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ivanpaunoivanpauno
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Add OfferedDeadlineMissed QoS event (osrf#17)
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
1 parent a50c76a commit 085e469

5 files changed

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‎rcljava/CMakeLists.txt‎

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@@ -62,6 +62,7 @@ set(${PROJECT_NAME}_jni_sources
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"src/main/cpp/org_ros2_rcljava_executors_BaseExecutor.cpp"
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"src/main/cpp/org_ros2_rcljava_events_EventHandlerImpl.cpp"
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"src/main/cpp/org_ros2_rcljava_publisher_statuses_LivelinessLost.cpp"
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"src/main/cpp/org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed.cpp"
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"src/main/cpp/org_ros2_rcljava_publisher_statuses_OfferedQosIncompatible.cpp"
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"src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp"
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"src/main/cpp/org_ros2_rcljava_publisher_PublisherImpl.cpp"
@@ -137,6 +138,7 @@ set(${PROJECT_NAME}_sources
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"src/main/java/org/ros2/rcljava/events/PublisherEventStatus.java"
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"src/main/java/org/ros2/rcljava/events/SubscriptionEventStatus.java"
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"src/main/java/org/ros2/rcljava/publisher/statuses/LivelinessLost.java"
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"src/main/java/org/ros2/rcljava/publisher/statuses/OfferedDeadlineMissed.java"
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"src/main/java/org/ros2/rcljava/publisher/statuses/OfferedQosIncompatible.java"
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"src/main/java/org/ros2/rcljava/executors/AnyExecutable.java"
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"src/main/java/org/ros2/rcljava/executors/BaseExecutor.java"

‎rcljava/include/org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed.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_publisher_statuses_OfferedDeadlineMissed */
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#ifndef ORG_ROS2_RCLJAVA_PUBLISHER_STATUSES_OFFEREDDEADLINEMISSED_H_
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#define ORG_ROS2_RCLJAVA_PUBLISHER_STATUSES_OFFEREDDEADLINEMISSED_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_publisher_statuses_OfferedDeadlineMissed
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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_publisher_statuses_OfferedDeadlineMissed_nativeAllocateRCLStatusEvent(
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JNIEnv *, jclass);
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/*
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* Class: org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed
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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_publisher_statuses_OfferedDeadlineMissed_nativeDeallocateRCLStatusEvent(
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JNIEnv *, jclass, jlong);
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/*
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* Class: org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed
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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_publisher_statuses_OfferedDeadlineMissed_nativeFromRCLEvent(
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JNIEnv *, jobject, jlong);
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/*
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* Class: org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed
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* Method: nativeGetPublisherEventType
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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_publisher_statuses_OfferedDeadlineMissed_nativeGetPublisherEventType(
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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_PUBLISHER_STATUSES_OFFEREDDEADLINEMISSED_H_

‎rcljava/src/main/cpp/org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed.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_publisher_statuses_OfferedDeadlineMissed.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_publisher_statuses_OfferedDeadlineMissed_nativeAllocateRCLStatusEvent(
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JNIEnv * env, jclass)
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{
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void * p = malloc(sizeof(rmw_offered_deadline_missed_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 deadline missed 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_publisher_statuses_OfferedDeadlineMissed_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_publisher_statuses_OfferedDeadlineMissed_nativeFromRCLEvent(
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JNIEnv * env, jobject self, jlong handle)
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{
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auto * p = reinterpret_cast<rmw_offered_deadline_missed_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 total_count_fid = env->GetFieldID(clazz, "totalCount", "I");
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if (env->ExceptionCheck()) {
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return;
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}
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jfieldID total_count_change_fid = env->GetFieldID(clazz, "totalCountChange", "I");
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if (env->ExceptionCheck()) {
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return;
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}
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env->SetIntField(self, total_count_fid, p->total_count);
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env->SetIntField(self, total_count_change_fid, p->total_count_change);
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}
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JNIEXPORT jint JNICALL
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Java_org_ros2_rcljava_publisher_statuses_OfferedDeadlineMissed_nativeGetPublisherEventType(
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JNIEnv *, jclass)
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{
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return RCL_PUBLISHER_OFFERED_DEADLINE_MISSED;
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}

‎rcljava/src/main/java/org/ros2/rcljava/publisher/statuses/OfferedDeadlineMissed.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.publisher.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.PublisherEventStatus;
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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 a rmw_offered_deadline_missed_status_t and RCLJava.
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*/
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public class OfferedDeadlineMissed implements PublisherEventStatus {
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public int totalCount;
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public int totalCountChange;
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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 getPublisherEventType() {
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return nativeGetPublisherEventType();
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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<OfferedDeadlineMissed> factory = new Supplier<OfferedDeadlineMissed>() {
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public OfferedDeadlineMissed get() {
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return new OfferedDeadlineMissed();
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}
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};
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private static final Logger logger = LoggerFactory.getLogger(OfferedDeadlineMissed.class);
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static {
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try {
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JNIUtils.loadImplementation(OfferedDeadlineMissed.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 nativeGetPublisherEventType();
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}

‎rcljava/src/test/java/org/ros2/rcljava/publisher/PublisherTest.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.publisher.statuses.LivelinessLost;
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import org.ros2.rcljava.publisher.statuses.OfferedDeadlineMissed;
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import org.ros2.rcljava.publisher.statuses.OfferedQosIncompatible;
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import org.ros2.rcljava.exceptions.RCLException;
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import org.ros2.rcljava.node.Node;
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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 testCreateOfferedDeadlineMissedEvent() {
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RCLJava.rclJavaInit();
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Node node = RCLJava.createNode("test_node");
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Publisher<std_msgs.msg.String> publisher =
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node.<std_msgs.msg.String>createPublisher(std_msgs.msg.String.class, "test_topic");
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EventHandler eventHandler = publisher.createEventHandler(
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OfferedDeadlineMissed.factory, new Consumer<OfferedDeadlineMissed>() {
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public void accept(final OfferedDeadlineMissed status) {
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assertEquals(status.totalCount, 0);
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assertEquals(status.totalCountChange, 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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}

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