@{

from collections import defaultdict

from rosidl_generator_c import basetype_to_c

from rosidl_generator_c import idl_structure_type_to_c_include_prefix

from rosidl_generator_java import constructor_signatures

from rosidl_generator_java import get_java_type

from rosidl_generator_java import get_jni_signature

from rosidl_generator_java import get_jni_type

from rosidl_generator_java import get_normalized_type

from rosidl_generator_java import value_methods

from rosidl_parser.definition import AbstractGenericString

from rosidl_parser.definition import AbstractString

from rosidl_parser.definition import AbstractWString

from rosidl_parser.definition import AbstractNestedType

from rosidl_parser.definition import AbstractSequence

from rosidl_parser.definition import Array

from rosidl_parser.definition import BasicType

from rosidl_parser.definition import NamespacedType

msg_normalized_type = '__'.join(message.structure.namespaced_type.namespaced_name())

msg_jni_type = '/'.join(message.structure.namespaced_type.namespaced_name())

list_java_type = "java.util.List"

array_list_java_type = "java.util.ArrayList"

list_normalized_type = "java__util__List"

list_jni_type = "java/util/List"

array_list_normalized_type = "java__util__ArrayList"

array_list_jni_type = "java/util/ArrayList"

cache = defaultdict(lambda: False)

cache[msg_normalized_type] = msg_jni_type

namespaced_types = set()

member_includes = set()

for member in message.structure.members:

type_ = member.type

if isinstance(type_, AbstractNestedType):

cache[list_normalized_type] = list_jni_type

cache[array_list_normalized_type] = array_list_jni_type

type_ = type_.value_type

if isinstance(type_, BasicType):

member_includes.add('rosidl_runtime_c/primitives_sequence.h')

member_includes.add('rosidl_runtime_c/primitives_sequence_functions.h')

# We do not cache strings because java.lang.String behaves differently

if not isinstance(type_, AbstractGenericString):

cache[get_normalized_type(type_)] = get_jni_type(type_)

if isinstance(type_, AbstractString):

member_includes.add('rosidl_runtime_c/string.h')

member_includes.add('rosidl_runtime_c/string_functions.h')

if isinstance(type_, AbstractWString):

member_includes.add('rosidl_runtime_c/u16string.h')

member_includes.add('rosidl_runtime_c/u16string_functions.h')

if isinstance(type_, NamespacedType):

namespaced_types.add(get_jni_type(type_))

include_prefix = idl_structure_type_to_c_include_prefix(type_)

# TODO(jacobperron): Remove this logic after https://github.com/ros2/rosidl/pull/432 (Foxy)

# and https://github.com/ros2/rosidl/pull/538

# Strip off any service or action suffix

# There are several types that actions and services are composed of, but they are included

# a common header that is based on the action or service name

# ie. there are not separate headers for each type

if include_prefix.endswith('__request'):

include_prefix = include_prefix[:-9]

elif include_prefix.endswith('__response'):

include_prefix = include_prefix[:-10]

if include_prefix.endswith('__goal'):

include_prefix = include_prefix[:-6]

elif include_prefix.endswith('__result'):

include_prefix = include_prefix[:-8]

elif include_prefix.endswith('__feedback'):

include_prefix = include_prefix[:-10]

elif include_prefix.endswith('__send_goal'):

include_prefix = include_prefix[:-11]

elif include_prefix.endswith('__get_result'):

include_prefix = include_prefix[:-12]

member_includes.add(include_prefix + '.h')

}@

@{

message_c_include_prefix = idl_structure_type_to_c_include_prefix(message.structure.namespaced_type)

if message_c_include_prefix.endswith('__request'):

message_c_include_prefix = message_c_include_prefix[:-9]

elif message_c_include_prefix.endswith('__response'):

message_c_include_prefix = message_c_include_prefix[:-10]

if message_c_include_prefix.endswith('__goal'):

message_c_include_prefix = message_c_include_prefix[:-6]

elif message_c_include_prefix.endswith('__result'):

message_c_include_prefix = message_c_include_prefix[:-8]

elif message_c_include_prefix.endswith('__feedback'):

message_c_include_prefix = message_c_include_prefix[:-10]

elif message_c_include_prefix.endswith('__send_goal'):

message_c_include_prefix = message_c_include_prefix[:-11]

elif message_c_include_prefix.endswith('__get_result'):

message_c_include_prefix = message_c_include_prefix[:-12]

