Fix for failing tests in class MasterRegistrationTest. Waits for all signals...

Fix for failing tests in class MasterRegistrationTest. Waits for all signals to be delivered before shutting down listeners.
Creates new testUnregisterPublisherFailure() test in class MasterRegistrationTest.

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

@@ -35,6 +35,7 @@ import org.ros.node.topic.Publisher;
 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 class DefaultPublisher<T> extends DefaultTopicParticipant implements Publ
     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 class DefaultPublisher<T> extends DefaultTopicParticipant implements Publ
       @Override
       public void run(PublisherListener<T> listener) {
         listener.onMasterUnregistrationSuccess(publisher);
+        shutdownLatch.countDown();
       }
     });
   }
@@ -269,6 +283,7 @@ public class DefaultPublisher<T> extends DefaultTopicParticipant implements Publ
       @Override
       public void run(PublisherListener<T> listener) {
         listener.onMasterUnregistrationFailure(publisher);
+        shutdownLatch.countDown();
       }
     });
   }

rosjava/src/test/java/org/ros/internal/node/MasterRegistrationTest.java

@@ -73,4 +73,25 @@ public class MasterRegistrationTest extends RosTest {
     publisher.shutdown();
     assertTrue(publisherListener.awaitMasterUnregistrationSuccess(1, TimeUnit.SECONDS));
   }
+
+  @Test
+  public void testUnregisterPublisherFailure() throws InterruptedException {
+    publisherListener = CountDownPublisherListener.newDefault();
+    nodeMainExecutor.execute(new AbstractNodeMain() {
+      @Override
+      public GraphName getDefaultNodeName() {
+        return GraphName.of("node");
+      }
+
+      @Override
+      public void onStart(ConnectedNode connectedNode) {
+        publisher = connectedNode.newPublisher("topic", std_msgs.String._TYPE);
+        publisher.addListener(publisherListener);
+      }
+    }, nodeConfiguration);
+    assertTrue(publisherListener.awaitMasterRegistrationSuccess(1, TimeUnit.SECONDS));
+    rosCore.shutdown();
+    publisher.shutdown();
+    assertTrue(publisherListener.awaitMasterUnregistrationFailure(6, TimeUnit.SECONDS));
+  }
 }