Added support for clients and services

rcljava/CMakeLists.txt

@@ -32,7 +32,7 @@ macro(target)
     get_rcl_information("${rmw_implementation}" "rcl${target_suffix}")
   endif()
 
-  set(_jni_classes "RCLJava;Node;Publisher")
+  set(_jni_classes "RCLJava;Node;Publisher;Client")
 
   foreach(_jni_class ${_jni_classes})
 
@@ -80,11 +80,17 @@ macro(target)
 endmacro()
 
 set(${PROJECT_NAME}_sources
+  "src/main/java/org/ros2/rcljava/BiConsumer.java"
+  "src/main/java/org/ros2/rcljava/Client.java"
   "src/main/java/org/ros2/rcljava/Consumer.java"
   "src/main/java/org/ros2/rcljava/Node.java"
   "src/main/java/org/ros2/rcljava/Publisher.java"
+  "src/main/java/org/ros2/rcljava/RCLFuture.java"
   "src/main/java/org/ros2/rcljava/RCLJava.java"
+  "src/main/java/org/ros2/rcljava/RMWRequestId.java"
+  "src/main/java/org/ros2/rcljava/Service.java"
   "src/main/java/org/ros2/rcljava/Subscription.java"
+  "src/main/java/org/ros2/rcljava/TriConsumer.java"
 )
 
 add_jar("${PROJECT_NAME}_jar"

rcljava/include/org_ros2_rcljava_Client.h

@@ -0,0 +1,36 @@
+// Copyright 2016 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.
+
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class org_ros2_rcljava_Client */
+
+#ifndef ORG_ROS2_RCLJAVA_CLIENT_H_
+#define ORG_ROS2_RCLJAVA_CLIENT_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     org_ros2_rcljava_Client
+ * Method:    nativeSendClientRequest
+ * Signature: (JJJJLjava/lang/Object;)V
+ */
+JNIEXPORT void JNICALL Java_org_ros2_rcljava_Client_nativeSendClientRequest
+  (JNIEnv *, jclass, jlong, jlong, jlong, jlong, jobject);
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // ORG_ROS2_RCLJAVA_CLIENT_H_

rcljava/include/org_ros2_rcljava_Node.h

@@ -37,6 +37,22 @@ JNIEXPORT jlong JNICALL Java_org_ros2_rcljava_Node_nativeCreatePublisherHandle
 JNIEXPORT jlong JNICALL Java_org_ros2_rcljava_Node_nativeCreateSubscriptionHandle
   (JNIEnv *, jclass, jlong, jclass, jstring);
 
+/*
+ * Class:     org_ros2_rcljava_Node
+ * Method:    nativeCreateServiceHandle
+ * Signature: (JLjava/lang/Class;Ljava/lang/String;)J
+ */
+JNIEXPORT jlong JNICALL Java_org_ros2_rcljava_Node_nativeCreateServiceHandle
+  (JNIEnv *, jclass, jlong, jclass, jstring);
+
+/*
+ * Class:     org_ros2_rcljava_Node
+ * Method:    nativeCreateClientHandle
+ * Signature: (JLjava/lang/Class;Ljava/lang/String;)J
+ */
+JNIEXPORT jlong JNICALL Java_org_ros2_rcljava_Node_nativeCreateClientHandle
+  (JNIEnv *, jclass, jlong, jclass, jstring);
+
 #ifdef __cplusplus
 }
 #endif

rcljava/include/org_ros2_rcljava_RCLJava.h

@@ -18,6 +18,7 @@
 
 #ifndef ORG_ROS2_RCLJAVA_RCLJAVA_H_
 #define ORG_ROS2_RCLJAVA_RCLJAVA_H_
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -53,6 +54,14 @@ JNIEXPORT jstring JNICALL Java_org_ros2_rcljava_RCLJava_nativeGetRMWIdentifier
 JNIEXPORT jboolean JNICALL Java_org_ros2_rcljava_RCLJava_nativeOk
   (JNIEnv *, jclass);
 
+/*
+ * Class:     org_ros2_rcljava_RCLJava
+ * Method:    nativeShutdown
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL Java_org_ros2_rcljava_RCLJava_nativeShutdown
+  (JNIEnv *, jclass);
+
 /*
  * Class:     org_ros2_rcljava_RCLJava
  * Method:    nativeGetZeroInitializedWaitSet
@@ -64,10 +73,10 @@ JNIEXPORT jlong JNICALL Java_org_ros2_rcljava_RCLJava_nativeGetZeroInitializedWa
 /*
  * Class:     org_ros2_rcljava_RCLJava
  * Method:    nativeWaitSetInit
- * Signature: (JIII)V
+ * Signature: (JIIIII)V
  */
 JNIEXPORT void JNICALL Java_org_ros2_rcljava_RCLJava_nativeWaitSetInit
-  (JNIEnv *, jclass, jlong, jint, jint, jint);
+  (JNIEnv *, jclass, jlong, jint, jint, jint, jint, jint);
 
 /*
  * Class:     org_ros2_rcljava_RCLJava
@@ -103,13 +112,70 @@ JNIEXPORT jobject JNICALL Java_org_ros2_rcljava_RCLJava_nativeTake
 
 /*
  * Class:     org_ros2_rcljava_RCLJava
- * Method:    nativeShutdown
- * Signature: ()V
+ * Method:    nativeWaitSetClearServices
+ * Signature: (J)V
  */
-JNIEXPORT void JNICALL Java_org_ros2_rcljava_RCLJava_nativeShutdown
-  (JNIEnv *, jclass);
+JNIEXPORT void JNICALL Java_org_ros2_rcljava_RCLJava_nativeWaitSetClearServices
+  (JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_RCLJava
+ * Method:    nativeWaitSetAddService
+ * Signature: (JJ)V
+ */
+JNIEXPORT void JNICALL Java_org_ros2_rcljava_RCLJava_nativeWaitSetAddService
+  (JNIEnv *, jclass, jlong, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_RCLJava
+ * Method:    nativeWaitSetClearClients
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL Java_org_ros2_rcljava_RCLJava_nativeWaitSetClearClients
+  (JNIEnv *, jclass, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_RCLJava
+ * Method:    nativeWaitSetAddClient
+ * Signature: (JJ)V
+ */
+JNIEXPORT void JNICALL Java_org_ros2_rcljava_RCLJava_nativeWaitSetAddClient
+  (JNIEnv *, jclass, jlong, jlong);
+
+/*
+ * Class:     org_ros2_rcljava_RCLJava
+ * Method:    nativeTakeRequest
+ * Signature: (JJJLjava/lang/Object;)Ljava/lang/Object;
+ */
+JNIEXPORT jobject JNICALL Java_org_ros2_rcljava_RCLJava_nativeTakeRequest
+  (JNIEnv *, jclass, jlong, jlong, jlong, jobject);
+
+/*
+ * Class:     org_ros2_rcljava_RCLJava
+ * Method:    nativeSendServiceResponse
+ * Signature: (JLjava/lang/Object;JJLjava/lang/Object;)V
+ */
+JNIEXPORT void JNICALL Java_org_ros2_rcljava_RCLJava_nativeSendServiceResponse
+  (JNIEnv *, jclass, jlong, jobject, jlong, jlong, jobject);
+
+/*
+ * Class:     org_ros2_rcljava_RCLJava
+ * Method:    nativeSendClientRequest
+ * Signature: (JJLjava/lang/Object;JJ)V
+ */
+JNIEXPORT void JNICALL Java_org_ros2_rcljava_RCLJava_nativeSendClientRequest
+  (JNIEnv *, jclass, jlong, jlong, jlong, jlong, jobject);
+
+/*
+ * Class:     org_ros2_rcljava_RCLJava
+ * Method:    nativeTakeResponse
+ * Signature: (JJJLjava/lang/Object;)Ljava/lang/Object;
+ */
+JNIEXPORT jobject JNICALL Java_org_ros2_rcljava_RCLJava_nativeTakeResponse
+  (JNIEnv *, jclass, jlong, jlong, jlong, jobject);
 
 #ifdef __cplusplus
 }
 #endif
+
 #endif  // ORG_ROS2_RCLJAVA_RCLJAVA_H_

rcljava/src/main/cpp/org_ros2_rcljava_Client.cpp

@@ -0,0 +1,55 @@
+// Copyright 2016 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>
+
+#include <cassert>
+#include <cstdlib>
+#include <string>
+
+#include "rmw/rmw.h"
+#include "rcl/error_handling.h"
+#include "rcl/rcl.h"
+#include "rcl/node.h"
+#include "rosidl_generator_c/message_type_support.h"
+
+#include "rcljava_common/exceptions.h"
+#include "rcljava_common/signatures.h"
+
+#include "org_ros2_rcljava_Client.h"
+
+JNIEXPORT void JNICALL Java_org_ros2_rcljava_Client_nativeSendClientRequest(JNIEnv * env, jclass,
+  jlong client_handle, jlong sequence_number, jlong jrequest_from_java_converter_handle,
+  jlong jrequest_to_java_converter_handle, jobject jrequest_msg)
+{
+  assert(client_handle != 0);
+  assert(jrequest_from_java_converter_handle != 0);
+  assert(jrequest_to_java_converter_handle != 0);
+  assert(jrequest_msg != nullptr);
+
+  rcl_client_t * client = reinterpret_cast<rcl_client_t *>(client_handle);
+
+  convert_from_java_signature convert_from_java =
+    reinterpret_cast<convert_from_java_signature>(jrequest_from_java_converter_handle);
+
+  void * request_msg = convert_from_java(jrequest_msg, nullptr);
+
+  rcl_ret_t ret = rcl_send_request(client, request_msg, &sequence_number);
+
+  if (ret != RCL_RET_OK) {
+    rcljava_throw_exception(
+      env, "java/lang/IllegalStateException",
+      "Failed to send request from a client: " + std::string(rcl_get_error_string_safe()));
+  }
+}

rcljava/src/main/cpp/org_ros2_rcljava_Node.cpp

@@ -102,3 +102,81 @@ JNIEXPORT jlong JNICALL Java_org_ros2_rcljava_Node_nativeCreateSubscriptionHandl
   jlong jsubscription = reinterpret_cast<jlong>(subscription);
   return jsubscription;
 }
+
+JNIEXPORT jlong JNICALL Java_org_ros2_rcljava_Node_nativeCreateServiceHandle(JNIEnv * env, jclass,
+  jlong node_handle, jclass jservice_class, jstring jservice_name)
+{
+  jmethodID mid = env->GetStaticMethodID(jservice_class, "getServiceTypeSupport", "()J");
+
+  assert(mid != NULL);
+
+  jlong jts = env->CallStaticLongMethod(jservice_class, mid);
+
+  assert(jts != 0);
+
+  const char * service_name_tmp = env->GetStringUTFChars(jservice_name, 0);
+
+  std::string service_name(service_name_tmp);
+
+  env->ReleaseStringUTFChars(jservice_name, service_name_tmp);
+
+  rcl_node_t * node = reinterpret_cast<rcl_node_t *>(node_handle);
+
+  rosidl_service_type_support_t * ts =
+    reinterpret_cast<rosidl_service_type_support_t *>(jts);
+
+  rcl_service_t * service = static_cast<rcl_service_t *>(malloc(sizeof(rcl_service_t)));
+  service->impl = NULL;
+  rcl_service_options_t service_ops = rcl_service_get_default_options();
+
+  rcl_ret_t ret = rcl_service_init(service, node, ts, service_name.c_str(), &service_ops);
+
+  if (ret != RCL_RET_OK) {
+    rcljava_throw_exception(
+      env, "java/lang/IllegalStateException",
+      "Failed to create service: " + std::string(rcl_get_error_string_safe()));
+    return 0;
+  }
+
+  jlong jservice = reinterpret_cast<jlong>(service);
+  return jservice;
+}
+
+JNIEXPORT jlong JNICALL Java_org_ros2_rcljava_Node_nativeCreateClientHandle(JNIEnv * env, jclass,
+  jlong node_handle, jclass jservice_class, jstring jservice_name)
+{
+  jmethodID mid = env->GetStaticMethodID(jservice_class, "getServiceTypeSupport", "()J");
+
+  assert(mid != NULL);
+
+  jlong jts = env->CallStaticLongMethod(jservice_class, mid);
+
+  assert(jts != 0);
+
+  const char * service_name_tmp = env->GetStringUTFChars(jservice_name, 0);
+
+  std::string service_name(service_name_tmp);
+
+  env->ReleaseStringUTFChars(jservice_name, service_name_tmp);
+
+  rcl_node_t * node = reinterpret_cast<rcl_node_t *>(node_handle);
+
+  rosidl_service_type_support_t * ts =
+    reinterpret_cast<rosidl_service_type_support_t *>(jts);
+
+  rcl_client_t * client = static_cast<rcl_client_t *>(malloc(sizeof(rcl_client_t)));
+  client->impl = NULL;
+  rcl_client_options_t client_ops = rcl_client_get_default_options();
+
+  rcl_ret_t ret = rcl_client_init(client, node, ts, service_name.c_str(), &client_ops);
+
+  if (ret != RCL_RET_OK) {
+    rcljava_throw_exception(
+      env, "java/lang/IllegalStateException",
+      "Failed to create client: " + std::string(rcl_get_error_string_safe()));
+    return 0;
+  }
+
+  jlong jclient = reinterpret_cast<jlong>(client);
+  return jclient;
+}