}@

@[for include in member_includes]@

@[end for]@

// Ensure that a jlong is big enough to store raw pointers

static_assert(sizeof(jlong) >= sizeof(std::intptr_t), "jlong must be able to store pointers");

using rcljava_common::exceptions::rcljava_throw_exception;

extern "C" {

// Initialize cached types in the anonymous namespace to avoid linking conflicts

namespace

{

JavaVM * g_vm = nullptr;

@[for normalized_type, jni_type in cache.items()]@

jclass _j@(normalized_type)_class_global = nullptr;

@[ if constructor_signatures[jni_type]]@

jmethodID _j@(normalized_type)_constructor_global = nullptr;

@[ end if]@

@[ if value_methods.get(jni_type)]@

jmethodID _j@(normalized_type)_value_global = nullptr;

@[ end if]@

@[ if jni_type in namespaced_types]@

jmethodID _j@(normalized_type)_from_java_converter_global = nullptr;

using _j@(normalized_type)_from_java_signature = @(normalized_type) * (*)(jobject, @(normalized_type) *);

jlong _j@(normalized_type)_from_java_converter_ptr_global = 0;

_j@(normalized_type)_from_java_signature _j@(normalized_type)_from_java_function = nullptr;

jmethodID _j@(normalized_type)_to_java_converter_global = nullptr;

using _j@(normalized_type)_to_java_signature = jobject (*)(@(normalized_type) *, jobject);

jlong _j@(normalized_type)_to_java_converter_ptr_global = 0;

_j@(normalized_type)_to_java_signature _j@(normalized_type)_to_java_function = nullptr;

@[ end if]@

@[end for]@

} // namespace

@{

from rosidl_generator_java import get_jni_mangled_name

message_fqn = message.structure.namespaced_type.namespaced_name()

underscore_separated_type_name = '_'.join(message_fqn)

underscore_separated_jni_type_name = get_jni_mangled_name(message_fqn)

}@

* Class: @(underscore_separated_type_name)

* Method: getFromJavaConverter

* Signature: ()J

*/

JNIEXPORT jlong JNICALL Java_@(underscore_separated_jni_type_name)_getFromJavaConverter

(JNIEnv *, jclass);

* Class: @(underscore_separated_type_name)

* Method: getToJavaConverter

* Signature: ()J

*/

JNIEXPORT jlong JNICALL Java_@(underscore_separated_jni_type_name)_getToJavaConverter

(JNIEnv *, jclass);

* Class: @(underscore_separated_type_name)

* Method: getTypeSupport

* Signature: ()J

*/

JNIEXPORT jlong JNICALL Java_@(underscore_separated_jni_type_name)_getTypeSupport

(JNIEnv *, jclass);

* Class: @(underscore_separated_type_name)

* Method: getDestructor

* Signature: ()J

*/

JNIEXPORT jlong JNICALL Java_@(underscore_separated_jni_type_name)_getDestructor

(JNIEnv *, jclass);

}

@[if message.structure.members]@

@(msg_normalized_type) * @(underscore_separated_type_name)__convert_from_java(jobject _jmessage_obj, @(msg_normalized_type) * ros_message)

@[else]@

@(msg_normalized_type) * @(underscore_separated_type_name)__convert_from_java(jobject, @(msg_normalized_type) * ros_message)

@[end if]@

{

JNIEnv * env = nullptr;

// TODO(esteve): check return status

assert(g_vm != nullptr);

g_vm->GetEnv(reinterpret_cast<void **>(&env), JNI_VERSION_1_6);

assert(env != nullptr);

if (ros_message == nullptr) {

ros_message = @(msg_normalized_type)__create();

}

@[for member in message.structure.members]@

@{

normalized_type = get_normalized_type(member.type)

}@

@[ if isinstance(member.type, AbstractNestedType)]

auto _jfield_@(member.name)_fid = env->GetFieldID(_j@(msg_normalized_type)_class_global, "@(member.name)", "L@(list_jni_type);");

jobject _jlist_@(member.name)_object = env->GetObjectField(_jmessage_obj, _jfield_@(member.name)_fid);

if (_jlist_@(member.name)_object != nullptr) {

jmethodID _jlist_@(member.name)_get_mid = env->GetMethodID(_j@(list_normalized_type)_class_global, "get", "(I)Ljava/lang/Object;");

@[ if isinstance(member.type, AbstractSequence)]@

jmethodID _jlist_@(member.name)_size_mid = env->GetMethodID(_j@(list_normalized_type)_class_global, "size", "()I");

jint _jlist_@(member.name)_size = env->CallIntMethod(_jlist_@(member.name)_object, _jlist_@(member.name)_size_mid);

