Add offered qos incompatible event and event executor test

rcljava/CMakeLists.txt

@@ -61,6 +61,7 @@ set(${PROJECT_NAME}_jni_sources
   "src/main/cpp/org_ros2_rcljava_executors_BaseExecutor.cpp"
   "src/main/cpp/org_ros2_rcljava_events_EventHandlerImpl.cpp"
   "src/main/cpp/org_ros2_rcljava_events_publisher_statuses_LivelinessLost.cpp"
+  "src/main/cpp/org_ros2_rcljava_events_publisher_statuses_OfferedQosIncompatible.cpp"
   "src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp"
   "src/main/cpp/org_ros2_rcljava_publisher_PublisherImpl.cpp"
   "src/main/cpp/org_ros2_rcljava_service_ServiceImpl.cpp"
@@ -133,6 +134,7 @@ set(${PROJECT_NAME}_sources
   "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/events/publisher_statuses/OfferedQosIncompatible.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"

rcljava/include/org_ros2_rcljava_events_publisher_statuses_OfferedQosIncompatible.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_OfferedQosIncompatible */
+
+#ifndef ORG_ROS2_RCLJAVA_EVENTS_PUBLISHER_STATUSES_OFFEREDQOSINCOMPATIBLE_H_
+#define ORG_ROS2_RCLJAVA_EVENTS_PUBLISHER_STATUSES_OFFEREDQOSINCOMPATIBLE_H_
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * Class:     org_ros2_rcljava_events_publisher_statuses_OfferedQosIncompatible
+ * Method:    nAllocateRCLStatusEvent
+ * Signature: ()J
+ */
+JNIEXPORT jlong JNICALL
+Java_org_ros2_rcljava_events_publisher_1statuses_OfferedQosIncompatible_nAllocateRCLStatusEvent(
+  JNIEnv *, jclass);
+
+/*
+ * Class:     org_ros2_rcljava_events_publisher_statuses_OfferedQosIncompatible
+ * Method:    nDeallocateRCLStatusEvent
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL
+Java_org_ros2_rcljava_events_publisher_1statuses_OfferedQosIncompatible_nDeallocateRCLStatusEvent(
+  JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_events_publisher_statuses_OfferedQosIncompatible
+ * Method:    nFromRCLEvent
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL
+Java_org_ros2_rcljava_events_publisher_1statuses_OfferedQosIncompatible_nFromRCLEvent(
+  JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_events_publisher_statuses_OfferedQosIncompatible
+ * Method:    nGetPublisherEventType
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_org_ros2_rcljava_events_publisher_1statuses_OfferedQosIncompatible_nGetPublisherEventType(
+  JNIEnv *, jclass);
+
+#ifdef __cplusplus
+}
+#endif
+#endif  // ORG_ROS2_RCLJAVA_EVENTS_PUBLISHER_STATUSES_OFFEREDQOSINCOMPATIBLE_H_

rcljava/src/main/cpp/org_ros2_rcljava_events_publisher_statuses_LivelinessLost.cpp

@@ -17,7 +17,7 @@
 #include <jni.h>
 #include <stdlib.h>
 
-#include "rmw/events_statuses/liveliness_lost.h"
+#include "rmw/types.h"
 #include "rcl/event.h"
 #include "rcljava_common/exceptions.hpp"
 
@@ -53,11 +53,11 @@ Java_org_ros2_rcljava_events_publisher_1statuses_LivelinessLost_nativeFromRCLEve
   }
   // 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");
+  jfieldID total_count_fid = env->GetFieldID(clazz, "totalCount", "I");
   if (env->ExceptionCheck()) {
     return;
   }
-  jfieldID total_count_change_fid = env->GetFieldID(clazz, "total_count_change", "I");
+  jfieldID total_count_change_fid = env->GetFieldID(clazz, "totalCountChange", "I");
   if (env->ExceptionCheck()) {
     return;
   }

rcljava/src/main/cpp/org_ros2_rcljava_events_publisher_statuses_OfferedQosIncompatible.cpp

