Port many graph introspection features from osrf fork

rcljava/CMakeLists.txt

@@ -6,6 +6,7 @@ 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(rcpputils REQUIRED)
 find_package(rcl REQUIRED)
 find_package(rcl_interfaces REQUIRED)
 find_package(rcljava_common REQUIRED)
@@ -61,11 +62,13 @@ set(${PROJECT_NAME}_jni_sources
   "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"
@@ -102,10 +105,11 @@ foreach(_jni_source ${${PROJECT_NAME}_jni_sources})
   endif()
 
   ament_target_dependencies(${_target_name}
+    "builtin_interfaces"
     "rcl"
     "rcljava_common"
-    "builtin_interfaces"
     "rcl_interfaces"
+    "rcpputils"
   )
 
   target_include_directories(${_target_name}
@@ -140,14 +144,14 @@ set(${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"
@@ -169,6 +173,9 @@ 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"

rcljava/include/org_ros2_rcljava_graph_EndpointInfo.h

@@ -0,0 +1,34 @@
+// 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_graph_EndpointInfo */
+
+#ifndef ORG_ROS2_RCLJAVA_GRAPH_ENDPOINTINFO_H_
+#define ORG_ROS2_RCLJAVA_GRAPH_ENDPOINTINFO_H_
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     org_ros2_rcljava_graph_EndpointInfo
+ * Method:    nativeFromRCL
+ * Signature: (J)V
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_graph_EndpointInfo_nativeFromRCL(JNIEnv *, jobject, jlong);
+
+#ifdef __cplusplus
+}
+#endif
+#endif  // ORG_ROS2_RCLJAVA_GRAPH_ENDPOINTINFO_H_

rcljava/include/org_ros2_rcljava_node_NodeImpl.h

@@ -92,6 +92,51 @@ JNIEXPORT jlong
 JNICALL Java_org_ros2_rcljava_node_NodeImpl_nativeCreateTimerHandle(
   JNIEnv *, jclass, jlong, jlong, jlong);
 
+/*
+ * Class:     org_ros2_rcljava_node_NodeImpl
+ * Method:    nativeGetNodeNames
+ * Signature: (JLjava/util/List;)V
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_node_NodeImpl_nativeGetNodeNames(
+  JNIEnv *, jclass, jlong, jobject);
+
+/*
+ * Class:     org_ros2_rcljava_node_NodeImpl
+ * Method:    nativeGetTopicNamesAndTypes
+ * Signature: (JLjava/util/Collection;)V
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_node_NodeImpl_nativeGetTopicNamesAndTypes(
+  JNIEnv *, jclass, jlong, jobject);
+
+/*
+ * Class:     org_ros2_rcljava_node_NodeImpl
+ * Method:    nativeGetServiceNamesAndTypes
+ * Signature: (JLjava/util/Collection;)V
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_node_NodeImpl_nativeGetServiceNamesAndTypes(
+  JNIEnv *, jclass, jlong, jobject);
+
+/*
+ * Class:     org_ros2_rcljava_node_NodeImpl
+ * Method:    nativeGetPublishersInfo
+ * Signature: (JLjava/lang/String;Ljava/util/List;)V
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_node_NodeImpl_nativeGetPublishersInfo(
+  JNIEnv *, jclass, jlong, jstring, jobject);
+
+/*
+ * Class:     org_ros2_rcljava_node_NodeImpl
+ * Method:    nativeGetSubscriptionsInfo
+ * Signature: (JLjava/lang/String;Ljava/util/List;)V
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_node_NodeImpl_nativeGetSubscriptionsInfo(
+  JNIEnv *, jclass, jlong, jstring, jobject);
+
 #ifdef __cplusplus
 }
 #endif

rcljava/include/org_ros2_rcljava_qos_QoSProfile.h

@@ -0,0 +1,41 @@
+// 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_qos_QoSProfile */
+
+#ifndef ORG_ROS2_RCLJAVA_QOS_QOSPROFILE_H_
+#define ORG_ROS2_RCLJAVA_QOS_QOSPROFILE_H_
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     org_ros2_rcljava_qos_QoSProfile
+ * Method:    nativeFromRCL
+ * Signature: (J)V
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_qos_QoSProfile_nativeFromRCL(JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_qos_QoSProfile
+ * Method:    nativeGetHandleFromName
+ * Signature: (Ljava/lang/String;)J
+ */
+JNIEXPORT jlong
+JNICALL Java_org_ros2_rcljava_qos_QoSProfile_nativeGetHandleFromName(JNIEnv *, jclass, jstring);
+#ifdef __cplusplus
+}
+#endif
+#endif  // ORG_ROS2_RCLJAVA_QOS_QOSPROFILE_H_

