Update qos profile (osrf#20)

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Author: ivanpauno

rcljava/CMakeLists.txt

@@ -153,6 +153,7 @@ set(${PROJECT_NAME}_sources
   "src/main/java/org/ros2/rcljava/publisher/PublisherImpl.java"
   "src/main/java/org/ros2/rcljava/qos/policies/Durability.java"
   "src/main/java/org/ros2/rcljava/qos/policies/History.java"
+  "src/main/java/org/ros2/rcljava/qos/policies/Liveliness.java"
   "src/main/java/org/ros2/rcljava/qos/policies/QoSPolicy.java"
   "src/main/java/org/ros2/rcljava/qos/policies/Reliability.java"
   "src/main/java/org/ros2/rcljava/qos/QoSProfile.java"
@@ -237,6 +238,7 @@ if(BUILD_TESTING)
     # "src/test/java/org/ros2/rcljava/parameters/AsyncParametersClientTest.java"
     # "src/test/java/org/ros2/rcljava/parameters/SyncParametersClientTest.java"
     "src/test/java/org/ros2/rcljava/publisher/PublisherTest.java"
+    "src/test/java/org/ros2/rcljava/qos/QoSProfileTest.java"
     "src/test/java/org/ros2/rcljava/subscription/SubscriptionTest.java"
     "src/test/java/org/ros2/rcljava/timer/TimerTest.java"
   )
@@ -252,6 +254,7 @@ if(BUILD_TESTING)
     "org.ros2.rcljava.node.NodeTest"
     # "org.ros2.rcljava.parameters.SyncParametersClientTest"
     "org.ros2.rcljava.publisher.PublisherTest"
+    "org.ros2.rcljava.qos.QoSProfileTest"
     "org.ros2.rcljava.subscription.SubscriptionTest"
     "org.ros2.rcljava.timer.TimerTest"
   )

rcljava/include/org_ros2_rcljava_RCLJava.h

@@ -52,7 +52,8 @@ JNICALL Java_org_ros2_rcljava_RCLJava_nativeGetRMWIdentifier(JNIEnv *, jclass);
  */
 JNIEXPORT jlong
 JNICALL Java_org_ros2_rcljava_RCLJava_nativeConvertQoSProfileToHandle(
-  JNIEnv *, jclass, jint, jint, jint, jint, jboolean);
+  JNIEnv *, jclass,
+  jint, jint, jint, jint, jlong, jint, jlong, jint, jint, jlong, jint, jboolean);
 
 /*
  * Class:     org_ros2_rcljava_RCLJava

rcljava/src/main/cpp/org_ros2_rcljava_RCLJava.cpp

@@ -31,6 +31,7 @@
 
 #include "org_ros2_rcljava_RCLJava.h"
 
+using rcljava_common::exceptions::rcljava_throw_exception;
 using rcljava_common::exceptions::rcljava_throw_rclexception;
 using rcljava_common::signatures::convert_from_java_signature;
 using rcljava_common::signatures::convert_to_java_signature;
@@ -152,9 +153,31 @@ Java_org_ros2_rcljava_RCLJava_nativeGetRMWIdentifier(JNIEnv * env, jclass)
   return env->NewStringUTF(rmw_implementation_identifier);
 }
 