@@ -0,0 +1,120 @@
+// 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_OfferedQosIncompatible.h"
+
+#include <jni.h>
+#include <stdlib.h>
+
+#include "rmw/incompatible_qos_events_statuses.h"
+#include "rmw/types.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_OfferedQosIncompatible_nAllocateRCLStatusEvent(
+  JNIEnv * env, jclass)
+{
+  void * p = malloc(sizeof(rmw_offered_qos_incompatible_event_status_t));
+  if (!p) {
+    rcljava_throw_exception(
+      env, "java/lang/OutOfMemoryError", "failed to allocate offered qos incompatible status");
+  }
+  return reinterpret_cast<jlong>(p);
+}
+
+JNIEXPORT void JNICALL
+Java_org_ros2_rcljava_events_publisher_1statuses_OfferedQosIncompatible_nDeallocateRCLStatusEvent(
+  JNIEnv *, jclass, jlong handle)
+{
+  free(reinterpret_cast<void *>(handle));
+}
+
+JNIEXPORT void JNICALL
+Java_org_ros2_rcljava_events_publisher_1statuses_OfferedQosIncompatible_nFromRCLEvent(
+  JNIEnv * env, jobject self, jlong handle)
+{
+  auto * p = reinterpret_cast<rmw_offered_qos_incompatible_event_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);
+  jclass qos_kind_clazz = env->FindClass(
+    "org/ros2/rcljava/events/publisher_statuses/OfferedQosIncompatible$PolicyKind");
+  if (env->ExceptionCheck()) {
+    return;
+  }
+  jfieldID total_count_fid = env->GetFieldID(clazz, "totalCount", "I");
+  if (env->ExceptionCheck()) {
+    return;
+  }
+  jfieldID total_count_change_fid = env->GetFieldID(clazz, "totalCountChange", "I");
+  if (env->ExceptionCheck()) {
+    return;
+  }
+  const char * enum_class_path =
+    "Lorg/ros2/rcljava/events/publisher_statuses/OfferedQosIncompatible$PolicyKind;";
+  jfieldID policy_kind_fid = env->GetFieldID(clazz, "lastPolicyKind", enum_class_path);
+  if (env->ExceptionCheck()) {
+    return;
+  }
+
+  jfieldID enum_value_fid;
+  switch (p->last_policy_kind) {
+    case RMW_QOS_POLICY_INVALID:
+      enum_value_fid = env->GetStaticFieldID(qos_kind_clazz, "INVALID", enum_class_path);
+      break;
+    case RMW_QOS_POLICY_DURABILITY:
+      enum_value_fid = env->GetStaticFieldID(qos_kind_clazz, "DURABILITY", enum_class_path);
+      break;
+    case RMW_QOS_POLICY_DEADLINE:
+      enum_value_fid = env->GetStaticFieldID(qos_kind_clazz, "DEADLINE", enum_class_path);
+      break;
+    case RMW_QOS_POLICY_LIVELINESS:
+      enum_value_fid = env->GetStaticFieldID(qos_kind_clazz, "LIVELINESS", enum_class_path);
+      break;
+    case RMW_QOS_POLICY_RELIABILITY:
+      enum_value_fid = env->GetStaticFieldID(qos_kind_clazz, "RELIABILITY", enum_class_path);
+      break;
+    case RMW_QOS_POLICY_HISTORY:
+      enum_value_fid = env->GetStaticFieldID(qos_kind_clazz, "HISTORY", enum_class_path);
+      break;
+    case RMW_QOS_POLICY_LIFESPAN:
+      enum_value_fid = env->GetStaticFieldID(qos_kind_clazz, "LIFESPAN", enum_class_path);
+      break;
+    default:
+      rcljava_throw_exception(
+        env, "java/lang/IllegalStateException", "unknown rmw qos policy kind");
+      break;
+  }
+  if (env->ExceptionCheck()) {
+    return;
+  }
+  jobject enum_value = env->GetStaticObjectField(qos_kind_clazz, enum_value_fid);
+
+  env->SetIntField(self, total_count_fid, p->total_count);
+  env->SetIntField(self, total_count_change_fid, p->total_count_change);
+  env->SetObjectField(self, policy_kind_fid, enum_value);
+}
+
+JNIEXPORT jint JNICALL
+Java_org_ros2_rcljava_events_publisher_1statuses_OfferedQosIncompatible_nGetPublisherEventType(
+  JNIEnv *, jclass)
+{
+  return RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS;
+}

rcljava/src/main/java/org/ros2/rcljava/events/publisher_statuses/LivelinessLost.java

@@ -26,8 +26,8 @@
  * This class serves as a bridge between a rmw_liveliness_lost_status_t and RCLJava.
  */
 public class LivelinessLost implements PublisherEventStatus {
-  int total_count;
-  int total_count_change;
+  public int totalCount;
+  public int totalCountChange;
 
   public final long allocateRCLStatusEvent() {
     return nativeAllocateRCLStatusEvent();

rcljava/src/main/java/org/ros2/rcljava/events/publisher_statuses/OfferedQosIncompatible.java

@@ -0,0 +1,76 @@
+// 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.
+
+package org.ros2.rcljava.events.publisher_statuses;
+
+import java.util.function.Supplier;
+
+import org.ros2.rcljava.common.JNIUtils;
+import org.ros2.rcljava.events.PublisherEventStatus;
+
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+/**
+ * This class serves as a bridge between a rmw_qos_incompatible_event_status_t and RCLJava.
+ */
+public class OfferedQosIncompatible implements PublisherEventStatus {
+  public int totalCount;
+  public int totalCountChange;
+  public PolicyKind lastPolicyKind;
+
+  public enum PolicyKind {
+    INVALID,
+    DURABILITY,
+    DEADLINE,
+    LIVELINESS,
+    RELIABILITY,
+    HISTORY,
+    LIFESPAN;
+  }
+
+  public final long allocateRCLStatusEvent() {
+    return nAllocateRCLStatusEvent();
+  }
+  public final void deallocateRCLStatusEvent(long handle) {
+    nDeallocateRCLStatusEvent(handle);
+  }
+  public final void fromRCLEvent(long handle) {
+    nFromRCLEvent(handle);
+  }
+  public final int getPublisherEventType() {
+    return nGetPublisherEventType();
+  }
+  // TODO(ivanpauno): Remove this when -source 8 can be used (method references for the win)
+  public static final Supplier<OfferedQosIncompatible> factory = new Supplier<OfferedQosIncompatible>() {
+    public OfferedQosIncompatible get() {
+      return new OfferedQosIncompatible();
+    }
+  };
+
+  private static final Logger logger = LoggerFactory.getLogger(OfferedQosIncompatible.class);
+  static {
+    try {
+      JNIUtils.loadImplementation(OfferedQosIncompatible.class);
+    } catch (UnsatisfiedLinkError ule) {
+      logger.error("Native code library failed to load.\n" + ule);
+      System.exit(1);
+    }
+  }
+
+  private static native long nAllocateRCLStatusEvent();
+  private static native void nDeallocateRCLStatusEvent(long handle);
+  private native void nFromRCLEvent(long handle);
+  private static native int nGetPublisherEventType();
+}