Add subscription requested qos incompatible event

rcljava/CMakeLists.txt

@@ -58,6 +58,7 @@ set(${PROJECT_NAME}_jni_sources
   "src/main/cpp/org_ros2_rcljava_Time.cpp"
   "src/main/cpp/org_ros2_rcljava_client_ClientImpl.cpp"
   "src/main/cpp/org_ros2_rcljava_contexts_ContextImpl.cpp"
+  "src/main/cpp/org_ros2_rcljava_detail_QosIncompatibleStatus.cpp"
   "src/main/cpp/org_ros2_rcljava_executors_BaseExecutor.cpp"
   "src/main/cpp/org_ros2_rcljava_events_EventHandlerImpl.cpp"
   "src/main/cpp/org_ros2_rcljava_publisher_statuses_LivelinessLost.cpp"
@@ -66,6 +67,7 @@ set(${PROJECT_NAME}_jni_sources
   "src/main/cpp/org_ros2_rcljava_publisher_PublisherImpl.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_RequestedQosIncompatible.cpp"
   "src/main/cpp/org_ros2_rcljava_time_Clock.cpp"
   "src/main/cpp/org_ros2_rcljava_timer_WallTimerImpl.cpp"
 )
@@ -128,6 +130,7 @@ set(${PROJECT_NAME}_sources
   "src/main/java/org/ros2/rcljava/consumers/BiConsumer.java"
   "src/main/java/org/ros2/rcljava/consumers/Consumer.java"
   "src/main/java/org/ros2/rcljava/consumers/TriConsumer.java"
+  "src/main/java/org/ros2/rcljava/detail/QosIncompatibleStatus.java"
   "src/main/java/org/ros2/rcljava/events/EventHandler.java"
   "src/main/java/org/ros2/rcljava/events/EventHandlerImpl.java"
   "src/main/java/org/ros2/rcljava/events/EventStatus.java"
@@ -171,6 +174,7 @@ set(${PROJECT_NAME}_sources
   "src/main/java/org/ros2/rcljava/service/ServiceImpl.java"
   "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/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/timer/Timer.java"

rcljava/include/org_ros2_rcljava_detail_QosIncompatibleStatus.h

@@ -0,0 +1,54 @@
+// 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_detail_QosIncompatibleStatus */
+
+#ifndef ORG_ROS2_RCLJAVA_DETAIL_QOSINCOMPATIBLESTATUS_H_
+#define ORG_ROS2_RCLJAVA_DETAIL_QOSINCOMPATIBLESTATUS_H_
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * Class:     org_ros2_rcljava_detail_QosIncompatibleStatus
+ * Method:    nativeAllocateRCLStatusEvent
+ * Signature: ()J
+ */
+JNIEXPORT jlong JNICALL
+Java_org_ros2_rcljava_detail_QosIncompatibleStatus_nativeAllocateRCLStatusEvent(
+  JNIEnv *, jclass);
+
+/*
+ * Class:     org_ros2_rcljava_detail_QosIncompatibleStatus
+ * Method:    nativeDeallocateRCLStatusEvent
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL
+Java_org_ros2_rcljava_detail_QosIncompatibleStatus_nativeDeallocateRCLStatusEvent(
+  JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_detail_QosIncompatibleStatus
+ * Method:    nativeFromRCLEvent
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL
+Java_org_ros2_rcljava_detail_QosIncompatibleStatus_nativeFromRCLEvent(
+  JNIEnv *, jobject, jlong);
+
+#ifdef __cplusplus
+}
+#endif
+#endif  // ORG_ROS2_RCLJAVA_DETAIL_QOSINCOMPATIBLESTATUS_H_

rcljava/include/org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible.h

@@ -23,38 +23,11 @@ extern "C" {
 
 /*
  * Class:     org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible
- * Method:    nAllocateRCLStatusEvent
- * Signature: ()J
- */
-JNIEXPORT jlong JNICALL
-Java_org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible_nAllocateRCLStatusEvent(
-  JNIEnv *, jclass);
-
-/*
- * Class:     org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible
- * Method:    nDeallocateRCLStatusEvent
- * Signature: (J)V
- */
-JNIEXPORT void JNICALL
-Java_org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible_nDeallocateRCLStatusEvent(
-  JNIEnv *, jclass, jlong);
-
-/*
- * Class:     org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible
- * Method:    nFromRCLEvent
- * Signature: (J)V
- */
-JNIEXPORT void JNICALL
-Java_org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible_nFromRCLEvent(
-  JNIEnv *, jobject, jlong);
-
-/*
- * Class:     org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible
- * Method:    nGetPublisherEventType
+ * Method:    nativeGetEventType
  * Signature: ()I
  */
 JNIEXPORT jint JNICALL
-Java_org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible_nGetPublisherEventType(
+Java_org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible_nativeGetEventType(
   JNIEnv *, jclass);
 