+#define RCLJAVA_QOS_SET_RMW_TIME(qos_profile, policy_name, seconds, nanos) \
+  do { \
+    if (seconds < 0) { \
+      rcljava_throw_exception( \
+        env, "java/lang/IllegalArgumentException", \
+        "seconds must not be negative for " #policy_name); \
+      free(qos_profile); \
+      return 0; \
+    } \
+    if (nanos < 0) { \
+      rcljava_throw_exception( \
+        env, "java/lang/IllegalArgumentException", \
+        "nanoseconds must not be negative for " #policy_name); \
+      free(qos_profile); \
+      return 0; \
+    } \
+    qos_profile->policy_name.sec = static_cast<uint64_t>(seconds); \
+    qos_profile->policy_name.nsec = static_cast<uint64_t>(nanos); \
+  } while (0)
+
 JNIEXPORT jlong JNICALL
 Java_org_ros2_rcljava_RCLJava_nativeConvertQoSProfileToHandle(
-  JNIEnv *, jclass, jint history, jint depth, jint reliability, jint durability,
+  JNIEnv * env, jclass, jint history, jint depth, jint reliability, jint durability,
+  jlong deadline_sec, jint deadline_nanos, jlong lifespan_sec, jint lifespan_nanos,
+  jint liveliness, jlong liveliness_lease_sec, jint liveliness_lease_nanos,
   jboolean avoidROSNamespaceConventions)
 {
   rmw_qos_profile_t * qos_profile =
@@ -163,11 +186,11 @@ Java_org_ros2_rcljava_RCLJava_nativeConvertQoSProfileToHandle(
   qos_profile->depth = depth;
   qos_profile->reliability = static_cast<rmw_qos_reliability_policy_t>(reliability);
   qos_profile->durability = static_cast<rmw_qos_durability_policy_t>(durability);
-  // TODO(jacobperron): Expose deadline, lifespan, and liveliness settings as parameters
-  qos_profile->deadline = rmw_qos_profile_default.deadline;
-  qos_profile->lifespan = rmw_qos_profile_default.lifespan;
-  qos_profile->liveliness = rmw_qos_profile_default.liveliness;
-  qos_profile->liveliness_lease_duration = rmw_qos_profile_default.liveliness_lease_duration;
+  RCLJAVA_QOS_SET_RMW_TIME(qos_profile, deadline, deadline_sec, deadline_nanos);
+  RCLJAVA_QOS_SET_RMW_TIME(qos_profile, lifespan, lifespan_sec, lifespan_nanos);
+  qos_profile->liveliness = static_cast<rmw_qos_liveliness_policy_t>(liveliness);
+  RCLJAVA_QOS_SET_RMW_TIME(
+    qos_profile, liveliness_lease_duration, liveliness_lease_sec, liveliness_lease_nanos);
   qos_profile->avoid_ros_namespace_conventions = avoidROSNamespaceConventions;
   return reinterpret_cast<jlong>(qos_profile);
 }

rcljava/src/main/java/org/ros2/rcljava/RCLJava.java

@@ -301,18 +301,22 @@ public static synchronized void shutdown() {
   }
 
   public static long convertQoSProfileToHandle(final QoSProfile qosProfile) {
-    int history = qosProfile.getHistory().getValue();
-    int depth = qosProfile.getDepth();
-    int reliability = qosProfile.getReliability().getValue();
-    int durability = qosProfile.getDurability().getValue();
-    boolean avoidROSNamespaceConventions = qosProfile.getAvoidROSNamespaceConventions();
-
     return nativeConvertQoSProfileToHandle(
-        history, depth, reliability, durability, avoidROSNamespaceConventions);
+      qosProfile.getHistory().getValue(),
+      qosProfile.getDepth(),
+      qosProfile.getReliability().getValue(),
+      qosProfile.getDurability().getValue(),
+      qosProfile.getDeadline().getSeconds(), qosProfile.getDeadline().getNano(),
+      qosProfile.getLifespan().getSeconds(), qosProfile.getLifespan().getNano(),
+      qosProfile.getLiveliness().getValue(), qosProfile.getLivelinessLeaseDuration().getSeconds(),
+      qosProfile.getLivelinessLeaseDuration().getNano(),
+      qosProfile.getAvoidROSNamespaceConventions());
   }
 
