diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..aa724b7 --- /dev/null +++ b/.gitignore @@ -0,0 +1,15 @@ +*.iml +.gradle +/local.properties +/.idea/caches +/.idea/libraries +/.idea/modules.xml +/.idea/workspace.xml +/.idea/navEditor.xml +/.idea/assetWizardSettings.xml +.DS_Store +/build +/captures +.externalNativeBuild +.cxx +local.properties diff --git a/.idea/.gitignore b/.idea/.gitignore new file mode 100644 index 0000000..26d3352 --- /dev/null +++ b/.idea/.gitignore @@ -0,0 +1,3 @@ +# Default ignored files +/shelf/ +/workspace.xml diff --git a/.idea/compiler.xml b/.idea/compiler.xml new file mode 100644 index 0000000..b589d56 --- /dev/null +++ b/.idea/compiler.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/.idea/gradle.xml b/.idea/gradle.xml new file mode 100644 index 0000000..cb38edc --- /dev/null +++ b/.idea/gradle.xml @@ -0,0 +1,19 @@ + + + + + + + \ No newline at end of file diff --git a/.idea/kotlinc.xml b/.idea/kotlinc.xml new file mode 100644 index 0000000..69e8615 --- /dev/null +++ b/.idea/kotlinc.xml @@ -0,0 +1,6 @@ + + + + + \ No newline at end of file diff --git a/.idea/misc.xml b/.idea/misc.xml new file mode 100644 index 0000000..773fe0f --- /dev/null +++ b/.idea/misc.xml @@ -0,0 +1,9 @@ + + + + + + + + \ No newline at end of file diff --git a/.idea/vcs.xml b/.idea/vcs.xml new file mode 100644 index 0000000..94a25f7 --- /dev/null +++ b/.idea/vcs.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..261eeb9 --- /dev/null +++ b/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/build.gradle b/build.gradle new file mode 100644 index 0000000..25ad99d --- /dev/null +++ b/build.gradle @@ -0,0 +1,6 @@ +// Top-level build file where you can add configuration options common to all sub-projects/modules. +plugins { + id 'com.android.application' version '8.0.1' apply false + id 'com.android.library' version '8.0.1' apply false + id 'org.jetbrains.kotlin.android' version '1.8.20' apply false +} \ No newline at end of file diff --git a/gradle.properties b/gradle.properties new file mode 100644 index 0000000..3c5031e --- /dev/null +++ b/gradle.properties @@ -0,0 +1,23 @@ +# Project-wide Gradle settings. +# IDE (e.g. Android Studio) users: +# Gradle settings configured through the IDE *will override* +# any settings specified in this file. +# For more details on how to configure your build environment visit +# http://www.gradle.org/docs/current/userguide/build_environment.html +# Specifies the JVM arguments used for the daemon process. +# The setting is particularly useful for tweaking memory settings. +org.gradle.jvmargs=-Xmx2048m -Dfile.encoding=UTF-8 +# When configured, Gradle will run in incubating parallel mode. +# This option should only be used with decoupled projects. More details, visit +# http://www.gradle.org/docs/current/userguide/multi_project_builds.html#sec:decoupled_projects +# org.gradle.parallel=true +# AndroidX package structure to make it clearer which packages are bundled with the +# Android operating system, and which are packaged with your app's APK +# https://developer.android.com/topic/libraries/support-library/androidx-rn +android.useAndroidX=true +# Kotlin code style for this project: "official" or "obsolete": +kotlin.code.style=official +# Enables namespacing of each library's R class so that its R class includes only the +# resources declared in the library itself and none from the library's dependencies, +# thereby reducing the size of the R class for that library +android.nonTransitiveRClass=true \ No newline at end of file diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 0000000..e708b1c Binary files /dev/null and b/gradle/wrapper/gradle-wrapper.jar differ diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties new file mode 100644 index 0000000..2de0a4c --- /dev/null +++ b/gradle/wrapper/gradle-wrapper.properties @@ -0,0 +1,6 @@ +#Mon Jul 03 22:06:57 JST 2023 +distributionBase=GRADLE_USER_HOME +distributionPath=wrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-8.0-bin.zip +zipStoreBase=GRADLE_USER_HOME +zipStorePath=wrapper/dists diff --git a/gradlew b/gradlew new file mode 100755 index 0000000..4f906e0 --- /dev/null +++ b/gradlew @@ -0,0 +1,185 @@ +#!/usr/bin/env sh + +# +# Copyright 2015 the original author or authors. +# +# 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 +# +# https://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. +# + +############################################################################## +## +## Gradle start up script for UN*X +## +############################################################################## + +# Attempt to set APP_HOME +# Resolve links: $0 may be a link +PRG="$0" +# Need this for relative symlinks. +while [ -h "$PRG" ] ; do + ls=`ls -ld "$PRG"` + link=`expr "$ls" : '.*-> \(.*\)$'` + if expr "$link" : '/.