Support wall-time and ROS-time timers (osrf#39)

* Support wall-time and ROS-time timers

Add a new method to Node for creating ROS timers.

Refactor timer implementation to account for the two different types of timers.
Deprecate WallTimer interface and WallTimerImpl and replace with unified Timer interface and TimerImpl.

Signed-off-by: Jacob Perron <[email protected]>

* Add test

Signed-off-by: Jacob Perron <[email protected]>

* Log error if failed to dispose timer

Signed-off-by: Jacob Perron <[email protected]>

Author: jacobperron

rcljava/CMakeLists.txt

@@ -75,7 +75,7 @@ set(${PROJECT_NAME}_jni_sources
   "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})
@@ -193,6 +193,7 @@ set(${PROJECT_NAME}_sources
   "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"
 )

rcljava/include/org_ros2_rcljava_timer_TimerImpl.h

@@ -0,0 +1,108 @@
+// Copyright 2017-2018 Esteve Fernandez <[email protected]>
+//
+// 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_timer_TimerImpl */
+
+#ifndef ORG_ROS2_RCLJAVA_TIMER_TIMERIMPL_H_
+#define ORG_ROS2_RCLJAVA_TIMER_TIMERIMPL_H_
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * Class:     org_ros2_rcljava_timer_TimerImpl
+ * Method:    nativeDispose
+ * Signature: (J)V
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_timer_TimerImpl_nativeDispose(JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_timer_TimerImpl
+ * Method:    nativeIsReady
+ * Signature: (J)Z
+ */
+JNIEXPORT jboolean
+JNICALL Java_org_ros2_rcljava_timer_TimerImpl_nativeIsReady(JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_timer_TimerImpl
+ * Method:    nativeIsCanceled
+ * Signature: (J)Z
+ */
+JNIEXPORT jboolean
+JNICALL Java_org_ros2_rcljava_timer_TimerImpl_nativeIsCanceled(JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_timer_TimerImpl
+ * Method:    nativeReset
+ * Signature: (J)Z
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_timer_TimerImpl_nativeReset(JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_timer_TimerImpl
+ * Method:    nativeCancel
+ * Signature: (J)Z
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_timer_TimerImpl_nativeCancel(JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_timer_TimerImpl
+ * Method:    nativeTimeUntilNextCall
+ * Signature: (J)J
+ */
+JNIEXPORT jlong
+JNICALL Java_org_ros2_rcljava_timer_TimerImpl_nativeTimeUntilNextCall(JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_timer_TimerImpl
+ * Method:    nativeTimeSinceLastCall
+ * Signature: (J)J
+ */
+JNIEXPORT jlong
+JNICALL Java_org_ros2_rcljava_timer_TimerImpl_nativeTimeSinceLastCall(JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_timer_TimerImpl
+ * Method:    nativeGetTimerPeriodNS
+ * Signature: (J)J
+ */
+JNIEXPORT jlong
+JNICALL Java_org_ros2_rcljava_timer_TimerImpl_nativeGetTimerPeriodNS(JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_timer_TimerImpl
+ * Method:    nativeSetTimerPeriodNS
+ * Signature: (JJ)Z
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_timer_TimerImpl_nativeSetTimerPeriodNS(
+  JNIEnv *, jclass, jlong, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_timer_TimerImpl
+ * Method:    nativeCallTimer
+ * Signature: (J)Z
+ */
+JNIEXPORT void
+JNICALL Java_org_ros2_rcljava_timer_TimerImpl_nativeCallTimer(JNIEnv *, jclass, jlong);
+
+#ifdef __cplusplus
+}
+#endif
+#endif  // ORG_ROS2_RCLJAVA_TIMER_TIMERIMPL_H_