Add OfferedDeadlineMissed QoS event

rcljava/CMakeLists.txt

@@ -61,6 +61,7 @@ set(${PROJECT_NAME}_jni_sources
   "src/main/cpp/org_ros2_rcljava_executors_BaseExecutor.cpp"
   "src/main/cpp/org_ros2_rcljava_events_EventHandlerImpl.cpp"
   "src/main/cpp/org_ros2_rcljava_publisher_statuses_LivelinessLost.cpp"
+  "src/main/cpp/org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed.cpp"
   "src/main/cpp/org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible.cpp"
   "src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp"
   "src/main/cpp/org_ros2_rcljava_publisher_PublisherImpl.cpp"
@@ -134,6 +135,7 @@ set(${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/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/executors/AnyExecutable.java"
   "src/main/java/org/ros2/rcljava/executors/BaseExecutor.java"

rcljava/include/org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed.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_publisher_statuses_OfferedDeadlineMissed */
+
+#ifndef ORG_ROS2_RCLJAVA_PUBLISHER_STATUSES_OFFEREDDEADLINEMISSED_H_
+#define ORG_ROS2_RCLJAVA_PUBLISHER_STATUSES_OFFEREDDEADLINEMISSED_H_
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * Class:     org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed
+ * Method:    nativeAllocateRCLStatusEvent
+ * Signature: ()J
+ */
+JNIEXPORT jlong JNICALL
+Java_org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed_nativeAllocateRCLStatusEvent(
+  JNIEnv *, jclass);
+
+/*
+ * Class:     org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed
+ * Method:    nativeDeallocateRCLStatusEvent
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL
+Java_org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed_nativeDeallocateRCLStatusEvent(
+  JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed
+ * Method:    nativeFromRCLEvent
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL
+Java_org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed_nativeFromRCLEvent(
+  JNIEnv *, jobject, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed
+ * Method:    nativeGetPublisherEventType
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed_nativeGetPublisherEventType(
+  JNIEnv *, jclass);
+
+#ifdef __cplusplus
+}
+#endif
+#endif  // ORG_ROS2_RCLJAVA_PUBLISHER_STATUSES_OFFEREDDEADLINEMISSED_H_

rcljava/src/main/cpp/org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed.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_publisher_statuses_OfferedDeadlineMissed.h"
+
+#include <jni.h>
+#include <stdlib.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_OfferedDeadlineMissed_nativeAllocateRCLStatusEvent(
+  JNIEnv * env, jclass)
+{
+  void * p = malloc(sizeof(rmw_offered_deadline_missed_status_t));
+  if (!p) {
+    rcljava_throw_exception(
+      env, "java/lang/OutOfMemoryError", "failed to allocate deadline missed status");
+  }
+  return reinterpret_cast<jlong>(p);
+}
+
+JNIEXPORT void JNICALL
+Java_org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed_nativeDeallocateRCLStatusEvent(
+  JNIEnv *, jclass, jlong handle)
+{
+  free(reinterpret_cast<void *>(handle));
+}
+
+JNIEXPORT void JNICALL
+Java_org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed_nativeFromRCLEvent(
+  JNIEnv * env, jobject self, jlong handle)
+{
+  auto * p = reinterpret_cast<rmw_offered_deadline_missed_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, "totalCount", "I");
+  if (env->ExceptionCheck()) {
+    return;
+  }
+  jfieldID total_count_change_fid = env->GetFieldID(clazz, "totalCountChange", "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_publisher_statuses_OfferedDeadlineMissed_nativeGetPublisherEventType(
+  JNIEnv *, jclass)
+{
+  return RCL_PUBLISHER_OFFERED_DEADLINE_MISSED;
+}

rcljava/src/main/java/org/ros2/rcljava/publisher/statuses/OfferedDeadlineMissed.java

@@ -0,0 +1,65 @@
+// 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.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_offered_deadline_missed_status_t and RCLJava.
+ */
+public class OfferedDeadlineMissed implements PublisherEventStatus {
+  public int totalCount;
+  public int totalCountChange;
+
+  public final long allocateRCLStatusEvent() {
+    return nativeAllocateRCLStatusEvent();
+  }
+  public final void deallocateRCLStatusEvent(long handle) {
+    nativeDeallocateRCLStatusEvent(handle);
+  }
+  public final void fromRCLEvent(long handle) {
+    nativeFromRCLEvent(handle);
+  }
+  public final int getPublisherEventType() {
+    return nativeGetPublisherEventType();
+  }
+  // TODO(ivanpauno): Remove this when -source 8 can be used (method references for the win)
+  public static final Supplier<OfferedDeadlineMissed> factory = new Supplier<OfferedDeadlineMissed>() {
+    public OfferedDeadlineMissed get() {
+      return new OfferedDeadlineMissed();
+    }
+  };
+
+  private static final Logger logger = LoggerFactory.getLogger(OfferedDeadlineMissed.class);
+  static {
+    try {
+      JNIUtils.loadImplementation(OfferedDeadlineMissed.class);
+    } catch (UnsatisfiedLinkError ule) {
+      logger.error("Native code library failed to load.\n" + ule);
+      System.exit(1);
+    }
+  }
+
+  private static native long nativeAllocateRCLStatusEvent();
+  private static native void nativeDeallocateRCLStatusEvent(long handle);
+  private native void nativeFromRCLEvent(long handle);
+  private static native int nativeGetPublisherEventType();
+}

rcljava/src/test/java/org/ros2/rcljava/publisher/PublisherTest.java

@@ -25,6 +25,7 @@
 import org.ros2.rcljava.consumers.Consumer;
 import org.ros2.rcljava.events.EventHandler;
 import org.ros2.rcljava.publisher.statuses.LivelinessLost;
+import org.ros2.rcljava.publisher.statuses.OfferedDeadlineMissed;
 import org.ros2.rcljava.publisher.statuses.OfferedQosIncompatible;
 import org.ros2.rcljava.exceptions.RCLException;
 import org.ros2.rcljava.node.Node;
@@ -95,4 +96,25 @@ public void accept(final OfferedQosIncompatible status) {
     RCLJava.shutdown();
     assertEquals(0, eventHandler.getHandle());
   }
+
+  @Test
+  public final void testCreateOfferedDeadlineMissedEvent() {
+    RCLJava.rclJavaInit();
+    Node node = RCLJava.createNode("test_node");
+    Publisher<std_msgs.msg.String> publisher =
+        node.<std_msgs.msg.String>createPublisher(std_msgs.msg.String.class, "test_topic");
+    EventHandler eventHandler = publisher.createEventHandler(
+      OfferedDeadlineMissed.factory, new Consumer<OfferedDeadlineMissed>() {
+        public void accept(final OfferedDeadlineMissed status) {
+          assertEquals(status.totalCount, 0);
+          assertEquals(status.totalCountChange, 0);
+        }
+      }
+    );
+    assertNotEquals(0, eventHandler.getHandle());
+    // force executing the callback, so we check that taking an event works
+    eventHandler.executeCallback();
+    RCLJava.shutdown();
+    assertEquals(0, eventHandler.getHandle());
+  }
 }