*' > /dev/null; then + PRG="$link" + else + PRG=`dirname "$PRG"`"/$link" + fi +done +SAVED="`pwd`" +cd "`dirname \"$PRG\"`/" >/dev/null +APP_HOME="`pwd -P`" +cd "$SAVED" >/dev/null + +APP_NAME="Gradle" +APP_BASE_NAME=`basename "$0"` + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD="maximum" + +warn () { + echo "$*" +} + +die () { + echo + echo "$*" + echo + exit 1 +} + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +nonstop=false +case "`uname`" in + CYGWIN* ) + cygwin=true + ;; + Darwin* ) + darwin=true + ;; + MINGW* ) + msys=true + ;; + NONSTOP* ) + nonstop=true + ;; +esac + +CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar + + +# Determine the Java command to use to start the JVM. +if [ -n "$JAVA_HOME" ] ; then + if [ -x "$JAVA_HOME/jre/sh/java" ] ; then + # IBM's JDK on AIX uses strange locations for the executables + JAVACMD="$JAVA_HOME/jre/sh/java" + else + JAVACMD="$JAVA_HOME/bin/java" + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD="java" + which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." +fi + +# Increase the maximum file descriptors if we can. +if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then + MAX_FD_LIMIT=`ulimit -H -n` + if [ $? -eq 0 ] ; then + if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then + MAX_FD="$MAX_FD_LIMIT" + fi + ulimit -n $MAX_FD + if [ $? -ne 0 ] ; then + warn "Could not set maximum file descriptor limit: $MAX_FD" + fi + else + warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT" + fi +fi + +# For Darwin, add options to specify how the application appears in the dock +if $darwin; then + GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\"" +fi + +# For Cygwin or MSYS, switch paths to Windows format before running java +if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then + APP_HOME=`cygpath --path --mixed "$APP_HOME"` + CLASSPATH=`cygpath --path --mixed "$CLASSPATH"` + + JAVACMD=`cygpath --unix "$JAVACMD"` + + # We build the pattern for arguments to be converted via cygpath + ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null` + SEP="" + for dir in $ROOTDIRSRAW ; do + ROOTDIRS="$ROOTDIRS$SEP$dir" + SEP="|" + done + OURCYGPATTERN="(^($ROOTDIRS))" + # Add a user-defined pattern to the cygpath arguments + if [ "$GRADLE_CYGPATTERN" != "" ] ; then + OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)" + fi + # Now convert the arguments - kludge to limit ourselves to /bin/sh + i=0 + for arg in "$@" ; do + CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -` + CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option + + if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition + eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"` + else + eval `echo args$i`="\"$arg\"" + fi + i=`expr $i + 1` + done + case $i in + 0) set -- ;; + 1) set -- "$args0" ;; + 2) set -- "$args0" "$args1" ;; + 3) set -- "$args0" "$args1" "$args2" ;; + 4) set -- "$args0" "$args1" "$args2" "$args3" ;; + 5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;; + 6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;; + 7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;; + 8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;; + 9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;; + esac +fi + +# Escape application args +save () { + for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done + echo " " +} +APP_ARGS=`save "$@"` + +# Collect all arguments for the java command, following the shell quoting and substitution rules +eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS" + +exec "$JAVACMD" "$@" diff --git a/gradlew.bat b/gradlew.bat new file mode 100644 index 0000000..ac1b06f --- /dev/null +++ b/gradlew.bat @@ -0,0 +1,89 @@ +@rem +@rem Copyright 2015 the original author or authors. +@rem +@rem Licensed under the Apache License, Version 2.0 (the "License"); +@rem you may not use this file except in compliance with the License. +@rem You may obtain a copy of the License at +@rem +@rem https://www.apache.org/licenses/LICENSE-2.0 +@rem +@rem Unless required by applicable law or agreed to in writing, software +@rem distributed under the License is distributed on an "AS IS" BASIS, +@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +@rem See the License for the specific language governing permissions and +@rem limitations under the License. +@rem + +@if "%DEBUG%" == "" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +set DIRNAME=%~dp0 +if "%DIRNAME%" == "" set DIRNAME=. +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@rem Resolve any "." and ".." in APP_HOME to make it shorter. +for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if "%ERRORLEVEL%" == "0" goto execute + +echo. +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +echo. +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:execute +@rem Setup the command line + +set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar + + +@rem Execute Gradle +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* + +:end +@rem End local scope for the variables with windows NT shell +if "%ERRORLEVEL%"=="0" goto mainEnd + +:fail +rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1 +exit /b 1 + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/jitpack.yml b/jitpack.yml new file mode 100644 index 0000000..4a8ec8a --- /dev/null +++ b/jitpack.yml @@ -0,0 +1,3 @@ +before_install: + - sdk install java 17.0.7-jbr + - sdk use java 17.0.7-jbr diff --git a/rclmodoki/.gitignore b/rclmodoki/.gitignore new file mode 100644 index 0000000..c73c14a --- /dev/null +++ b/rclmodoki/.gitignore @@ -0,0 +1,2 @@ +/build +.cxx diff --git a/rclmodoki/build.gradle b/rclmodoki/build.gradle new file mode 100644 index 0000000..7005334 --- /dev/null +++ b/rclmodoki/build.gradle @@ -0,0 +1,72 @@ +plugins { + id 'com.android.library' + id 'org.jetbrains.kotlin.android' + id 'maven-publish' +} + +android { + namespace 'jp.eyrin.rclmodoki' + compileSdk 33 + + defaultConfig { + minSdk 24 + targetSdk 33 + + testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner" + consumerProguardFiles "consumer-rules.pro" + } + + buildTypes { + release { + minifyEnabled false + proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro' + } + } + compileOptions { + sourceCompatibility JavaVersion.VERSION_1_8 + targetCompatibility JavaVersion.VERSION_1_8 + } + kotlinOptions { + jvmTarget = '1.8' + } + externalNativeBuild { + cmake { + path file('src/main/cpp/CMakeLists.txt') + version '3.22.1' + } + } + + buildFeatures { + prefabPublishing true + } + + prefab { + rclmodoki { + headers "src/main/cpp/include" + headerOnly true + } + } +} + +dependencies { + + implementation 'androidx.core:core-ktx:1.8.0' + implementation 'androidx.appcompat:appcompat:1.6.1' + implementation 'com.google.android.material:material:1.9.0' + testImplementation 'junit:junit:4.13.2' + androidTestImplementation 'androidx.test.ext:junit:1.1.5' + androidTestImplementation 'androidx.test.espresso:espresso-core:3.5.1' +} + +afterEvaluate { + publishing { + publications { + release(MavenPublication) { + from components.release + groupId = 'jp.eyrin' + artifactId = 'rclmodoki' + version = '0.0.1' + } + } + } +} diff --git a/rclmodoki/consumer-rules.pro b/rclmodoki/consumer-rules.pro new file mode 100644 index 0000000..e69de29 diff --git a/rclmodoki/proguard-rules.pro b/rclmodoki/proguard-rules.pro new file mode 100644 index 0000000..481bb43 --- /dev/null +++ b/rclmodoki/proguard-rules.pro @@ -0,0 +1,21 @@ +# Add project specific ProGuard rules here. +# You can control the set of applied configuration files using the +# proguardFiles setting in build.gradle. +# +# For more details, see +# http://developer.android.com/guide/developing/tools/proguard.html + +# If your project uses WebView with JS, uncomment the following +# and specify the fully qualified class name to the JavaScript interface +# class: +#-keepclassmembers class fqcn.of.javascript.interface.for.webview { +# public *; +#} + +# Uncomment this to preserve the line number information for +# debugging stack traces. +#-keepattributes SourceFile,LineNumberTable + +# If you keep the line number information, uncomment this to +# hide the original source file name. +#-renamesourcefileattribute SourceFile \ No newline at end of file diff --git a/rclmodoki/src/androidTest/java/jp/eyrin/rclmodoki/ExampleInstrumentedTest.kt b/rclmodoki/src/androidTest/java/jp/eyrin/rclmodoki/ExampleInstrumentedTest.kt new file mode 100644 index 0000000..8edbdf9 --- /dev/null +++ b/rclmodoki/src/androidTest/java/jp/eyrin/rclmodoki/ExampleInstrumentedTest.kt @@ -0,0 +1,24 @@ +package jp.eyrin.rclmodoki + +import androidx.test.platform.app.InstrumentationRegistry +import androidx.test.ext.junit.runners.AndroidJUnit4 + +import org.junit.Test +import org.junit.runner.RunWith + +import org.junit.Assert.* + +/** + * Instrumented test, which will execute on an Android device. + * + * See [testing documentation](http://d.android.com/tools/testing). + */ +@RunWith(AndroidJUnit4::class) +class ExampleInstrumentedTest { + @Test + fun useAppContext() { + // Context of the app under test. + val appContext = InstrumentationRegistry.getInstrumentation().targetContext + assertEquals("jp.eyrin.rclmodoki.test", appContext.packageName) + } +} diff --git a/rclmodoki/src/main/AndroidManifest.xml b/rclmodoki/src/main/AndroidManifest.xml new file mode 100644 index 0000000..8bdb7e1 --- /dev/null +++ b/rclmodoki/src/main/AndroidManifest.xml @@ -0,0 +1,4 @@ + + + + diff --git a/rclmodoki/src/main/cpp/.clang-format b/rclmodoki/src/main/cpp/.clang-format new file mode 100644 index 0000000..6456d77 --- /dev/null +++ b/rclmodoki/src/main/cpp/.clang-format @@ -0,0 +1,4 @@ +BasedOnStyle: LLVM +ColumnLimit: 120 +IndentCaseLabels: true +AllowShortFunctionsOnASingleLine: Empty diff --git a/rclmodoki/src/main/cpp/CMakeLists.txt b/rclmodoki/src/main/cpp/CMakeLists.txt new file mode 100644 index 0000000..d33de26 --- /dev/null +++ b/rclmodoki/src/main/cpp/CMakeLists.txt @@ -0,0 +1,6 @@ +cmake_minimum_required(VERSION 3.22.1) +project(rclmodoki) + +add_library(${PROJECT_NAME} INTERFACE) +target_include_directories(${PROJECT_NAME} INTERFACE include) + diff --git a/rclmodoki/src/main/cpp/include/rclmodoki/channel.hpp b/rclmodoki/src/main/cpp/include/rclmodoki/channel.hpp new file mode 100644 index 0000000..e919c50 --- /dev/null +++ b/rclmodoki/src/main/cpp/include/rclmodoki/channel.hpp @@ -0,0 +1,44 @@ +#pragma once + +#include +#include +#include + +namespace rclmodoki { + +template class Channel { +public: + void produce(T &&x) { + std::lock_guard lock{mtx_}; + if (!closed_) { + queue_.push(std::forward(x)); + cv_.notify_all(); + } + } + + bool consume(T &x) { + std::unique_lock lock{mtx_}; + cv_.wait(lock, [this] { return !queue_.empty() || closed_; }); + if (closed_) { + return false; + } + x = std::move(queue_.front()); + queue_.pop(); + cv_.notify_all(); + return true; + } + + void close() { + std::lock_guard lock{mtx_}; + closed_ = true; + cv_.notify_all(); + } + +private: + std::queue queue_; + bool closed_ = false; + std::mutex mtx_; + std::condition_variable cv_; +}; + +} // namespace rclmodoki diff --git a/rclmodoki/src/main/cpp/include/rclmodoki/eprosima.hpp b/rclmodoki/src/main/cpp/include/rclmodoki/eprosima.hpp new file mode 100644 index 0000000..c1ec805 --- /dev/null +++ b/rclmodoki/src/main/cpp/include/rclmodoki/eprosima.hpp @@ -0,0 +1,11 @@ +#pragma once + +namespace eprosima::fastdds::dds {} +namespace eprosima::fastrtps::rtps {} + +namespace rclmodoki { + +namespace dds = eprosima::fastdds::dds; +namespace rtps = eprosima::fastrtps::rtps; + +} // namespace rclmodoki diff --git a/rclmodoki/src/main/cpp/include/rclmodoki/jni_class.hpp b/rclmodoki/src/main/cpp/include/rclmodoki/jni_class.hpp new file mode 100644 index 0000000..917e62f --- /dev/null +++ b/rclmodoki/src/main/cpp/include/rclmodoki/jni_class.hpp @@ -0,0 +1,47 @@ +#pragma once + +#include +#include + +#include + +namespace rclmodoki { + +class JNIClass { +public: + JNIClass(JNIEnv *env, jclass clazz) { + global_ref_ = static_cast(env->NewGlobalRef(clazz)); + } + + void destroy(JNIEnv *env) { + env->DeleteGlobalRef(global_ref_); + delete this; + } + + jmethodID get_method_id(JNIEnv *env, const std::string &name, const std::string &sig) { + if (method_id_caches_.find(name) == method_id_caches_.end()) { + method_id_caches_[name] = env->GetMethodID(global_ref_, name.c_str(), sig.c_str()); + } + return method_id_caches_[name]; + } + + jfieldID get_field_id(JNIEnv *env, const std::string &name, const std::string &sig) { + if (field_id_caches_.find(name) == field_id_caches_.end()) { + field_id_caches_[name] = env->GetFieldID(global_ref_, name.c_str(), sig.c_str()); + } + return field_id_caches_[name]; + } + + jclass get_class() { + return global_ref_; + } + +private: + ~JNIClass() = default; + + jclass global_ref_; + std::unordered_map method_id_caches_; + std::unordered_map field_id_caches_; +}; + +} // namespace rclmodoki diff --git a/rclmodoki/src/main/cpp/include/rclmodoki/node.hpp b/rclmodoki/src/main/cpp/include/rclmodoki/node.hpp new file mode 100644 index 0000000..f241016 --- /dev/null +++ b/rclmodoki/src/main/cpp/include/rclmodoki/node.hpp @@ -0,0 +1,72 @@ +#pragma once + +#include +#include +#include + +#include +#include + +#include "channel.hpp" +#include "eprosima.hpp" +#include "jni_class.hpp" +#include "publisher.hpp" +#include "rclmodoki.hpp" +#include "subscription.hpp" + +namespace rclmodoki { + +class Node { +public: + Node(uint32_t domain_id) { + participant_ = + dds::DomainParticipantFactory::get_instance()->create_participant(domain_id, dds::PARTICIPANT_QOS_DEFAULT); + } + + void destroy(JNIEnv *env) { + for (auto *publisher : publisher_list_) { + delete publisher; + } + for (auto *subscription : subscription_list_) { + subscription->destroy(env); + } + delete this; + } + + void spin(JNIEnv *env) { + SubscriptionCallback *callback; + while (channel_.consume(callback)) { + callback->invoke(env); + delete callback; + } + } + + void stop_spin() { + channel_.close(); + } + + Publisher *create_publisher(MessageType &message_type, const std::string &topic, const dds::TopicQos &qos) { + publisher_list_.emplace_front(new Publisher(participant_, message_type, topic, qos)); + return publisher_list_.front(); + } + + Subscription *create_subscription(MessageType &message_type, const std::string &topic, const dds::TopicQos &qos, + jobject callback_gref, JNIClass *callback_class, jmethodID callback_mid, + jmethodID message_mid) { + subscription_list_.emplace_front(new Subscription(participant_, message_type, topic, qos, callback_gref, + callback_class, callback_mid, message_mid, channel_)); + return subscription_list_.front(); + } + +private: + ~Node() { + dds::DomainParticipantFactory::get_instance()->delete_participant(participant_); + } + + dds::DomainParticipant *participant_; + std::forward_list publisher_list_; + std::forward_list subscription_list_; + Channel channel_; +}; + +} // namespace rclmodoki diff --git a/rclmodoki/src/main/cpp/include/rclmodoki/publisher.hpp b/rclmodoki/src/main/cpp/include/rclmodoki/publisher.hpp new file mode 100644 index 0000000..9708f2b --- /dev/null +++ b/rclmodoki/src/main/cpp/include/rclmodoki/publisher.hpp @@ -0,0 +1,67 @@ +#pragma once + +#include +#include + +#include +#include +#include +#include +#include + +#include "eprosima.hpp" +#include "rclmodoki.hpp" + +namespace rclmodoki { + +class PublisherListener : public dds::DataWriterListener { +public: + void on_publication_matched(dds::DataWriter *, const dds::PublicationMatchedStatus &status) override { + count = status.current_count; + } + + std::atomic count{0}; +}; + +class Publisher { +public: + Publisher(dds::DomainParticipant *participant, MessageType &message_type, const std::string &topic, + const dds::TopicQos &qos) + : participant_(participant), message_type_(message_type) { + message_type_.type_support.register_type(participant_); + topic_ = participant_->create_topic(topic, message_type_.type_support.get_type_name(), qos); + publisher_ = participant_->create_publisher(dds::PUBLISHER_QOS_DEFAULT); + + dds::DataWriterQos writer_qos = dds::DATAWRITER_QOS_DEFAULT; + writer_qos.endpoint().history_memory_policy = rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE; + writer_qos.publish_mode().kind = dds::ASYNCHRONOUS_PUBLISH_MODE; + writer_qos.data_sharing().off(); + writer_ = publisher_->create_datawriter(topic_, writer_qos, &listener_); + } + + ~Publisher() { + publisher_->delete_datawriter(writer_); + participant_->delete_publisher(publisher_); + participant_->delete_topic(topic_); + } + + void publish(JNIEnv *env, jobject message) const { + auto msg = message_type_.kt_to_cpp(env, message_type_.jni_class, message); + writer_->write(msg); + message_type_.type_support.delete_data(msg); + } + + int32_t get_subscription_count() { + return listener_.count; + } + +private: + dds::DomainParticipant *participant_; + dds::Topic *topic_; + dds::Publisher *publisher_; + dds::DataWriter *writer_; + PublisherListener listener_; + MessageType &message_type_; +}; + +} // namespace rclmodoki diff --git a/rclmodoki/src/main/cpp/include/rclmodoki/qos.hpp b/rclmodoki/src/main/cpp/include/rclmodoki/qos.hpp new file mode 100644 index 0000000..d5c3e15 --- /dev/null +++ b/rclmodoki/src/main/cpp/include/rclmodoki/qos.hpp @@ -0,0 +1,132 @@ +#pragma once + +#include + +#include + +#include "eprosima.hpp" + +namespace rclmodoki { + +inline dds::TopicQos get_fastdds_qos(JNIEnv *env, jobject obj) { + dds::TopicQos qos = dds::TOPIC_QOS_DEFAULT; + + jclass clazz = env->FindClass("jp/eyrin/rclmodoki/QoS"); + + { + jobject history_depth = env->GetObjectField(obj, env->GetFieldID(clazz, "historyDepth", "Ljava/lang/Integer;")); + if (history_depth != nullptr) { + jmethodID int_value = env->GetMethodID(env->GetObjectClass(history_depth), "intValue", "()I"); + int value = env->CallIntMethod(history_depth, int_value); + qos.history().depth = value; + } + } + + { + jclass history_policy_class = env->FindClass("jp/eyrin/rclmodoki/QoS$HistoryPolicy"); + jobject keep_last = env->GetStaticObjectField( + history_policy_class, + env->GetStaticFieldID(history_policy_class, "KEEP_LAST", "Ljp/eyrin/rclmodoki/QoS$HistoryPolicy;")); + jobject keep_all = env->GetStaticObjectField( + history_policy_class, + env->GetStaticFieldID(history_policy_class, "KEEP_ALL", "Ljp/eyrin/rclmodoki/QoS$HistoryPolicy;")); + jobject history_policy = + env->GetObjectField(obj, env->GetFieldID(clazz, "historyPolicy", "Ljp/eyrin/rclmodoki/QoS$HistoryPolicy;")); + if (env->IsSameObject(keep_last, history_policy)) { + qos.history().kind = dds::KEEP_LAST_HISTORY_QOS; + } else if (env->IsSameObject(keep_all, history_policy)) { + qos.history().kind = dds::KEEP_ALL_HISTORY_QOS; + } + } + + { + jclass reliability_policy_class = env->FindClass("jp/eyrin/rclmodoki/QoS$ReliabilityPolicy"); + jobject best_effort = env->GetStaticObjectField( + reliability_policy_class, + env->GetStaticFieldID(reliability_policy_class, "BEST_EFFORT", "Ljp/eyrin/rclmodoki/QoS$ReliabilityPolicy;")); + jobject reliable = env->GetStaticObjectField( + reliability_policy_class, + env->GetStaticFieldID(reliability_policy_class, "RELIABLE", "Ljp/eyrin/rclmodoki/QoS$ReliabilityPolicy;")); + jobject reliability_policy = env->GetObjectField( + obj, env->GetFieldID(clazz, "reliabilityPolicy", "Ljp/eyrin/rclmodoki/QoS$ReliabilityPolicy;")); + if (env->IsSameObject(best_effort, reliability_policy)) { + qos.reliability().kind = dds::BEST_EFFORT_RELIABILITY_QOS; + } else if (env->IsSameObject(reliable, reliability_policy)) { + qos.reliability().kind = dds::RELIABLE_RELIABILITY_QOS; + } + } + + { + jclass durability_policy_class = env->FindClass("jp/eyrin/rclmodoki/QoS$DurabilityPolicy"); + jobject volatile_ = env->GetStaticObjectField( + durability_policy_class, + env->GetStaticFieldID(durability_policy_class, "VOLATILE", "Ljp/eyrin/rclmodoki/QoS$DurabilityPolicy;")); + jobject transient_local = env->GetStaticObjectField( + durability_policy_class, + env->GetStaticFieldID(durability_policy_class, "TRANSIENT_LOCAL", "Ljp/eyrin/rclmodoki/QoS$DurabilityPolicy;")); + jobject durability_policy = env->GetObjectField( + obj, env->GetFieldID(clazz, "durabilityPolicy", "Ljp/eyrin/rclmodoki/QoS$DurabilityPolicy;")); + if (env->IsSameObject(volatile_, durability_policy)) { + qos.durability().kind = dds::VOLATILE_DURABILITY_QOS; + } else if (env->IsSameObject(transient_local, durability_policy)) { + qos.durability().kind = dds::TRANSIENT_LOCAL_DURABILITY_QOS; + } + } + + { + jclass liveliness_policy_class = env->FindClass("jp/eyrin/rclmodoki/QoS$LivelinessPolicy"); + jobject automatic = env->GetStaticObjectField( + liveliness_policy_class, + env->GetStaticFieldID(liveliness_policy_class, "AUTOMATIC", "Ljp/eyrin/rclmodoki/QoS$LivelinessPolicy;")); + jobject manual_by_topic = env->GetStaticObjectField( + liveliness_policy_class, + env->GetStaticFieldID(liveliness_policy_class, "MANUAL_BY_TOPIC", "Ljp/eyrin/rclmodoki/QoS$LivelinessPolicy;")); + jobject liveliness_policy = env->GetObjectField( + obj, env->GetFieldID(clazz, "livelinessPolicy", "Ljp/eyrin/rclmodoki/QoS$LivelinessPolicy;")); + if (env->IsSameObject(automatic, liveliness_policy)) { + qos.liveliness().kind = dds::AUTOMATIC_LIVELINESS_QOS; + } else if (env->IsSameObject(manual_by_topic, liveliness_policy)) { + qos.liveliness().kind = dds::MANUAL_BY_TOPIC_LIVELINESS_QOS; + } + } + + { + jobject deadline_seconds = env->GetObjectField(obj, env->GetFieldID(clazz, "deadlineSeconds", "Ljava/lang/Long;")); + if (deadline_seconds != nullptr) { + int deadline_nanoseconds = env->GetIntField(obj, env->GetFieldID(clazz, "deadlineNanoseconds", "I")); + jmethodID long_value = env->GetMethodID(env->GetObjectClass(deadline_seconds), "longValue", "()J"); + long value = env->CallLongMethod(deadline_seconds, long_value); + if (value == -1) { + qos.deadline().period = {eprosima::fastrtps::Duration_t::INFINITE_SECONDS, + eprosima::fastrtps::Duration_t::INFINITE_NANOSECONDS}; + } else { + qos.deadline().period = { + static_cast(value), + static_cast(deadline_nanoseconds), + }; + } + } + } + + { + jobject lifespan_seconds = env->GetObjectField(obj, env->GetFieldID(clazz, "lifespanSeconds", "Ljava/lang/Long;")); + if (lifespan_seconds != nullptr) { + int lifespan_nanoseconds = env->GetIntField(obj, env->GetFieldID(clazz, "lifespanNanoseconds", "I")); + jmethodID long_value = env->GetMethodID(env->GetObjectClass(lifespan_seconds), "longValue", "()J"); + long value = env->CallLongMethod(lifespan_seconds, long_value); + if (value == -1) { + qos.lifespan().duration = {eprosima::fastrtps::Duration_t::INFINITE_SECONDS, + eprosima::fastrtps::Duration_t::INFINITE_NANOSECONDS}; + } else { + qos.lifespan().duration = { + static_cast(value), + static_cast(lifespan_nanoseconds), + }; + } + } + } + + return qos; +} + +} // namespace rclmodoki diff --git a/rclmodoki/src/main/cpp/include/rclmodoki/rclmodoki.cpp b/rclmodoki/src/main/cpp/include/rclmodoki/rclmodoki.cpp new file mode 100644 index 0000000..d93eb33 --- /dev/null +++ b/rclmodoki/src/main/cpp/include/rclmodoki/rclmodoki.cpp @@ -0,0 +1,116 @@ +#include + +#include "jni_class.hpp" +#include "node.hpp" +#include "qos.hpp" +#include "rclmodoki.hpp" + +namespace rclmodoki { + +// Node +jlong node_create_node(JNIEnv *env, jobject thiz, jint domain_id) { + return reinterpret_cast(new Node(domain_id)); +} + +void node_destroy_node(JNIEnv *env, jobject thiz, jlong node_ptr) { + auto node = reinterpret_cast(node_ptr); + node->destroy(env); +} + +void