ParameterServiceImpl.java"
"src/main/java/org/ros2/rcljava/publisher/Publisher.java"
"src/main/java/org/ros2/rcljava/publisher/PublisherImpl.java"
"src/main/java/org/ros2/rcljava/publisher/statuses/LivelinessLost.java"
"src/main/java/org/ros2/rcljava/publisher/statuses/OfferedDeadlineMissed.java"
"src/main/java/org/ros2/rcljava/publisher/statuses/OfferedQosIncompatible.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"
Expand All @@ -180,11 +203,14 @@ set(${PROJECT_NAME}_sources
"src/main/java/org/ros2/rcljava/subscription/Subscription.java"
"src/main/java/org/ros2/rcljava/subscription/SubscriptionImpl.java"
"src/main/java/org/ros2/rcljava/subscription/statuses/LivelinessChanged.java"
"src/main/java/org/ros2/rcljava/subscription/statuses/MessageLost.java"
"src/main/java/org/ros2/rcljava/subscription/statuses/RequestedDeadlineMissed.java"
"src/main/java/org/ros2/rcljava/subscription/statuses/RequestedQosIncompatible.java"
"src/main/java/org/ros2/rcljava/time/Clock.java"
"src/main/java/org/ros2/rcljava/time/ClockType.java"
"src/main/java/org/ros2/rcljava/time/TimeSource.java"
"src/main/java/org/ros2/rcljava/timer/Timer.java"
"src/main/java/org/ros2/rcljava/timer/TimerImpl.java"
"src/main/java/org/ros2/rcljava/timer/WallTimer.java"
"src/main/java/org/ros2/rcljava/timer/WallTimerImpl.java"
)
Expand All @@ -194,17 +220,32 @@ add_jar("${PROJECT_NAME}_jar"
OUTPUT_NAME
${PROJECT_NAME}
INCLUDE_JARS
${rcljava_common_JARS}
${action_msgs_JARS}
${builtin_interfaces_JARS}
${rcl_interfaces_JARS}
${rcljava_common_JARS}
${rosgraph_msgs_JARS}
${unique_identifier_msgs_JARS}
)

install_jar("${PROJECT_NAME}_jar" "share/${PROJECT_NAME}/java")
ament_export_jars("share/${PROJECT_NAME}/java/${PROJECT_NAME}.jar")

add_source_jar("${PROJECT_NAME}-source_jar"
${${PROJECT_NAME}_sources}
OUTPUT_NAME
${PROJECT_NAME}-source
)

install_jar("${PROJECT_NAME}-source_jar" "share/${PROJECT_NAME}/java")
ament_export_jars("share/${PROJECT_NAME}/java/${PROJECT_NAME}-source.jar")


if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
find_package(std_msgs REQUIRED)
find_package(mockito_vendor REQUIRED)
find_package(test_msgs REQUIRED)
ament_lint_auto_find_test_dependencies()

set(${PROJECT_NAME}_message_files
Expand Down Expand Up @@ -232,8 +273,11 @@ if(BUILD_TESTING)
${${PROJECT_NAME}_message_files}
${${PROJECT_NAME}_service_files}
DEPENDENCIES
action_msgs
builtin_interfaces
rcl_interfaces
rosgraph_msgs
unique_identifier_msgs
${_java_type_supports}
SKIP_INSTALL
)
Expand All @@ -250,32 +294,40 @@ if(BUILD_TESTING)
"src/test/java/org/ros2/rcljava/RCLJavaTest.java"
"src/test/java/org/ros2/rcljava/SpinTest.java"
"src/test/java/org/ros2/rcljava/TimeTest.java"
"src/test/java/org/ros2/rcljava/action/ActionServerTest.java"
"src/test/java/org/ros2/rcljava/action/MockActionClient.java"
"src/test/java/org/ros2/rcljava/client/ClientTest.java"
"src/test/java/org/ros2/rcljava/contexts/ContextTest.java"
"src/test/java/org/ros2/rcljava/node/NodeOptionsTest.java"
"src/test/java/org/ros2/rcljava/node/NodeParametersTest.java"
"src/test/java/org/ros2/rcljava/node/NodeUndeclaredParametersTest.java"
"src/test/java/org/ros2/rcljava/node/NodeTest.java"
# "src/test/java/org/ros2/rcljava/parameters/AsyncParametersClientTest.java"
# "src/test/java/org/ros2/rcljava/parameters/SyncParametersClientTest.java"
"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/time/TimeSourceTest.java"
"src/test/java/org/ros2/rcljava/timer/TimerTest.java"
)