-  private static native long nativeConvertQoSProfileToHandle(int history, int depth,
-      int reliability, int durability, boolean avoidROSNamespaceConventions);
+  private static native long nativeConvertQoSProfileToHandle(
+    int history, int depth, int reliability, int durability, long deadlineSec, int deadlineNanos,
+    long lifespanSec, int lifespanNanos, int liveliness, long livelinessLeaseSec,
+    int livelinessLeaseNanos, boolean avoidROSNamespaceConventions);
 
   public static void disposeQoSProfile(final long qosProfileHandle) {
     nativeDisposeQoSProfile(qosProfileHandle);

rcljava/src/main/java/org/ros2/rcljava/qos/QoSProfile.java

@@ -15,21 +15,38 @@
 
 package org.ros2.rcljava.qos;
 
+import java.time.Duration;
+
 import org.ros2.rcljava.qos.policies.Durability;
 import org.ros2.rcljava.qos.policies.History;
+import org.ros2.rcljava.qos.policies.Liveliness;
 import org.ros2.rcljava.qos.policies.QoSPolicy;
 import org.ros2.rcljava.qos.policies.Reliability;
 
 public class QoSProfile {
-  private final History history;
+  // TODO(ivanpauno): Update all qos policies in a way that the objects are created from RCL,
+  // to avoid depending on the enum values.
+  private History history;
+
+  private int depth;
+
+  private Reliability reliability;
+
+  private Durability durability;
 
-  private final int depth;
+  private Duration deadline = Duration.ofSeconds(0, 0);
 
-  private final Reliability reliability;
+  private Duration lifespan = Duration.ofSeconds(0, 0);
 
-  private final Durability durability;
+  private Liveliness liveliness = Liveliness.SYSTEM_DEFAULT;
 
-  private final boolean avoidROSNamespaceConventions;
+  private Duration livelinessLeaseDuration = Duration.ofSeconds(0, 0);
+
+  private boolean avoidROSNamespaceConventions;
+
+  public QoSProfile(int depth) {
+    this(History.KEEP_LAST, depth, Reliability.RELIABLE, Durability.VOLATILE, false);
+  }
 
   public QoSProfile(History history, int depth, Reliability reliability, Durability durability,
       boolean avoidROSNamespaceConventions) {
@@ -44,39 +61,127 @@ public final History getHistory() {
     return this.history;
   }
 
+  public final QoSProfile setHistory(final History history) {
+    this.history = history;
+    return this;
+  }
+
   public final int getDepth() {
     return this.depth;
   }
 
+  public final QoSProfile setDepth(final int depth) {
+    this.depth = depth;
+    return this;
+  }
+
   public final Reliability getReliability() {
     return this.reliability;
   }
 
+  public final QoSProfile setReliability(final Reliability reliability) {
+    this.reliability = reliability;
+    return this;
+  }
+
   public final Durability getDurability() {
     return this.durability;
   }
 
+  public final QoSProfile setDurability(final Durability durability) {
+    this.durability = durability;
+    return this;
+  }
+
+  public final Duration getDeadline() {
+    return this.deadline;
+  }
+
+  public final QoSProfile setDeadline(final Duration deadline) {
+    this.deadline = deadline;
+    return this;
+  }
+
+  public final Duration getLifespan() {
+    return this.lifespan;
+  }
+
+  public final QoSProfile setLifespan(final Duration lifespan) {
+    this.lifespan = lifespan;
+    return this;
+  }
+
+  public final Liveliness getLiveliness() {
+    return this.liveliness;
+  }
+
+  public final QoSProfile setLiveliness(final Liveliness liveliness) {
+    this.liveliness = liveliness;
+    return this;
+  }
+
+  public final Duration getLivelinessLeaseDuration() {
+    return this.livelinessLeaseDuration;
+  }
+
+  public final QoSProfile setLivelinessLeaseDuration(final Duration livelinessLeaseDuration) {
+    this.livelinessLeaseDuration = livelinessLeaseDuration;
+    return this;
+  }
+
   public final boolean getAvoidROSNamespaceConventions() {
     return this.avoidROSNamespaceConventions;
   }
 