@[ if isinstance(member.type.value_type, AbstractString)]@

if (!rosidl_runtime_c__String__Sequence__init(&(ros_message->@(member.name)), _jlist_@(member.name)_size)) {

rcljava_throw_exception(env, "java/lang/IllegalStateException", "unable to create String__Array ros_message");

}

@[ elif isinstance(member.type.value_type, AbstractWString)]@

if (!rosidl_runtime_c__U16String__Sequence__init(&(ros_message->@(member.name)), _jlist_@(member.name)_size)) {

rcljava_throw_exception(env, "java/lang/IllegalStateException", "unable to create U16String__Array ros_message");

}

@[ else]@

@[ if isinstance(member.type.value_type, BasicType)]@

if (!rosidl_runtime_c__@(member.type.value_type.typename)__Sequence__init(&(ros_message->@(member.name)), _jlist_@(member.name)_size)) {

rcljava_throw_exception(env, "java/lang/IllegalStateException", "unable to create @(member.type.value_type)__Array ros_message");

}

@[ else]@

if (!@('__'.join(member.type.value_type.namespaced_name()))__Sequence__init(&(ros_message->@(member.name)), _jlist_@(member.name)_size)) {

rcljava_throw_exception(env, "java/lang/IllegalStateException", "unable to create @(member.type.value_type)__Array ros_message");

}

@[ end if]@

@[ end if]@

auto _dest_@(member.name) = ros_message->@(member.name).data;

@[ else]@

jint _jlist_@(member.name)_size = @(member.type.size);

auto _dest_@(member.name) = ros_message->@(member.name);

@[ end if]@

for (jint i = 0; i < _jlist_@(member.name)_size; ++i) {

auto element = env->CallObjectMethod(_jlist_@(member.name)_object, _jlist_@(member.name)_get_mid, i);

@[ if isinstance(member.type.value_type, AbstractString)]@

jstring _jfield_@(member.name)_value = static_cast<jstring>(element);

if (_jfield_@(member.name)_value != nullptr) {

const char * _str@(member.name) = env->GetStringUTFChars(_jfield_@(member.name)_value, 0);

rosidl_runtime_c__String__assign(

&_dest_@(member.name)[i], _str@(member.name));

env->ReleaseStringUTFChars(_jfield_@(member.name)_value, _str@(member.name));

}

@[ elif isinstance(member.type.value_type, AbstractWString)]@

jstring _jfield_@(member.name)_value = static_cast<jstring>(element);

if (_jfield_@(member.name)_value != nullptr) {

const jchar * _str@(member.name) = env->GetStringChars(_jfield_@(member.name)_value, 0);

rosidl_runtime_c__U16String__assign(

&_dest_@(member.name)[i], _str@(member.name));

env->ReleaseStringChars(_jfield_@(member.name)_value, _str@(member.name));

}

@[ elif isinstance(member.type.value_type, BasicType)]@

@{

call_method_name = 'Call%sMethod' % get_java_type(member.type.value_type, use_primitives=True).capitalize()

}@

_dest_@(member.name)[i] = env->@(call_method_name)(element, _j@(normalized_type)_value_global);

@[ else]@

_dest_@(member.name)[i] = *_j@(normalized_type)_from_java_function(element, nullptr);

@[ end if]@

env->DeleteLocalRef(element);

}

}

@[ else]@

@[ if isinstance(member.type, AbstractGenericString)]@

auto _jfield_@(member.name)_fid = env->GetFieldID(_j@(msg_normalized_type)_class_global, "@(member.name)", "Ljava/lang/String;");

jstring _jvalue@(member.name) = static_cast<jstring>(env->GetObjectField(_jmessage_obj, _jfield_@(member.name)_fid));

if (_jvalue@(member.name) != nullptr) {

@[ if isinstance(member.type, AbstractString)]@

const char * _str@(member.name) = env->GetStringUTFChars(_jvalue@(member.name), 0);

rosidl_runtime_c__String__assign(

&ros_message->@(member.name), _str@(member.name));

env->ReleaseStringUTFChars(_jvalue@(member.name), _str@(member.name));

@[ else]@

const jchar * _str@(member.name) = env->GetStringChars(_jvalue@(member.name), 0);

rosidl_runtime_c__U16String__assign(

&ros_message->@(member.name), _str@(member.name));

env->ReleaseStringChars(_jvalue@(member.name), _str@(member.name));

