Merge pull request #238 from stratomda/fix/DefaultPublisherLeak

This fixes #237. Added fix to remove Publishers a…

Author: adamantivm

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

@@ -39,6 +39,8 @@
 import org.ros.internal.node.service.ServiceFactory;
 import org.ros.internal.node.service.ServiceIdentifier;
 import org.ros.internal.node.service.ServiceManager;
+import org.ros.internal.node.topic.DefaultPublisher;
+import org.ros.internal.node.topic.DefaultSubscriber;
 import org.ros.internal.node.topic.PublisherFactory;
 import org.ros.internal.node.topic.SubscriberFactory;
 import org.ros.internal.node.topic.TopicDeclaration;
@@ -403,12 +405,7 @@ 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.
-    for (Publisher<?> publisher : topicParticipantManager.getPublishers()) {
-      publisher.shutdown();
-    }
-    for (Subscriber<?> subscriber : topicParticipantManager.getSubscribers()) {
-      subscriber.shutdown();
-    }
+    topicParticipantManager.shutdown();
     for (ServiceServer<?, ?> serviceServer : serviceManager.getServers()) {
       try {
         Response<Integer> response =

rosjava/src/main/java/org/ros/internal/node/topic/DefaultPublisher.java

@@ -109,6 +109,7 @@ public boolean getLatchMode() {
   public void shutdown(long timeout, TimeUnit unit) {
     signalOnShutdown(timeout, unit);
     outgoingMessageQueue.shutdown();
+    listeners.shutdown();
   }
 
   @Override

rosjava/src/main/java/org/ros/internal/node/topic/TopicParticipantManager.java

@@ -136,6 +136,19 @@ public void removePublisherConnection(DefaultPublisher<?> publisher,
     publisherConnections.remove(publisher, subscriberIdentifier);
   }
 
+  public void shutdown(){
+    for(DefaultPublisher<?> publisher : publishers.values()){
+      publisher.shutdown();
+      removePublisher(publisher);
+    }
+    subscriberConnections.clear();
+    for(DefaultSubscriber<?> subscriber : subscribers.values()){
+      subscriber.shutdown();
+      removeSubscriber(subscriber);
+    }
+    publisherConnections.clear();
+  }
+
   public Collection<DefaultSubscriber<?>> getSubscribers() {
     return ImmutableList.copyOf(subscribers.values());
   }