node_spin(JNIEnv *env, jobject thiz, jlong node_ptr) { + auto node = reinterpret_cast(node_ptr); + node->spin(env); +} + +void node_stop_spin(JNIEnv *env, jobject thiz, jlong node_ptr) { + auto node = reinterpret_cast(node_ptr); + node->stop_spin(); +} + +// Publisher +jlong publisher_create_publisher(JNIEnv *env, jobject thiz, jlong node_ptr, jstring message_type_name, jstring topic, + jobject qos) { + auto node = reinterpret_cast(node_ptr); + return reinterpret_cast(node->create_publisher(message_types.at(from_jstring(env, message_type_name)), + from_jstring(env, topic), get_fastdds_qos(env, qos))); +} + +void publisher_publish_impl(JNIEnv *env, jobject thiz, jlong publisher_ptr, jobject message) { + auto publisher = reinterpret_cast(publisher_ptr); + publisher->publish(env, message); +} + +jint publisher_get_subscription_count(JNIEnv *env, jobject thiz, jlong publisher_ptr) { + auto publisher = reinterpret_cast(publisher_ptr); + return publisher->get_subscription_count(); +} + +// Subscription +jlong subscription_create_subscription(JNIEnv *env, jobject thiz, jlong node_ptr, jstring message_type_name, + jstring topic, jobject qos, jobject callback, jstring message_sig) { + auto node = reinterpret_cast(node_ptr); + std::string message_type_name_ = from_jstring(env, message_type_name); + auto *callback_class = new JNIClass(env, env->GetObjectClass(callback)); + jobject callback_gref = env->NewGlobalRef(callback); + jmethodID callback_mid = callback_class->get_method_id(env, "invoke", "(L" + message_type_name_ + ";)V"); + jmethodID message_mid = message_types.at(from_jstring(env, message_type_name)) + .jni_class->get_method_id(env, "", from_jstring(env, message_sig)); + return reinterpret_cast(node->create_subscription(message_types.at(message_type_name_), + from_jstring(env, topic), get_fastdds_qos(env, qos), + callback_gref, callback_class, callback_mid, message_mid)); +} + +jint subscription_get_publisher_count(JNIEnv *env, jobject thiz, jlong subscription_ptr) { + auto subscription = reinterpret_cast(subscription_ptr); + return subscription->get_publisher_count(); +} + +} // namespace rclmodoki + +extern "C" JNIEXPORT jint JNI_OnLoad(JavaVM *vm, void *reserved) { + using namespace rclmodoki; + + JNIEnv *env; + if (vm->GetEnv(reinterpret_cast(&env), JNI_VERSION_1_6) != JNI_OK) { + return JNI_ERR; + } + + // Init MessageTypes + for (auto &message_type : message_types) { + message_type.second.jni_class = new JNIClass(env, env->FindClass(message_type.first.c_str())); + } + + // Node + jclass node_class = env->FindClass("jp/eyrin/rclmodoki/Node"); + static const JNINativeMethod node_methods[] = { + {"createNode", "(I)J", reinterpret_cast(node_create_node)}, + {"destroyNode", "(J)V", reinterpret_cast(node_destroy_node)}, + {"spin", "(J)V", reinterpret_cast(node_spin)}, + {"stopSpin", "(J)V", reinterpret_cast(node_stop_spin)}, + }; + env->RegisterNatives(node_class, node_methods, sizeof(node_methods) / sizeof(JNINativeMethod)); + + // Publisher + jclass publisher_class = env->FindClass("jp/eyrin/rclmodoki/Publisher"); + static const JNINativeMethod publisher_methods[] = { + {"createPublisher", "(JLjava/lang/String;Ljava/lang/String;Ljp/eyrin/rclmodoki/QoS;)J", + reinterpret_cast(publisher_create_publisher)}, + {"publishImpl", "(JLjava/lang/Object;)V", reinterpret_cast(publisher_publish_impl)}, + {"getSubscriptionCount", "(J)I", reinterpret_cast(publisher_get_subscription_count)}, + }; + env->RegisterNatives(publisher_class, publisher_methods, sizeof(publisher_methods) / sizeof(JNINativeMethod)); + + // Subscription + jclass subscription_class = env->FindClass("jp/eyrin/rclmodoki/Subscription"); + static const JNINativeMethod subscription_methods[] = { + {"createSubscription", + "(JLjava/lang/String;Ljava/lang/String;Ljp/eyrin/rclmodoki/QoS;Lkotlin/jvm/functions/" + "Function1;Ljava/lang/String;)J", + reinterpret_cast(subscription_create_subscription)}, + {"getPublisherCount", "(J)I", reinterpret_cast(subscription_get_publisher_count)}, + }; + env->RegisterNatives(subscription_class, subscription_methods, + sizeof(subscription_methods) / sizeof(JNINativeMethod)); + + return JNI_VERSION_1_6; +} diff --git a/rclmodoki/src/main/cpp/include/rclmodoki/rclmodoki.hpp b/rclmodoki/src/main/cpp/include/rclmodoki/rclmodoki.hpp new file mode 100644 index 0000000..8549247 --- /dev/null +++ b/rclmodoki/src/main/cpp/include/rclmodoki/rclmodoki.hpp @@ -0,0 +1,43 @@ +#pragma once + +#include +#include +#include + +#include + +#include + +#include "jni_class.hpp" + +namespace rclmodoki { + +class MessageType { +public: + MessageType(eprosima::fastdds::dds::TopicDataType *message_type, + std::function &&kt_to_cpp, + std::function &&cpp_to_kt) + : type_support(message_type), kt_to_cpp(std::move(kt_to_cpp)), cpp_to_kt(std::move(cpp_to_kt)) {} + + eprosima::fastdds::dds::TypeSupport type_support; + std::function kt_to_cpp; + std::function cpp_to_kt; + JNIClass *jni_class; +}; + +using MessageTypes = std::unordered_map; + +extern MessageTypes message_types; + +inline std::string from_jstring(JNIEnv *env, jstring s) { + const char *s_ = env->GetStringUTFChars(s, nullptr); + std::string res{s_}; + env->ReleaseStringUTFChars(s, s_); + return res; +} + +inline jstring to_jstring(JNIEnv *env, const std::string &s) { + return env->NewStringUTF(s.data()); +} + +} // namespace rclmodoki diff --git a/rclmodoki/src/main/cpp/include/rclmodoki/subscription.hpp b/rclmodoki/src/main/cpp/include/rclmodoki/subscription.hpp new file mode 100644 index 0000000..32d9b6c --- /dev/null +++ b/rclmodoki/src/main/cpp/include/rclmodoki/subscription.hpp @@ -0,0 +1,118 @@ +#pragma once + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include "channel.hpp" +#include "eprosima.hpp" +#include "jni_class.hpp" +#include "rclmodoki.hpp" + +namespace rclmodoki { + +class SubscriptionCallback { +public: + SubscriptionCallback(MessageType &message_type, jobject callback_gref, jmethodID callback_mid, jmethodID message_mid, + void *message) + : message_type_(message_type), callback_gref_(callback_gref), callback_mid_(callback_mid), + message_mid_(message_mid), message_(message) {} + + ~SubscriptionCallback() { + message_type_.type_support.delete_data(message_); + } + + void invoke(JNIEnv *env) { + env->CallVoidMethod(callback_gref_, callback_mid_, + message_type_.cpp_to_kt(env, message_type_.jni_class, message_mid_, message_)); + } + +private: + MessageType &message_type_; + jobject callback_gref_; + jmethodID callback_mid_; + jmethodID message_mid_; + void *message_; +}; + +class SubscriptionListener : public dds::DataReaderListener { +public: + SubscriptionListener(MessageType &message_type, jobject callback_gref, jmethodID callback_mid, jmethodID message_mid, + Channel &channel) + : message_type_(message_type), callback_gref_(callback_gref), callback_mid_(callback_mid), + message_mid_(message_mid), channel_(channel) {} + + void on_subscription_matched(dds::DataReader *, const dds::SubscriptionMatchedStatus &status) override { + count = status.current_count; + } + + void on_data_available(dds::DataReader *reader) override { + void *message = message_type_.type_support.create_data(); + if (reader->take_next_sample(message, &sample_info_) == ReturnCode_t::RETCODE_OK && sample_info_.valid_data) { + channel_.produce(new SubscriptionCallback(message_type_, callback_gref_, callback_mid_, message_mid_, message)); + } + } + + std::atomic count{0}; + +private: + dds::SampleInfo sample_info_; + MessageType &message_type_; + jobject callback_gref_; + jmethodID callback_mid_; + jmethodID message_mid_; + Channel &channel_; +}; + +class Subscription { +public: + Subscription(dds::DomainParticipant *participant, MessageType &message_type, const std::string &topic, + const dds::TopicQos &qos, jobject callback_gref, JNIClass *callback_class, jmethodID callback_mid, + jmethodID message_mid, Channel &channel) + : participant_(participant), callback_gref_(callback_gref), callback_class_(callback_class), + listener_(message_type, callback_gref, callback_mid, message_mid, channel) { + message_type.type_support.register_type(participant_); + topic_ = participant_->create_topic(topic, message_type.type_support.get_type_name(), qos); + subscriber_ = participant_->create_subscriber(dds::SUBSCRIBER_QOS_DEFAULT); + + dds::DataReaderQos reader_qos = dds::DATAREADER_QOS_DEFAULT; + reader_qos.endpoint().history_memory_policy = rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE; + reader_qos.data_sharing().off(); + reader_ = subscriber_->create_datareader(topic_, reader_qos, &listener_); + } + + void destroy(JNIEnv *env) { + callback_class_->destroy(env); + env->DeleteGlobalRef(callback_gref_); + delete this; + } + + int32_t get_publisher_count() { + return listener_.count; + } + +private: + ~Subscription() { + subscriber_->delete_datareader(reader_); + participant_->delete_subscriber(subscriber_); + participant_->delete_topic(topic_); + } + + dds::DomainParticipant *participant_; + dds::Topic *topic_; + dds::Subscriber *subscriber_; + dds::DataReader *reader_; + SubscriptionListener listener_; + jobject callback_gref_; + JNIClass *callback_class_; +}; + +} // namespace rclmodoki diff --git a/rclmodoki/src/main/java/jp/eyrin/rclmodoki/Node.kt b/rclmodoki/src/main/java/jp/eyrin/rclmodoki/Node.kt new file mode 100644 index 0000000..32c56cb --- /dev/null +++ b/rclmodoki/src/main/java/jp/eyrin/rclmodoki/Node.kt @@ -0,0 +1,62 @@ +package jp.eyrin.rclmodoki + +import java.util.concurrent.locks.ReentrantReadWriteLock +import kotlin.concurrent.withLock + +class Node(domainId: Int, private val ns: String? = null) { + private var nodePtr = 0L + private val nodePtrLock = ReentrantReadWriteLock() + private var spinThread: Thread + + init { + nodePtrLock.writeLock().withLock { + nodePtr = createNode(domainId) + } + spinThread = Thread { + nodePtrLock.readLock().withLock { + spin(nodePtr) + } + } + spinThread.start() + } + + fun shutdown() { + nodePtrLock.readLock().withLock { + stopSpin(nodePtr) + } + nodePtrLock.writeLock().withLock { + destroyNode(nodePtr) + } + } + + inline fun createPublisher( + topic: String, qos: QoS + ) = createPublisherImpl(MessageType::class.java, topic, qos) + + inline fun createSubscription( + topic: String, qos: QoS, noinline callback: (MessageType) -> Unit + ) = createSubscriptionImpl(MessageType::class.java, topic, qos, callback) + + @PublishedApi + internal fun createPublisherImpl( + messageType: Class, topic: String, qos: QoS + ) = Publisher(messageType, nodePtr, getROS2Topic(topic), qos) + + @PublishedApi + internal fun createSubscriptionImpl( + messageType: Class, topic: String, qos: QoS, callback: (MessageType) -> Unit + ) = Subscription(messageType, nodePtr, getROS2Topic(topic), qos, callback) + + private fun getROS2Topic(topic: String) = if (topic[0] == '/') { + "rt$topic" + } else if (ns == null) { + "rt/$topic" + } else { + "rt/$ns/$topic" + } + + private external fun createNode(domainId: Int): Long + private external fun destroyNode(nodePtr: Long) + private external fun spin(nodePtr: Long) + private external fun stopSpin(nodePtr: Long) +} diff --git a/rclmodoki/src/main/java/jp/eyrin/rclmodoki/Publisher.kt b/rclmodoki/src/main/java/jp/eyrin/rclmodoki/Publisher.kt new file mode 100644 index 0000000..8198be2 --- /dev/null +++ b/rclmodoki/src/main/java/jp/eyrin/rclmodoki/Publisher.kt @@ -0,0 +1,27 @@ +package jp.eyrin.rclmodoki + +class Publisher internal constructor( + messageType: Class, nodePtr: Long, topic: String, qos: QoS +) { + private var publisherPtr = 0L + + init { + publisherPtr = createPublisher( + nodePtr, getJNIClassName(messageType), topic, qos + ) + } + + fun publish(message: MessageType) { + publishImpl(publisherPtr, message) + } + + val subscriptionCount: Int + get() = getSubscriptionCount(publisherPtr) + + private external fun createPublisher( + nodePtr: Long, messageTypeName: String, topic: String, qos: QoS + ): Long + + private external fun publishImpl(publisherPtr: Long, message: Any) + private external fun getSubscriptionCount(publisherPtr: Long): Int +} diff --git a/rclmodoki/src/main/java/jp/eyrin/rclmodoki/QoS.kt b/rclmodoki/src/main/java/jp/eyrin/rclmodoki/QoS.kt new file mode 100644 index 0000000..0e96a9b --- /dev/null +++ b/rclmodoki/src/main/java/jp/eyrin/rclmodoki/QoS.kt @@ -0,0 +1,73 @@ +package jp.eyrin.rclmodoki + +import kotlin.time.Duration + +class QoS() { + enum class HistoryPolicy { + KEEP_LAST, KEEP_ALL + } + + enum class ReliabilityPolicy { + BEST_EFFORT, RELIABLE + } + + enum class DurabilityPolicy { + VOLATILE, TRANSIENT_LOCAL + } + + enum class LivelinessPolicy { + AUTOMATIC, MANUAL_BY_TOPIC + } + + constructor(depth: Int) : this() { + historyDepth = depth + } + + fun history(policy: HistoryPolicy) = apply { + historyPolicy = policy + } + + fun reliability(policy: ReliabilityPolicy) = apply { + reliabilityPolicy = policy + } + + fun durability(policy: DurabilityPolicy) = apply { + durabilityPolicy = policy + } + + fun liveliness(policy: LivelinessPolicy) = apply { + livelinessPolicy = policy + } + + fun deadline(duration: Duration) = apply { + if (duration == Duration.INFINITE) { + deadlineSeconds = -1 + } else { + duration.toComponents { seconds, nanoseconds -> + deadlineSeconds = seconds + deadlineNanoseconds = nanoseconds + } + } + } + + fun lifespan(duration: Duration) = apply { + if (duration == Duration.INFINITE) { + lifespanSeconds = -1 + } else { + duration.toComponents { seconds, nanoseconds -> + lifespanSeconds = seconds + lifespanNanoseconds = nanoseconds + } + } + } + + private var historyDepth: Int? = null + private var historyPolicy: HistoryPolicy? = null + private var reliabilityPolicy: ReliabilityPolicy? = null + private var durabilityPolicy: DurabilityPolicy? = null + private var livelinessPolicy: LivelinessPolicy? = null + private var deadlineSeconds: Long? = null + private var deadlineNanoseconds: Int = 0 + private var lifespanSeconds: Long? = null + private var lifespanNanoseconds: Int = 0 +} diff --git a/rclmodoki/src/main/java/jp/eyrin/rclmodoki/Subscription.kt b/rclmodoki/src/main/java/jp/eyrin/rclmodoki/Subscription.kt new file mode 100644 index 0000000..540060a --- /dev/null +++ b/rclmodoki/src/main/java/jp/eyrin/rclmodoki/Subscription.kt @@ -0,0 +1,36 @@ +package jp.eyrin.rclmodoki + +class Subscription internal constructor( + messageType: Class, + nodePtr: Long, + topic: String, + qos: QoS, + callback: (MessageType) -> Unit +) { + private var subscriptionPtr = 0L + + init { + subscriptionPtr = createSubscription( + nodePtr, + getJNIClassName(messageType), + topic, + qos, + callback, + getJNIInitSignature(messageType) + ) + } + + val publisherCount: Int + get() = getPublisherCount(subscriptionPtr) + + private external fun createSubscription( + nodePtr: Long, + messageTypeName: String, + topic: String, + qos: QoS, + callback: (MessageType) -> Unit, + messageSig: String + ): Long + + private external fun getPublisherCount(subscriptionPtr: Long): Int +} diff --git a/rclmodoki/src/main/java/jp/eyrin/rclmodoki/Utils.kt b/rclmodoki/src/main/java/jp/eyrin/rclmodoki/Utils.kt new file mode 100644 index 0000000..0412cd1 --- /dev/null +++ b/rclmodoki/src/main/java/jp/eyrin/rclmodoki/Utils.kt @@ -0,0 +1,23 @@ +package jp.eyrin.rclmodoki + +internal fun getJNIClassName(clazz: Class<*>) = clazz.name.replace(".", "/") + +internal fun getJNITypeSignature(clazz: Class<*>): String = if (clazz.isArray) { + "[${getJNITypeSignature(clazz.componentType!!)}" +} else { + when (clazz) { + Boolean::class.java -> "Z" + Byte::class.java -> "B" + Char::class.java -> "C" + Short::class.java -> "S" + Int::class.java -> "I" + Long::class.java -> "J" + Float::class.java -> "F" + Double::class.java -> "D" + else -> "L${getJNIClassName(clazz)};" + } +} + +internal fun getJNIInitSignature(clazz: Class<*>) = clazz.constructors.first().parameterTypes.let { params -> + "(${params.joinToString("") { getJNITypeSignature(it) }})V" +} diff --git a/rclmodoki/src/test/java/jp/eyrin/rclmodoki/ExampleUnitTest.kt b/rclmodoki/src/test/java/jp/eyrin/rclmodoki/ExampleUnitTest.kt new file mode 100644 index 0000000..d1d0af5 --- /dev/null +++ b/rclmodoki/src/test/java/jp/eyrin/rclmodoki/ExampleUnitTest.kt @@ -0,0 +1,17 @@ +package jp.eyrin.rclmodoki + +import org.junit.Test + +import org.junit.Assert.* + +/** + * Example local unit test, which will execute on the development machine (host). + * + * See [testing documentation](http://d.android.com/tools/testing). + */ +class ExampleUnitTest { + @Test + fun addition_isCorrect() { + assertEquals(4, 2 + 2) + } +} diff --git a/settings.gradle b/settings.gradle new file mode 100644 index 0000000..b221e4e --- /dev/null +++ b/settings.gradle @@ -0,0 +1,17 @@ +pluginManagement { + repositories { + google() + mavenCentral() + gradlePluginPortal() + } +} +dependencyResolutionManagement { + repositoriesMode.set(RepositoriesMode.FAIL_ON_PROJECT_REPOS) + repositories { + google() + mavenCentral() + maven { url 'https://jitpack.io' } + } +} +rootProject.name = "rclmodoki" +include ':rclmodoki'