Change NodeMain to be a pure interface (more flexible).

Fix surrounding code to work with the new NodeMain.

actionlib_java/src/main/java/org/ros/actionlib/client/ActionClient.java

@@ -141,7 +141,7 @@ public class ActionClient<T_ACTION_FEEDBACK extends Message, T_ACTION_GOAL exten
       throws RosException {
     this.nodeName = name;
     this.spec = spec;
-    this.publisherListener = new CountDownPublisherListener(2, 2, 2);
+    this.publisherListener = new CountDownPublisherListener(2, 2, 2, 2);
   }
 
   /**
@@ -319,7 +319,7 @@ public class ActionClient<T_ACTION_FEEDBACK extends Message, T_ACTION_GOAL exten
    *         established)
    */
   public void waitForActionServerToStart() throws InterruptedException {
-    publisherListener.awaitRemoteConnection();
+    publisherListener.awaitNewSubscriber();
   }
 
   /**
@@ -341,7 +341,7 @@ public class ActionClient<T_ACTION_FEEDBACK extends Message, T_ACTION_GOAL exten
     // TODO(keith): This isn't quite right since it will only have connection to
     // the goal and cancel publishers. This should be extended to include the
     // subscribers.
-    return publisherListener.awaitRemoteConnection(timeout, units);
+    return publisherListener.awaitNewSubscriber(timeout, units);
   }
 
   /**

actionlib_java/src/tutorials/java/org/ros/actionlib/example/RunFibonacciSimpleActionClient.java

@@ -41,10 +41,14 @@ public class RunFibonacciSimpleActionClient {
       runner.run(new NodeMain() {
 
         @Override
-        public void onNodeCreate(Node node) {
+        public void onStart(Node node) {
           sac.addClientPubSub(node);
         }
         
+        @Override
+        public void onShutdown(Node node) {
+        }
+
       }, configuration);
 
       System.out.println("[Test] Waiting for action server to start");
@@ -112,10 +116,14 @@ public class RunFibonacciSimpleActionClient {
       runner.run(new NodeMain() {
 
         @Override
-        public void onNodeCreate(Node node) {
+        public void onStart(Node node) {
           sac.addClientPubSub(node);
         }
         
+        @Override
+        public void onShutdown(Node node) {
+        }
+
       }, configuration);
 
       System.out.println("[Test] Waiting for action server to start");

actionlib_java/src/tutorials/java/org/ros/actionlib/example/RunFibonacciSimpleActionServer.java

 package org.ros.actionlib.example;
 
-import org.ros.node.Node;
-
 import org.ros.node.DefaultNodeRunner;
+import org.ros.node.Node;
 import org.ros.node.NodeConfiguration;
 import org.ros.node.NodeMain;
 import org.ros.node.NodeRunner;
@@ -32,10 +31,14 @@ public class RunFibonacciSimpleActionServer {
       runner.run(new NodeMain() {
 
         @Override
-        public void onNodeCreate(Node node) {
+        public void onStart(Node node) {
           sas.addClientPubSub(node);
         }
         
+        @Override
+        public void onShutdown(Node node) {
+        }
+
       }, configuration);
     } catch (Exception e) {
       // TODO Auto-generated catch block

rosjava/src/main/java/org/ros/node/DefaultNodeRunner.java

@@ -17,8 +17,11 @@
 package org.ros.node;
 
 import com.google.common.base.Preconditions;
+import com.google.common.collect.BiMap;
+import com.google.common.collect.HashBiMap;
 import com.google.common.collect.HashMultimap;
 import com.google.common.collect.Lists;
+import com.google.common.collect.Maps;
 import com.google.common.collect.Multimap;
 import com.google.common.collect.Multimaps;
 
@@ -45,6 +48,7 @@ public class DefaultNodeRunner implements NodeRunner {
   private final NodeFactory nodeFactory;
   private final ExecutorService executorService;
   private final Multimap<GraphName, Node> nodes;
+  private final BiMap<Node, NodeMain> nodeMains;
 
   /**
    * @return an instance of {@link DefaultNodeRunner} that uses a default
@@ -72,6 +76,7 @@ public class DefaultNodeRunner implements NodeRunner {
     this.nodeFactory = nodeFactory;
     this.executorService = executorService;
     nodes = Multimaps.synchronizedMultimap(HashMultimap.<GraphName, Node>create());
+    nodeMains = Maps.synchronizedBiMap(HashBiMap.<Node, NodeMain>create());
   }
 
   @Override
@@ -94,7 +99,8 @@ public class DefaultNodeRunner implements NodeRunner {
           nodeListenersCopy.addAll(nodeListeners);
         }
         // The new Node will call onStart().
-        nodeFactory.newNode(nodeConfigurationCopy, nodeListenersCopy);
+        Node node = nodeFactory.newNode(nodeConfigurationCopy, nodeListenersCopy);
+        nodeMains.put(node, nodeMain);
       }
     });
   }
@@ -104,6 +110,14 @@ public class DefaultNodeRunner implements NodeRunner {
     run(nodeMain, nodeConfiguration, null);
   }
 
+  @Override
+  public void shutdownNodeMain(NodeMain nodeMain) {
+    Node node = nodeMains.inverse().get(nodeMain);
+    if (node != null) {
+      safelyShutdownNode(node);
+    }
+  }
+
   @Override
   public void shutdown() {
     synchronized (nodes) {
@@ -161,6 +175,7 @@ public class DefaultNodeRunner implements NodeRunner {
    */
   private void unregisterNode(Node node) {
     nodes.get(node.getName()).remove(node);
+    nodeMains.remove(node);
   }
 
   private class RegistrationListener implements NodeListener {

rosjava/src/main/java/org/ros/node/NodeMain.java

@@ -16,22 +16,18 @@
 
 package org.ros.node;
 