@[ end if]@

}

@[ elif isinstance(member.type, BasicType)]@

@{

jni_signature = get_jni_signature(member.type)

get_method_name = 'Get%sField' % get_java_type(member.type, use_primitives=True).capitalize()

}@

auto _jfield_@(member.name)_fid = env->GetFieldID(_j@(msg_normalized_type)_class_global, "@(member.name)", "@(jni_signature)");

ros_message->@(member.name) = env->@(get_method_name)(_jmessage_obj, _jfield_@(member.name)_fid);

@[ else]@

auto _jfield_@(member.name)_fid = env->GetFieldID(

_j@(msg_normalized_type)_class_global, "@(member.name)", "L@('/'.join(member.type.namespaced_name()));");

assert(_jfield_@(member.name)_fid != nullptr);

jobject _jfield_@(member.name)_obj = env->GetObjectField(_jmessage_obj, _jfield_@(member.name)_fid);

if (_jfield_@(member.name)_obj != nullptr) {

ros_message->@(member.name) = *_j@(normalized_type)_from_java_function(_jfield_@(member.name)_obj, nullptr);

}

env->DeleteLocalRef(_jfield_@(member.name)_obj);

@[ end if]@

@[ end if]@

@[end for]@

assert(ros_message != nullptr);

return ros_message;

}

@[if message.structure.members]@

jobject @(underscore_separated_type_name)__convert_to_java(@(msg_normalized_type) * _ros_message, jobject _jmessage_obj)

@[else]@

jobject @(underscore_separated_type_name)__convert_to_java(@(msg_normalized_type) *, jobject _jmessage_obj)

@[end if]@

{

JNIEnv * env = nullptr;

// TODO(esteve): check return status

assert(g_vm != nullptr);

g_vm->GetEnv(reinterpret_cast<void **>(&env), JNI_VERSION_1_6);

assert(env != nullptr);

if (_jmessage_obj == nullptr) {

_jmessage_obj = env->NewObject(_j@(msg_normalized_type)_class_global, _j@(msg_normalized_type)_constructor_global);

}

@[for member in message.structure.members]@

@{

normalized_type = get_normalized_type(member.type)

}@

@[ if isinstance(member.type, AbstractNestedType)]@

@[ if isinstance(member.type.value_type, (BasicType, AbstractGenericString))]@

auto _jfield_@(member.name)_fid = env->GetFieldID(_j@(msg_normalized_type)_class_global, "@(member.name)", "L@(list_jni_type);");

jobject _jarray_list_@(member.name)_obj = env->NewObject(_j@(array_list_normalized_type)_class_global, _j@(array_list_normalized_type)_constructor_global);

// TODO(esteve): replace ArrayList with a jobjectArray to initialize the array beforehand

jmethodID _jlist_@(member.name)_add_mid = env->GetMethodID(_j@(array_list_normalized_type)_class_global, "add", "(Ljava/lang/Object;)Z");

@[ if isinstance(member.type, Array)]@

for (size_t i = 0; i < @(member.type.size); ++i) {

auto _ros_@(member.name)_element = _ros_message->@(member.name)[i];

@[ else]@

for (size_t i = 0; i < _ros_message->@(member.name).size; ++i) {

auto _ros_@(member.name)_element = _ros_message->@(member.name).data[i];

@[ end if]@

@[ if isinstance(member.type.value_type, AbstractGenericString)]@

jobject _jlist_@(member.name)_element = nullptr;

if (_ros_@(member.name)_element.data != nullptr) {

@[ if isinstance(member.type.value_type, AbstractString)]@

_jlist_@(member.name)_element = env->NewStringUTF(_ros_@(member.name)_element.data);

@[ else]@

_jlist_@(member.name)_element = env->NewString(_ros_@(member.name)_element.data, _ros_@(member.name)_element.size);

@[ end if]@

}

@[ else]@

jobject _jlist_@(member.name)_element = env->NewObject(

_j@(normalized_type)_class_global, _j@(normalized_type)_constructor_global, _ros_@(member.name)_element);

@[ end if]@

if (_jlist_@(member.name)_element != nullptr) {

jboolean _jlist_@(member.name)_add_result = env->CallBooleanMethod(_jarray_list_@(member.name)_obj, _jlist_@(member.name)_add_mid, _jlist_@(member.name)_element);

assert(_jlist_@(member.name)_add_result);

}

}

@[ else]@

auto _jfield_@(member.name)_fid = env->GetFieldID(_j@(msg_normalized_type)_class_global, "@(member.name)", "L@(list_jni_type);");

jobject _jarray_list_@(member.name)_obj = env->NewObject(_j@(array_list_normalized_type)_class_global, _j@(array_list_normalized_type)_constructor_global);

// TODO(esteve): replace ArrayList with a jobjectArray to initialize the array beforehand

jmethodID _jlist_@(member.name)_add_mid = env->GetMethodID(_j@(array_list_normalized_type)_class_global, "add", "(Ljava/lang/Object;)Z");

@[ if isinstance(member.type, Array)]@

for (size_t i = 0; i < @(member.type.size); ++i) {

jobject _jlist_@(member.name)_element = _j@(normalized_type)_to_java_function(&(_ros_message->@(member.name)[i]), nullptr);

@[ else]@

for (size_t i = 0; i < _ros_message->@(member.name).size; ++i) {

jobject _jlist_@(member.name)_element = _j@(normalized_type)_to_java_function(&(_ros_message->@(member.name).data[i]), nullptr);

@[ end if]@

if (_jlist_@(member.name)_element != nullptr) {

jboolean _jlist_@(member.name)_add_result = env->CallBooleanMethod(_jarray_list_@(member.name)_obj, _jlist_@(member.name)_add_mid, _jlist_@(member.name)_element);

assert(_jlist_@(member.name)_add_result);

}

}

@[ end if]@

env->SetObjectField(_jmessage_obj, _jfield_@(member.name)_fid, _jarray_list_@(member.name)_obj);

env->DeleteLocalRef(_jarray_list_@(member.name)_obj);

@[ else]@

@[ if isinstance(member.type, AbstractGenericString)]@

auto _jfield_@(member.name)_fid = env->GetFieldID(_j@(msg_normalized_type)_class_global, "@(member.name)", "Ljava/lang/String;");

if (_ros_message->@(member.name).data != nullptr) {

@[ if isinstance(member.type, AbstractString)]@

env->SetObjectField(_jmessage_obj, _jfield_@(member.name)_fid, env->NewStringUTF(_ros_message->@(member.name).data));

@[ else]@

env->SetObjectField(_jmessage_obj, _jfield_@(member.name)_fid, env->NewString(_ros_message->@(member.name).data, _ros_message->@(member.name).size));

@[ end if]@

}

@[ elif isinstance(member.type, BasicType)]@

@{

jni_signature = get_jni_signature(member.type)

set_method_name = 'Set%sField' % get_java_type(member.type, use_primitives=True).capitalize()

}@

auto _jfield_@(member.name)_fid = env->GetFieldID(_j@(msg_normalized_type)_class_global, "@(member.name)", "@(jni_signature)");

env->@(set_method_name)(_jmessage_obj, _jfield_@(member.name)_fid, _ros_message->@(member.name));

@[ else]@

auto _jfield_@(member.name)_fid = env->GetFieldID(

_j@(msg_normalized_type)_class_global, "@(member.name)", "L@('/'.join(member.type.namespaced_name()));");

assert(_jfield_@(member.name)_fid != nullptr);

jobject _jfield_@(member.name)_obj = _j@(normalized_type)_to_java_function(&(_ros_message->@(member.name)), nullptr);

env->SetObjectField(_jmessage_obj, _jfield_@(member.name)_fid, _jfield_@(member.name)_obj);

@[ end if]@

@[ end if]@

@[end for]@

assert(_jmessage_obj != nullptr);

return _jmessage_obj;

}

JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM * vm, void *)

{

// Can only call this once

if (g_vm == nullptr) {

g_vm = vm;

}

JNIEnv * env;

if (g_vm->GetEnv(reinterpret_cast<void **>(&env), JNI_VERSION_1_6) != JNI_OK) {

return JNI_ERR;

} else {

@[for normalized_type, jni_type in cache.items()]@

auto _j@(normalized_type)_class_local = env->FindClass("@(jni_type)");

assert(_j@(normalized_type)_class_local != nullptr);

_j@(normalized_type)_class_global = static_cast<jclass>(env->NewGlobalRef(_j@(normalized_type)_class_local));

env->DeleteLocalRef(_j@(normalized_type)_class_local);

assert(_j@(normalized_type)_class_global != nullptr);

@[ if constructor_signatures[jni_type]]@

_j@(normalized_type)_constructor_global = env->GetMethodID(_j@(normalized_type)_class_global, "<init>", "@(constructor_signatures[jni_type])");

assert(_j@(normalized_type)_constructor_global != nullptr);