 #ifdef __cplusplus

rcljava/include/org_ros2_rcljava_subscription_statuses_RequestedQosIncompatible.h

@@ -0,0 +1,36 @@
+// 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_subscription_statuses_RequestedQosIncompatible */
+
+#ifndef ORG_ROS2_RCLJAVA_SUBSCRIPTION_STATUSES_REQUESTEDQOSINCOMPATIBLE_H_
+#define ORG_ROS2_RCLJAVA_SUBSCRIPTION_STATUSES_REQUESTEDQOSINCOMPATIBLE_H_
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * Class:     org_ros2_rcljava_subscription_statuses_RequestedQosIncompatible
+ * Method:    nativeGetEventType
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_org_ros2_rcljava_subscription_statuses_RequestedQosIncompatible_nativeGetEventType(
+  JNIEnv *, jclass);
+
+#ifdef __cplusplus
+}
+#endif
+#endif  // ORG_ROS2_RCLJAVA_SUBSCRIPTION_STATUSES_REQUESTEDQOSINCOMPATIBLE_H_

rcljava/src/main/cpp/org_ros2_rcljava_detail_QosIncompatibleStatus.cpp

@@ -0,0 +1,113 @@
+// 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_detail_QosIncompatibleStatus.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_detail_QosIncompatibleStatus_nativeAllocateRCLStatusEvent(
+  JNIEnv * env, jclass)
+{
+  void * p = malloc(sizeof(rmw_qos_incompatible_event_status_t));
+  if (!p) {
+    rcljava_throw_exception(
+      env, "java/lang/OutOfMemoryError", "failed to allocate qos incompatible status");
+  }
+  return reinterpret_cast<jlong>(p);
+}
+
+JNIEXPORT void JNICALL
+Java_org_ros2_rcljava_detail_QosIncompatibleStatus_nativeDeallocateRCLStatusEvent(
+  JNIEnv *, jclass, jlong handle)
+{
+  free(reinterpret_cast<void *>(handle));
+}
+
+JNIEXPORT void JNICALL
+Java_org_ros2_rcljava_detail_QosIncompatibleStatus_nativeFromRCLEvent(
+  JNIEnv * env, jobject self, jlong handle)
+{
+  auto * p = reinterpret_cast<rmw_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/detail/QosIncompatibleStatus$PolicyKind");
+  if (env->ExceptionCheck()) {
+    return;
+  }
+  jfieldID total_count_fid = env->GetFieldID(clazz, "totalCount", "I");
+  if (env->ExceptionCheck()) {
+    return;
+  }
+  jfieldID total_count_change_fid = env->GetFieldID(clazz, "totalCountChange", "I");
+  if (env->ExceptionCheck()) {
+    return;
+  }
+  const char * enum_class_path =
+    "Lorg/ros2/rcljava/detail/QosIncompatibleStatus$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/IllegalArgumentException", "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);
+}

rcljava/src/main/cpp/org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible.cpp

@@ -15,105 +15,11 @@
 #include "org_ros2_rcljava_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_publisher_statuses_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_publisher_statuses_OfferedQosIncompatible_nDeallocateRCLStatusEvent(
-  JNIEnv *, jclass, jlong handle)
-{
-  free(reinterpret_cast<void *>(handle));
-}
-
-JNIEXPORT void JNICALL
-Java_org_ros2_rcljava_publisher_statuses_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/publisher/statuses/OfferedQosIncompatible$PolicyKind");
-  if (env->ExceptionCheck()) {
-    return;
-  }
-  jfieldID total_count_fid = env->GetFieldID(clazz, "totalCount", "I");
-  if (env->ExceptionCheck()) {
-    return;
-  }
-  jfieldID total_count_change_fid = env->GetFieldID(clazz, "totalCountChange", "I");
-  if (env->ExceptionCheck()) {
-    return;
-  }
-  const char * enum_class_path =
-    "Lorg/ros2/rcljava/publisher/statuses/OfferedQosIncompatible$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_publisher_statuses_OfferedQosIncompatible_nGetPublisherEventType(
+Java_org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible_nativeGetEventType(
   JNIEnv *, jclass)
 {
   return RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS;