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Add LivelinessChanged subscription event (osrf#18)
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
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‎rcljava/CMakeLists.txt‎

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@@ -68,6 +68,7 @@ set(${PROJECT_NAME}_jni_sources
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"src/main/cpp/org_ros2_rcljava_publisher_PublisherImpl.cpp"
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"src/main/cpp/org_ros2_rcljava_service_ServiceImpl.cpp"
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"src/main/cpp/org_ros2_rcljava_subscription_SubscriptionImpl.cpp"
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"src/main/cpp/org_ros2_rcljava_subscription_statuses_LivelinessChanged.cpp"
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"src/main/cpp/org_ros2_rcljava_subscription_statuses_RequestedDeadlineMissed.cpp"
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"src/main/cpp/org_ros2_rcljava_subscription_statuses_RequestedQosIncompatible.cpp"
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"src/main/cpp/org_ros2_rcljava_time_Clock.cpp"
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"src/main/java/org/ros2/rcljava/service/ServiceImpl.java"
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"src/main/java/org/ros2/rcljava/subscription/Subscription.java"
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"src/main/java/org/ros2/rcljava/subscription/SubscriptionImpl.java"
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"src/main/java/org/ros2/rcljava/subscription/statuses/LivelinessChanged.java"
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"src/main/java/org/ros2/rcljava/subscription/statuses/RequestedDeadlineMissed.java"
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"src/main/java/org/ros2/rcljava/subscription/statuses/RequestedQosIncompatible.java"
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"src/main/java/org/ros2/rcljava/time/Clock.java"

‎rcljava/include/org_ros2_rcljava_subscription_statuses_LivelinessChanged.h‎

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// Copyright 2020 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <jni.h>
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/* Header for class org_ros2_rcljava_subscription_statuses_LivelinessChanged */
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#ifndef ORG_ROS2_RCLJAVA_SUBSCRIPTION_STATUSES_LIVELINESSCHANGED_H_
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#define ORG_ROS2_RCLJAVA_SUBSCRIPTION_STATUSES_LIVELINESSCHANGED_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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/*
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* Class: org_ros2_rcljava_subscription_statuses_LivelinessChanged
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* Method: nativeAllocateRCLStatusEvent
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* Signature: ()J
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*/
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JNIEXPORT jlong JNICALL
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Java_org_ros2_rcljava_subscription_statuses_LivelinessChanged_nativeAllocateRCLStatusEvent(
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JNIEnv *, jclass);
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/*
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* Class: org_ros2_rcljava_subscription_statuses_LivelinessChanged
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* Method: nativeDeallocateRCLStatusEvent
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* Signature: (J)V
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*/
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JNIEXPORT void JNICALL
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Java_org_ros2_rcljava_subscription_statuses_LivelinessChanged_nativeDeallocateRCLStatusEvent(
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JNIEnv *, jclass, jlong);
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/*
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* Class: org_ros2_rcljava_subscription_statuses_LivelinessChanged
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* Method: nativeFromRCLEvent
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* Signature: (J)V
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*/
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JNIEXPORT void JNICALL
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Java_org_ros2_rcljava_subscription_statuses_LivelinessChanged_nativeFromRCLEvent(
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JNIEnv *, jobject, jlong);
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/*
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* Class: org_ros2_rcljava_subscription_statuses_LivelinessChanged
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* Method: nativeGetsubscriptionEventType
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* Signature: ()I
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*/
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JNIEXPORT jint JNICALL
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Java_org_ros2_rcljava_subscription_statuses_LivelinessChanged_nativeGetSubscriptionEventType(
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JNIEnv *, jclass);
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#ifdef __cplusplus
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}
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#endif
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#endif // ORG_ROS2_RCLJAVA_SUBSCRIPTION_STATUSES_LIVELINESSCHANGED_H_

‎rcljava/src/main/cpp/org_ros2_rcljava_subscription_statuses_LivelinessChanged.cpp‎

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// Copyright 2020 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "org_ros2_rcljava_subscription_statuses_LivelinessChanged.h"
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#include <jni.h>
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#include <stdlib.h>
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#include "rmw/types.h"
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#include "rcl/event.h"
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#include "rcljava_common/exceptions.hpp"
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using rcljava_common::exceptions::rcljava_throw_exception;
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JNIEXPORT jlong JNICALL
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Java_org_ros2_rcljava_subscription_statuses_LivelinessChanged_nativeAllocateRCLStatusEvent(
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JNIEnv * env, jclass)
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{
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void * p = malloc(sizeof(rmw_liveliness_changed_status_t));
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if (!p) {
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rcljava_throw_exception(
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env, "java/lang/OutOfMemoryError", "failed to allocate liveliness changed status");
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}
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return reinterpret_cast<jlong>(p);
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}
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JNIEXPORT void JNICALL
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Java_org_ros2_rcljava_subscription_statuses_LivelinessChanged_nativeDeallocateRCLStatusEvent(
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JNIEnv *, jclass, jlong handle)
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{
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free(reinterpret_cast<void *>(handle));
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}
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JNIEXPORT void JNICALL
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Java_org_ros2_rcljava_subscription_statuses_LivelinessChanged_nativeFromRCLEvent(
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JNIEnv * env, jobject self, jlong handle)
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{
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auto * p = reinterpret_cast<rmw_liveliness_changed_status_t *>(handle);
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if (!p) {
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rcljava_throw_exception(
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env, "java/lang/IllegalArgumentException", "passed rmw object handle is NULL");
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}
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// TODO(ivanpauno): class and field lookup could be done at startup time
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jclass clazz = env->GetObjectClass(self);
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jfieldID alive_count_fid = env->GetFieldID(clazz, "aliveCount", "I");
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if (env->ExceptionCheck()) {
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return;
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}
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jfieldID not_alive_count_fid = env->GetFieldID(clazz, "notAliveCount", "I");
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if (env->ExceptionCheck()) {
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return;
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}
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jfieldID alive_count_change_fid = env->GetFieldID(clazz, "aliveCountChange", "I");
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if (env->ExceptionCheck()) {
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return;
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}
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jfieldID not_alive_count_change_fid = env->GetFieldID(clazz, "notAliveCountChange", "I");
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if (env->ExceptionCheck()) {
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return;
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}
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env->SetIntField(self, alive_count_fid, p->alive_count);
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env->SetIntField(self, not_alive_count_fid, p->not_alive_count);
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env->SetIntField(self, alive_count_change_fid, p->alive_count_change);
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env->SetIntField(self, not_alive_count_change_fid, p->not_alive_count_change);
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}
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JNIEXPORT jint JNICALL
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Java_org_ros2_rcljava_subscription_statuses_LivelinessChanged_nativeGetSubscriptionEventType(
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JNIEnv *, jclass)
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{
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return RCL_SUBSCRIPTION_LIVELINESS_CHANGED;
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}

‎rcljava/src/main/java/org/ros2/rcljava/subscription/statuses/LivelinessChanged.java‎

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// Copyright 2020 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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package org.ros2.rcljava.subscription.statuses;
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import java.util.function.Supplier;
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import org.ros2.rcljava.common.JNIUtils;
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import org.ros2.rcljava.events.SubscriptionEventStatus;
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import org.slf4j.Logger;
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import org.slf4j.LoggerFactory;
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/**
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* This class serves as a bridge between rmw_liveliness_changed_status_t
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* and RCLJava.
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*/
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public class LivelinessChanged implements SubscriptionEventStatus {
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public int aliveCount;
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public int notAliveCount;
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public int aliveCountChange;
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public int notAliveCountChange;
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public final long allocateRCLStatusEvent() {
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return nativeAllocateRCLStatusEvent();
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}
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public final void deallocateRCLStatusEvent(long handle) {
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nativeDeallocateRCLStatusEvent(handle);
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}
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public final void fromRCLEvent(long handle) {
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nativeFromRCLEvent(handle);
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}
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public final int getSubscriptionEventType() {
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return nativeGetSubscriptionEventType();
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}
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// TODO(ivanpauno): Remove this when -source 8 can be used (method references for the win)
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public static final Supplier<LivelinessChanged>
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factory = new Supplier<LivelinessChanged>() {
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public LivelinessChanged get() {
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return new LivelinessChanged();
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}
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};
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private static final Logger logger = LoggerFactory.getLogger(LivelinessChanged.class);
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static {
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try {
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JNIUtils.loadImplementation(LivelinessChanged.class);
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} catch (UnsatisfiedLinkError ule) {
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logger.error("Native code library failed to load.\n" + ule);
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System.exit(1);
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}
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}
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private static native long nativeAllocateRCLStatusEvent();
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private static native void nativeDeallocateRCLStatusEvent(long handle);
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private native void nativeFromRCLEvent(long handle);
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private static native int nativeGetSubscriptionEventType();
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}

‎rcljava/src/test/java/org/ros2/rcljava/subscription/SubscriptionTest.java‎

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import org.ros2.rcljava.consumers.Consumer;
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import org.ros2.rcljava.events.EventHandler;
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import org.ros2.rcljava.node.Node;
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import org.ros2.rcljava.subscription.statuses.LivelinessChanged;
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import org.ros2.rcljava.subscription.statuses.RequestedDeadlineMissed;
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import org.ros2.rcljava.subscription.statuses.RequestedQosIncompatible;
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RCLJava.shutdown();
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}
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@Test
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public final void testCreateLivelinessChangedEvent() {
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String identifier = RCLJava.getRMWIdentifier();
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RCLJava.rclJavaInit();
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Node node = RCLJava.createNode("test_node");
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Subscription<std_msgs.msg.String> subscription = node.<std_msgs.msg.String>createSubscription(
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std_msgs.msg.String.class, "test_topic", new Consumer<std_msgs.msg.String>() {
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public void accept(final std_msgs.msg.String msg) {}
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});
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EventHandler eventHandler = subscription.createEventHandler(
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LivelinessChanged.factory, new Consumer<LivelinessChanged>() {
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public void accept(final LivelinessChanged status) {
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assertEquals(status.aliveCount, 0);
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assertEquals(status.notAliveCount, 0);
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assertEquals(status.aliveCountChange, 0);
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assertEquals(status.notAliveCountChange, 0);
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}
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}
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);
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assertNotEquals(0, eventHandler.getHandle());
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// force executing the callback, so we check that taking an event works
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eventHandler.executeCallback();
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RCLJava.shutdown();
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assertEquals(0, eventHandler.getHandle());
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}
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@Test
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public final void testCreateRequestedDeadlineMissedEvent() {
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String identifier = RCLJava.getRMWIdentifier();

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