Merge pull request #3 from rosjava/kinetic

sync with rosjava/kinetic

Author: fmessmer

.gitignore

@@ -9,3 +9,4 @@ bin
 *.iml
 .idea
 bazel-*
+local.properties

CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog
 =========
 
+0.3.7 (2019-01-22)
+------------------
+* Gradle update to 4.10.2.
+* Use new http_archive rule for Bazel deps.
+* Contributors: Juan Ignacio Ubeira, Rodrigo Queiro
+
 0.3.6 (2018-09-06)
 ------------------
 * Using `time=0` by default; prevents `NullPointerException` when using `sim_time`.

bazel/repositories.bzl

@@ -3,8 +3,10 @@
 Maven dependencies must be added to the workspace with bazel-deps.
 """
 
+load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
+
 def rosjava_repositories():
-  _maybe(native.http_archive,
+  _maybe(http_archive,
       name = "com_googlesource_gerrit_bazlets",
       sha256 = "cdd1a90733cdb71ac4fb86aa6027d3fcad275fe74781175f8437a9c86a0db149",
       strip_prefix = "bazlets-4459b9706a6eedb8453a98d4434fb3bc4db84211",
@@ -13,7 +15,7 @@ def rosjava_repositories():
       ],
   )
 
-  _maybe(native.http_archive,
+  _maybe(http_archive,
       name = "com_github_rosjava_rosjava_bootstrap",
       sha256 = "3c59776a8c6e22232d07f29a686c0e5f401812ec27f59405711657d54a792c08",
       strip_prefix = "rosjava_bootstrap-62f865dbe8a7830b21e054dc2a5ac7d2edc6eafe",

build.gradle

@@ -15,7 +15,7 @@
  */
 
 task wrapper(type: Wrapper) {
-  gradleVersion = '3.5.1'
+  gradleVersion = '4.10.2'
 }
 
 buildscript {

gradle/wrapper/gradle-wrapper.jar

@@ -1,6 +1,5 @@
-#Fri Jan 26 13:47:21 ART 2018
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-4.10.2-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-3.5.1-bin.zip

gradle/wrapper/gradle-wrapper.properties

@@ -1,25 +1,43 @@
-#!/usr/bin/env bash
+#!/usr/bin/env sh
 
 ##############################################################################
 ##
 ##  Gradle start up script for UN*X
 ##
 ##############################################################################
 
-# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-DEFAULT_JVM_OPTS=""
+# 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=""
+
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD="maximum"
 
-warn ( ) {
+warn () {
     echo "$*"
 }
 
-die ( ) {
+die () {
     echo
     echo "$*"
     echo
@@ -30,6 +48,7 @@ die ( ) {
 cygwin=false
 msys=false
 darwin=false
+nonstop=false
 case "`uname`" in
   CYGWIN* )
     cygwin=true
@@ -40,31 +59,11 @@ case "`uname`" in
   MINGW* )
     msys=true
     ;;
+  NONSTOP* )
+    nonstop=true
+    ;;
 esac
 
-# For Cygwin, ensure paths are in UNIX format before anything is touched.
-if $cygwin ; then
-    [ -n "$JAVA_HOME" ] && JAVA_HOME=`cygpath --unix "$JAVA_HOME"`
-fi
-
-# 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\"`/" >&-
-APP_HOME="`pwd -P`"
-cd "$SAVED" >&-
-
 CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
 
 # Determine the Java command to use to start the JVM.
@@ -90,7 +89,7 @@ location of your Java installation."
 fi
 
 # Increase the maximum file descriptors if we can.
-if [ "$cygwin" = "false" -a "$darwin" = "false" ] ; then
+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
@@ -114,6 +113,7 @@ fi
 if $cygwin ; then
     APP_HOME=`cygpath --path --mixed "$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`
@@ -154,11 +154,19 @@ if $cygwin ; then
     esac
 fi
 