+  public final QoSProfile setAvoidROSNamespaceConventions(final boolean avoidROSConventions) {
+    this.avoidROSNamespaceConventions = avoidROSConventions;
+    return this;
+  }
+
+  // TODO(ivanpauno): refactor all static default profiles methods,
+  // so that the return value is get from the rmw definition directly
+  // (leveraging a native function).
+  public static final QoSProfile defaultProfile() {
+    return new QoSProfile(10);
+  }
+
+  public static final QoSProfile systemDefault() {
+    return new QoSProfile(
+      History.SYSTEM_DEFAULT, QoSProfile.DEPTH_SYSTEM_DEFAULT,
+      Reliability.SYSTEM_DEFAULT, Durability.SYSTEM_DEFAULT, false);
+  }
+
+  public static final QoSProfile sensorData() {
+    return new QoSProfile(
+      History.KEEP_LAST, 5, Reliability.BEST_EFFORT, Durability.VOLATILE, false);
+  }
+
+  public static final QoSProfile parametersDefault() {
+    return new QoSProfile(
+      History.KEEP_LAST, 1000, Reliability.RELIABLE, Durability.VOLATILE, false);
+  }
+
+  public static final QoSProfile servicesDefault() {
+    return new QoSProfile(
+      History.KEEP_LAST, 10, Reliability.RELIABLE, Durability.VOLATILE, false);
+  }
+
+  public static final QoSProfile parameterEventsDefault() {
+    return new QoSProfile(
+      History.KEEP_ALL, 1000, Reliability.RELIABLE, Durability.VOLATILE, false);
+  }
+
   public static final int DEPTH_SYSTEM_DEFAULT = 0;
 
-  public static final QoSProfile SENSOR_DATA =
-      new QoSProfile(History.KEEP_LAST, 5, Reliability.BEST_EFFORT, Durability.VOLATILE, false);
+  public static final QoSProfile SENSOR_DATA = sensorData();
 
-  public static final QoSProfile PARAMETERS =
-      new QoSProfile(History.KEEP_LAST, 1000, Reliability.RELIABLE, Durability.VOLATILE, false);
+  public static final QoSProfile PARAMETERS = parametersDefault();
 
-  public static final QoSProfile DEFAULT =
-      new QoSProfile(History.KEEP_LAST, 10, Reliability.RELIABLE, Durability.VOLATILE, false);
+  public static final QoSProfile DEFAULT = defaultProfile();
 
-  public static final QoSProfile SERVICES_DEFAULT =
-      new QoSProfile(History.KEEP_LAST, 10, Reliability.RELIABLE, Durability.VOLATILE, false);
+  public static final QoSProfile SERVICES_DEFAULT = servicesDefault();
 
-  public static final QoSProfile PARAMETER_EVENTS =
-      new QoSProfile(History.KEEP_ALL, 1000, Reliability.RELIABLE, Durability.VOLATILE, false);
+  public static final QoSProfile PARAMETER_EVENTS = parameterEventsDefault();
 
-  public static final QoSProfile SYSTEM_DEFAULT = new QoSProfile(History.SYSTEM_DEFAULT,
-      DEPTH_SYSTEM_DEFAULT, Reliability.SYSTEM_DEFAULT, Durability.SYSTEM_DEFAULT, false);
+  public static final QoSProfile SYSTEM_DEFAULT = systemDefault();
 }

rcljava/src/main/java/org/ros2/rcljava/qos/policies/Liveliness.java

@@ -0,0 +1,32 @@
+/* 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.qos.policies;
+
+public enum Liveliness implements QoSPolicy {
+  SYSTEM_DEFAULT(0),
+  AUTOMATIC(1),
+  MANUAL_BY_TOPIC(3);
+
+  private final int value;
+
+  Liveliness(final int value) {
+    this.value = value;
+  }
+
+  public int getValue() {
+    return value;
+  }
+}