sync with rosjava/kinetic

.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.properties

@@ -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

package.xml

@@ -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>

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

@@ -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/response/TopicListResultFactory.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/topic/DefaultPublisher.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();
       }
     });
   }