-# Split up the JVM_OPTS And GRADLE_OPTS values into an array, following the shell quoting and substitution rules
-function splitJvmOpts() {
-    JVM_OPTS=("$@")
+# Escape application args
+save () {
+    for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
+    echo " "
 }
-eval splitJvmOpts $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS
-JVM_OPTS[${#JVM_OPTS[*]}]="-Dorg.gradle.appname=$APP_BASE_NAME"
+APP_ARGS=$(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"
+
+# by default we should be in the correct project dir, but when run from Finder on Mac, the cwd is wrong
+if [ "$(uname)" = "Darwin" ] && [ "$HOME" = "$PWD" ]; then
+  cd "$(dirname "$0")"
+fi
 
-exec "$JAVACMD" "${JVM_OPTS[@]}" -classpath "$CLASSPATH" org.gradle.wrapper.GradleWrapperMain "$@"
+exec "$JAVACMD" "$@"

gradlew

@@ -8,14 +8,14 @@
 @rem Set local scope for the variables with windows NT shell
 if "%OS%"=="Windows_NT" setlocal
 
-@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=
-
 set DIRNAME=%~dp0
 if "%DIRNAME%" == "" set DIRNAME=.
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
+@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=
+
 @rem Find java.exe
 if defined JAVA_HOME goto findJavaFromJavaHome
 
@@ -46,10 +46,9 @@ echo location of your Java installation.
 goto fail
 
 :init
-@rem Get command-line arguments, handling Windowz variants
+@rem Get command-line arguments, handling Windows variants
 
 if not "%OS%" == "Windows_NT" goto win9xME_args
-if "%@eval[2+2]" == "4" goto 4NT_args
 
 :win9xME_args
 @rem Slurp the command line arguments.
@@ -60,11 +59,6 @@ set _SKIP=2
 if "x%~1" == "x" goto execute
 
 set CMD_LINE_ARGS=%*
-goto execute
-
-:4NT_args
-@rem Get arguments from the 4NT Shell from JP Software
-set CMD_LINE_ARGS=%$
 
 :execute
 @rem Setup the command line

gradlew.bat

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>rosjava_core</name>
-  <version>0.3.6</version>
+  <version>0.3.7</version>
   <description>
     An implementation of ROS in pure-Java with Android support.
   </description>

package.xml

@@ -65,6 +65,7 @@
 import org.ros.node.topic.DefaultSubscriberListener;
 import org.ros.node.topic.Publisher;
 import org.ros.node.topic.Subscriber;
+import org.ros.node.topic.TransportHints;
 import org.ros.time.ClockTopicTimeProvider;
 import org.ros.time.TimeProvider;
 
@@ -283,7 +284,7 @@ public <T> Publisher<T> newPublisher(GraphName topicName, String messageType) {
     TopicDescription topicDescription =
         nodeConfiguration.getTopicDescriptionFactory().newFromType(messageType);
     TopicDeclaration topicDeclaration =
-        TopicDeclaration.newFromTopicName(resolvedTopicName, topicDescription);
+        TopicDeclaration.newFromTopicName(resolvedTopicName, topicDescription, null);
     org.ros.message.MessageSerializer<T> serializer = newMessageSerializer(messageType);
     return publisherFactory.newOrExisting(topicDeclaration, serializer);
   }
@@ -295,19 +296,29 @@ public <T> Publisher<T> newPublisher(String topicName, String messageType) {
 
   @Override
   public <T> Subscriber<T> newSubscriber(GraphName topicName, String messageType) {
+    return newSubscriber(topicName, messageType, null);
+  }
+
+  @Override
+  public <T> Subscriber<T> newSubscriber(GraphName topicName, String messageType, TransportHints transportHints) {
     GraphName resolvedTopicName = resolveName(topicName);
     TopicDescription topicDescription =
         nodeConfiguration.getTopicDescriptionFactory().newFromType(messageType);
     TopicDeclaration topicDeclaration =
-        TopicDeclaration.newFromTopicName(resolvedTopicName, topicDescription);
+        TopicDeclaration.newFromTopicName(resolvedTopicName, topicDescription, transportHints);
     MessageDeserializer<T> deserializer = newMessageDeserializer(messageType);
     Subscriber<T> subscriber = subscriberFactory.newOrExisting(topicDeclaration, deserializer);
     return subscriber;
   }
 