+import org.ros.node.topic.Publisher;
+import org.ros.node.topic.Subscriber;
+
 /**
  * The one required {@link NodeListener} for node creation.
  * 
  * <p>
- * {@link NodeListener#onStart(Node)} should be used to initialize a node.
+ * {@link NodeListener#onStart(Node)} should be used to set up your program's
+ * {@link Publisher}s, {@link Subscriber}s, and services.
  * 
  * @author ethan.rublee@gmail.com (Ethan Rublee)
  * @author damonkohler@google.com (Damon Kohler)
  */
-public abstract class NodeMain implements NodeListener {
-
-  /**
-   * Program shutdown routine.
-   */
-  @Override
-  public void onShutdown(Node node) {
-    // Default is to do nothing.
-  }
+public interface NodeMain extends NodeListener {
 }

rosjava/src/main/java/org/ros/node/NodeRunner.java

@@ -17,6 +17,7 @@
 package org.ros.node;
 
 import java.util.Collection;
+import java.util.concurrent.ExecutorService;
 
 /**
  * Executes {@link NodeMain}s.
@@ -54,7 +55,22 @@ public interface NodeRunner {
   void run(NodeMain nodeMain, NodeConfiguration nodeConfiguration);
 
   /**
-   * Shutdown all started {@link Node}s.
+   * Shuts down the supplied {@link NodeMain} (i.e.
+   * {@link NodeMain#onShutdown(Node)} will be called). This does not
+   * necessarily shut down the {@link Node} that is associated with the
+   * {@link NodeMain}.
+   * 
+   * <p>
+   * This has no effect if the {@link NodeMain} has not started.
+   * 
+   * @param nodeMain
+   *          the {@link NodeMain} to shutdown
+   */
+  void shutdownNodeMain(NodeMain nodeMain);
+
+  /**
+   * Shutdown all started {@link Node}s. This does not shut down the supplied
+   * {@link ExecutorService}.
    */
   void shutdown();
 }

rosjava/src/test/java/org/ros/ParameterServerTestNode.java

@@ -38,7 +38,7 @@ import java.util.Map;
  * 
  * @author kwc@willowgarage.com (Ken Conley)
  */
-public class ParameterServerTestNode extends NodeMain {
+public class ParameterServerTestNode implements NodeMain {
 
   @SuppressWarnings("rawtypes")
   @Override
@@ -121,4 +121,8 @@ public class ParameterServerTestNode extends NodeMain {
       }
     }
   }
+
+  @Override
+  public void onShutdown(Node node) {
+  }
 }

rosjava/src/test/java/org/ros/PassthroughTestNode.java

@@ -27,7 +27,7 @@ import org.ros.node.topic.Publisher;
  * 
  * @author kwc@willowgarage.com (Ken Conley)
  */
-public class PassthroughTestNode extends NodeMain {
+public class PassthroughTestNode implements NodeMain {
 
   @Override
   public void onStart(final Node node) {
@@ -85,4 +85,8 @@ public class PassthroughTestNode extends NodeMain {
         };
     node.newSubscriber("composite_in", "test_ros/Composite", composite_cb);
   }
+
+  @Override
+  public void onShutdown(Node node) {
+  }
 }

rosjava/src/test/java/org/ros/SlaveApiTestNode.java

@@ -27,7 +27,7 @@ import org.ros.node.topic.Publisher;
  * 
  * @author kwc@willowgarage.com (Ken Conley)
  */
-public class SlaveApiTestNode extends NodeMain {
+public class SlaveApiTestNode implements NodeMain {
 
   @Override
   public void onStart(Node node) {
@@ -71,4 +71,8 @@ public class SlaveApiTestNode extends NodeMain {
       }
     }
   }
+
+  @Override
+  public void onShutdown(Node node) {
+  }
 }

rosjava_tutorial_pubsub/src/main/java/org/ros/tutorials/pubsub/Listener.java

@@ -22,8 +22,6 @@ import org.ros.node.Node;
 import org.ros.node.NodeMain;
 import org.ros.node.topic.Subscriber;
 
-import com.google.common.base.Preconditions;
-
 /**
  * This is a simple rosjava {@link Subscriber} {@link Node}. It assumes an
  * external roscore is already running.
@@ -32,12 +30,8 @@ import com.google.common.base.Preconditions;
  */
 public class Listener implements NodeMain {
 
-  private Node node;
-
   @Override
-  public void main(Node node) {
-    Preconditions.checkState(this.node == null);
-    this.node = node;
+  public void onStart(Node node) {
     try {
       final Log log = node.getLog();
       node.newSubscriber("chatter", "std_msgs/String",
@@ -57,9 +51,6 @@ public class Listener implements NodeMain {
   }
 
   @Override
-  public void shutdown() {
-    node.shutdown();
-    node = null;
+  public void onShutdown(Node node) {
   }
-
 }

rosjava_tutorial_pubsub/src/main/java/org/ros/tutorials/pubsub/Talker.java

@@ -34,7 +34,7 @@ public class Talker implements NodeMain {
   private Node node;
 
   @Override
-  public void main(Node node) {
+  public void onStart(Node node) {
     Preconditions.checkState(this.node == null);
     this.node = node;
     try {
@@ -59,8 +59,6 @@ public class Talker implements NodeMain {
   }
 
   @Override
-  public void shutdown() {
-    node.shutdown();
-    node = null;
+  public void onShutdown(Node node) {
   }
 }