set(${PROJECT_NAME}_testsuites
"org.ros2.rcljava.RCLJavaTest"
"org.ros2.rcljava.SpinTest"
"org.ros2.rcljava.TimeTest"
"org.ros2.rcljava.action.ActionServerTest"
"org.ros2.rcljava.client.ClientTest"
"org.ros2.rcljava.contexts.ContextTest"
"org.ros2.rcljava.node.NodeOptionsTest"
"org.ros2.rcljava.node.NodeParametersTest"
"org.ros2.rcljava.node.NodeUndeclaredParametersTest"
"org.ros2.rcljava.node.NodeTest"
# "org.ros2.rcljava.parameters.SyncParametersClientTest"
"org.ros2.rcljava.parameters.AsyncParametersClientTest"
"org.ros2.rcljava.parameters.SyncParametersClientTest"
"org.ros2.rcljava.publisher.PublisherTest"
"org.ros2.rcljava.qos.QoSProfileTest"
"org.ros2.rcljava.subscription.SubscriptionTest"
"org.ros2.rcljava.time.TimeSourceTest"
"org.ros2.rcljava.timer.TimerTest"
)

Expand Down Expand Up @@ -316,6 +368,42 @@ if(BUILD_TESTING)
list_append_unique(_deps_library_dirs ${_dep_dir})
endforeach()

foreach(_dep_lib ${rosgraph_msgs_interfaces_LIBRARIES})
get_filename_component(_dep_dir "${_dep_lib}" DIRECTORY)
list_append_unique(_deps_library_dirs ${_dep_dir})
endforeach()
foreach(_dep_lib ${rosgraph_msgs_JNI_LIBRARIES})
get_filename_component(_dep_dir "${_dep_lib}" DIRECTORY)
list_append_unique(_deps_library_dirs ${_dep_dir})
endforeach()

foreach(_dep_lib ${action_msgs_LIBRARIES})
get_filename_component(_dep_dir "${_dep_lib}" DIRECTORY)
list_append_unique(_deps_library_dirs ${_dep_dir})
endforeach()
foreach(_dep_lib ${action_msgs_JNI_LIBRARIES})
get_filename_component(_dep_dir "${_dep_lib}" DIRECTORY)
list_append_unique(_deps_library_dirs ${_dep_dir})
endforeach()

foreach(_dep_lib ${unique_identifier_msgs_LIBRARIES})
get_filename_component(_dep_dir "${_dep_lib}" DIRECTORY)
list_append_unique(_deps_library_dirs ${_dep_dir})
endforeach()
foreach(_dep_lib ${unique_identifier_msgs_JNI_LIBRARIES})
get_filename_component(_dep_dir "${_dep_lib}" DIRECTORY)
list_append_unique(_deps_library_dirs ${_dep_dir})
endforeach()

foreach(_dep_lib ${test_msgs_LIBRARIES})
get_filename_component(_dep_dir "${_dep_lib}" DIRECTORY)
list_append_unique(_deps_library_dirs ${_dep_dir})
endforeach()
foreach(_dep_lib ${test_msgs_JNI_LIBRARIES})
get_filename_component(_dep_dir "${_dep_lib}" DIRECTORY)
list_append_unique(_deps_library_dirs ${_dep_dir})
endforeach()

list_append_unique(_deps_library_dirs ${CMAKE_CURRENT_BINARY_DIR})
list_append_unique(_deps_library_dirs ${CMAKE_CURRENT_BINARY_DIR}/rcljava)
list_append_unique(_deps_library_dirs ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_java/rcljava/msg/)
Expand All @@ -331,11 +419,16 @@ if(BUILD_TESTING)
TESTS
"${testsuite}"
INCLUDE_JARS
"${action_msgs_JARS}"
"${rcljava_common_JARS}"
"${rcljava_test_msgs_JARS}"
"${std_msgs_JARS}"
"${builtin_interfaces_JARS}"
"${rcl_interfaces_JARS}"
"${rosgraph_msgs_JARS}"
"${test_msgs_JARS}"
"${mockito_vendor_JARS}"
"${unique_identifier_msgs_JARS}"
"${_${PROJECT_NAME}_jar_file}"
"${_${PROJECT_NAME}_messages_jar_file}"
APPEND_LIBRARY_DIRS
Expand Down
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