   @Override
   public <T> Subscriber<T> newSubscriber(String topicName, String messageType) {
-    return newSubscriber(GraphName.of(topicName), messageType);
+    return newSubscriber(GraphName.of(topicName), messageType, null);
+  }
+
+  @Override
+  public <T> Subscriber<T> newSubscriber(String topicName, String messageType, TransportHints transportHints) {
+    return newSubscriber(GraphName.of(topicName), messageType, transportHints);
   }
 
   @Override
@@ -416,8 +427,6 @@ public void shutdown() {
     // NOTE(damonkohler): We don't want to raise potentially spurious
     // exceptions during shutdown that would interrupt the process. This is
     // simply best effort cleanup.
-    slaveServer.shutdown();
-    topicParticipantManager.shutdown();
     for (ServiceServer<?, ?> serviceServer : serviceManager.getServers()) {
       try {
         Response<Integer> response =
@@ -436,8 +445,9 @@ public void shutdown() {
     for (ServiceClient<?, ?> serviceClient : serviceManager.getClients()) {
       serviceClient.shutdown();
     }
-    registrar.shutdown();
     slaveServer.shutdown();
+    topicParticipantManager.shutdown();
+    registrar.shutdown();
     signalOnShutdownComplete();
   }
 

rosjava/src/main/java/org/ros/internal/node/DefaultNode.java

@@ -43,7 +43,7 @@ public List<TopicDeclaration> newFromValue(Object value) {
       String name = (String) ((Object[]) topic)[0];
       String type = (String) ((Object[]) topic)[1];
       descriptions.add(TopicDeclaration.newFromTopicName(GraphName.of(name), new TopicDescription(type, null,
-          null)));
+          null), null));
     }
     return descriptions;
   }

rosjava/src/main/java/org/ros/internal/node/response/TopicListResultFactory.java

@@ -35,6 +35,7 @@
 import org.ros.node.topic.PublisherListener;
 import org.ros.node.topic.Subscriber;
 
+import java.util.concurrent.CountDownLatch;
 import java.util.concurrent.ScheduledExecutorService;
 import java.util.concurrent.TimeUnit;
 
@@ -63,6 +64,7 @@ public class DefaultPublisher<T> extends DefaultTopicParticipant implements Publ
   private final ListenerGroup<PublisherListener<T>> listeners;
   private final NodeIdentifier nodeIdentifier;
   private final MessageFactory messageFactory;
+  private CountDownLatch shutdownLatch;
 
   public DefaultPublisher(NodeIdentifier nodeIdentifier, TopicDeclaration topicDeclaration,
       MessageSerializer<T> serializer, MessageFactory messageFactory,
@@ -105,9 +107,20 @@ public boolean getLatchMode() {
     return outgoingMessageQueue.getLatchMode();
   }
 
+  /**
+   * Sends shutdown signals and awaits for them to be received by
+   * {@link DefaultPublisher#signalOnMasterUnregistrationSuccess()} or
+   * {@link DefaultPublisher#signalOnMasterUnregistrationFailure()} before continuing shutdown
+   */
   @Override
   public void shutdown(long timeout, TimeUnit unit) {
+    shutdownLatch = new CountDownLatch(listeners.size());
     signalOnShutdown(timeout, unit);
+    try {
+      shutdownLatch.await(timeout, unit);
+    } catch (InterruptedException e) {
+      log.error(e.getMessage(), e);
+    }
     outgoingMessageQueue.shutdown();
     listeners.shutdown();
   }
@@ -252,6 +265,7 @@ public void signalOnMasterUnregistrationSuccess() {
       @Override
       public void run(PublisherListener<T> listener) {
         listener.onMasterUnregistrationSuccess(publisher);
+        shutdownLatch.countDown();
       }
     });
   }
@@ -269,6 +283,7 @@ public void signalOnMasterUnregistrationFailure() {
       @Override
       public void run(PublisherListener<T> listener) {
         listener.onMasterUnregistrationFailure(publisher);
+        shutdownLatch.countDown();
       }
     });
   }