rcljava/package.xml

@@ -15,6 +15,7 @@
   <build_depend>builtin_interfaces</build_depend>
   <build_depend>rcl_interfaces</build_depend>
   <build_depend>rcl</build_depend>
+  <build_depend>rcpputils</build_depend>
   <build_depend>rmw_implementation_cmake</build_depend>
   <build_depend>rmw</build_depend>
   <build_depend>rosidl_generator_c</build_depend>
@@ -29,6 +30,7 @@
   <exec_depend>builtin_interfaces</exec_depend>
   <exec_depend>rcl_interfaces</exec_depend>
   <exec_depend>rcl</exec_depend>
+  <exec_depend>rcpputils</exec_depend>
   <exec_depend>rmw_implementation_cmake</exec_depend>
   <exec_depend>rmw_implementation</exec_depend>
   <exec_depend>rosidl_runtime_c</exec_depend>

rcljava/src/main/cpp/org_ros2_rcljava_graph_EndpointInfo.cpp

@@ -0,0 +1,109 @@
+// 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_graph_EndpointInfo.h"
+
+#include <jni.h>
+#include <limits>
+
+#include "rcl/graph.h"
+#include "rcljava_common/exceptions.hpp"
+
+using rcljava_common::exceptions::rcljava_throw_exception;
+
+JNIEXPORT void JNICALL
+Java_org_ros2_rcljava_graph_EndpointInfo_nativeFromRCL(JNIEnv * env, jobject self, jlong handle)
+{
+  auto * p = reinterpret_cast<rcl_topic_endpoint_info_t *>(handle);
+  if (!p) {
+    rcljava_throw_exception(
+      env, "java/lang/IllegalArgumentException", "passed rcl endpoint info handle is NULL");
+    return;
+  }
+  const char * endpoint_type_enum_path =
+    "Lorg/ros2/rcljava/graph/EndpointInfo$EndpointType;";
+  // TODO(ivanpauno): class and field lookup could be done at startup time
+  jclass endpoint_type_clazz = env->FindClass("org/ros2/rcljava/graph/EndpointInfo$EndpointType");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jclass clazz = env->GetObjectClass(self);
+  jfieldID node_name_fid = env->GetFieldID(clazz, "nodeName", "Ljava/lang/String;");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jfieldID node_namespace_fid = env->GetFieldID(clazz, "nodeNamespace", "Ljava/lang/String;");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jfieldID topic_type_fid = env->GetFieldID(clazz, "topicType", "Ljava/lang/String;");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jfieldID endpoint_type_fid = env->GetFieldID(clazz, "endpointType", endpoint_type_enum_path);
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jfieldID endpoint_gid_fid = env->GetFieldID(clazz, "endpointGID", "[B");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jfieldID qos_fid = env->GetFieldID(clazz, "qos", "Lorg/ros2/rcljava/qos/QoSProfile;");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+
+  jstring jnode_name = env->NewStringUTF(p->node_name);
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  env->SetObjectField(self, node_name_fid, jnode_name);
+  jstring jnode_namespace = env->NewStringUTF(p->node_namespace);
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  env->SetObjectField(self, node_namespace_fid, jnode_namespace);
+  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;
+  switch (p->endpoint_type) {
+    case RMW_ENDPOINT_INVALID:
+      enum_value_fid = env->GetStaticFieldID(
+        endpoint_type_clazz, "INVALID", endpoint_type_enum_path);
+      break;
+    case RMW_ENDPOINT_PUBLISHER:
+      enum_value_fid = env->GetStaticFieldID(
+        endpoint_type_clazz, "PUBLISHER", endpoint_type_enum_path);
+      break;
+    case RMW_ENDPOINT_SUBSCRIPTION:
+      enum_value_fid = env->GetStaticFieldID(
+        endpoint_type_clazz, "SUBSCRIPTION", endpoint_type_enum_path);
+      break;
+    default:
+      rcljava_throw_exception(
+        env, "java/lang/IllegalArgumentException", "unknown endpoint type");
+      break;
+  }
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jobject enum_value = env->GetStaticObjectField(endpoint_type_clazz, enum_value_fid);
+  env->SetObjectField(self, endpoint_type_fid, enum_value);
+  jbyteArray jgid = env->NewByteArray(RMW_GID_STORAGE_SIZE);
+  if (jgid == NULL) {
+    rcljava_throw_exception(
+      env, "java/lang/OutOfMemoryError", "cannot allocate java gid byte array");
+    return;
+  }
+  jbyte * gid_content = env->GetByteArrayElements(jgid, nullptr);
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  for (size_t i = 0; i < RMW_GID_STORAGE_SIZE; ++i) {
+    gid_content[i] = p->endpoint_gid[i];
+  }
+  env->ReleaseByteArrayElements(jgid, gid_content, 0);
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  env->SetObjectField(self, endpoint_gid_fid, jgid);
+  jclass qos_clazz = env->FindClass("org/ros2/rcljava/qos/QoSProfile");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jmethodID qos_init_mid = env->GetMethodID(qos_clazz, "<init>", "()V");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jobject jqos = env->NewObject(qos_clazz, qos_init_mid);
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  jmethodID qos_from_rcl_mid = env->GetMethodID(qos_clazz, "nativeFromRCL", "(J)V");
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  env->CallObjectMethod(jqos, qos_from_rcl_mid, &p->qos_profile);
+  RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+  env->SetObjectField(self, qos_fid, jqos);
+}