@[ end if]@

@{

value_method = value_methods.get(jni_type)

if value_method:

value_method_name, value_method_signature = value_method

}@

@[ if value_method]@

_j@(normalized_type)_value_global = env->GetMethodID(_j@(normalized_type)_class_global, "@(value_method_name)", "@(value_method_signature)");

assert(_j@(normalized_type)_value_global != nullptr);

@[ end if]@

@[ if jni_type in namespaced_types]@

_j@(normalized_type)_from_java_converter_global = env->GetStaticMethodID(

_j@(normalized_type)_class_global, "getFromJavaConverter", "()J");

assert(_j@(normalized_type)_from_java_converter_global != nullptr);

_j@(normalized_type)_from_java_converter_ptr_global = env->CallStaticLongMethod(

_j@(normalized_type)_class_global, _j@(normalized_type)_from_java_converter_global);

assert(_j@(normalized_type)_from_java_converter_ptr_global != 0);

_j@(normalized_type)_from_java_function =

reinterpret_cast<_j@(normalized_type)_from_java_signature>(_j@(normalized_type)_from_java_converter_ptr_global);

assert(_j@(normalized_type)_from_java_function != nullptr);

_j@(normalized_type)_to_java_converter_global = env->GetStaticMethodID(

_j@(normalized_type)_class_global, "getToJavaConverter", "()J");

assert(_j@(normalized_type)_to_java_converter_global != nullptr);

_j@(normalized_type)_to_java_converter_ptr_global = env->CallStaticLongMethod(

_j@(normalized_type)_class_global, _j@(normalized_type)_to_java_converter_global);

assert(_j@(normalized_type)_to_java_converter_ptr_global != 0);

_j@(normalized_type)_to_java_function =

reinterpret_cast<_j@(normalized_type)_to_java_signature>(_j@(normalized_type)_to_java_converter_ptr_global);

assert(_j@(normalized_type)_to_java_function != nullptr);

@[ end if]@

@[end for]@

}

return JNI_VERSION_1_6;

}

JNIEXPORT void JNICALL JNI_OnUnload(JavaVM * vm, void *)

{

assert(g_vm != nullptr);

assert(g_vm == vm);

JNIEnv * env;

if (g_vm->GetEnv(reinterpret_cast<void **>(&env), JNI_VERSION_1_6) == JNI_OK) {

@[for normalized_type, jni_type in cache.items()]@

if (_j@(normalized_type)_class_global != nullptr) {

env->DeleteGlobalRef(_j@(normalized_type)_class_global);

_j@(normalized_type)_class_global = nullptr;

@[ if constructor_signatures[jni_type]]@

_j@(normalized_type)_constructor_global = nullptr;

@[ end if]@

@[ if value_methods.get(jni_type)]@

_j@(normalized_type)_value_global = nullptr;

@[ end if]@

@[ if jni_type in namespaced_types]@

_j@(normalized_type)_from_java_converter_global = nullptr;

_j@(normalized_type)_from_java_converter_ptr_global = 0;

_j@(normalized_type)_from_java_function = nullptr;

_j@(normalized_type)_to_java_converter_global = nullptr;

_j@(normalized_type)_to_java_converter_ptr_global = 0;

_j@(normalized_type)_to_java_function = nullptr;

@[ end if]@

}

@[end for]@

}

}

JNIEXPORT jlong JNICALL Java_@(underscore_separated_jni_type_name)_getFromJavaConverter(JNIEnv *, jclass)

{

jlong ptr = reinterpret_cast<jlong>(&@(underscore_separated_type_name)__convert_from_java);

return ptr;

}

JNIEXPORT jlong JNICALL Java_@(underscore_separated_jni_type_name)_getToJavaConverter(JNIEnv *, jclass)

{

jlong ptr = reinterpret_cast<jlong>(@(underscore_separated_type_name)__convert_to_java);

return ptr;

}

JNIEXPORT jlong JNICALL Java_@(underscore_separated_jni_type_name)_getTypeSupport(JNIEnv *, jclass)

{

jlong ptr = reinterpret_cast<jlong>(ROSIDL_GET_MSG_TYPE_SUPPORT(@(','.join(message.structure.namespaced_type.namespaced_name()))));

return ptr;

}

JNIEXPORT jlong JNICALL Java_@(underscore_separated_jni_type_name)_getDestructor(JNIEnv *, jclass)

{

jlong ptr = reinterpret_cast<jlong>(@(msg_normalized_type)__destroy);

return ptr;

}