From 36c5131371f86b7ca103ba22eda629235550c97d Mon Sep 17 00:00:00 2001
From: Dan Ambrosio <dan.ambrosio@stratom.com>
Date: Wed, 29 Mar 2017 10:05:12 -0700
Subject: [PATCH] This fixes rosjava/rosjava_core#237. Added fix to remove
Publishers and Subscribers from topicParticipantManager on node shutdown.
Added fix to remove listeners from DefaultPublisher on shutdown.
---
.../src/main/java/org/ros/internal/node/DefaultNode.java | 8 ++++++--
.../org/ros/internal/node/topic/DefaultPublisher.java | 1 +
2 files changed, 7 insertions(+), 2 deletions(-)
diff --git a/rosjava/src/main/java/org/ros/internal/node/DefaultNode.java b/rosjava/src/main/java/org/ros/internal/node/DefaultNode.java
index 81386ceb..9dbe4089 100644
--- a/rosjava/src/main/java/org/ros/internal/node/DefaultNode.java
+++ b/rosjava/src/main/java/org/ros/internal/node/DefaultNode.java
@@ -39,6 +39,8 @@ import org.ros.internal.node.service.ServiceDeclaration;
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;
@@ -403,11 +405,13 @@ public class DefaultNode implements ConnectedNode {
// 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()) {
+ for (DefaultPublisher<?> publisher : topicParticipantManager.getPublishers()) {
publisher.shutdown();
+ topicParticipantManager.removePublisher(publisher);
}
- for (Subscriber<?> subscriber : topicParticipantManager.getSubscribers()) {
+ for (DefaultSubscriber<?> subscriber : topicParticipantManager.getSubscribers()) {
subscriber.shutdown();
+ topicParticipantManager.removeSubscriber(subscriber);
}
for (ServiceServer<?, ?> serviceServer : serviceManager.getServers()) {
try {
diff --git a/rosjava/src/main/java/org/ros/internal/node/topic/DefaultPublisher.java b/rosjava/src/main/java/org/ros/internal/node/topic/DefaultPublisher.java
index b27a260e..c69ef3dd 100644
--- a/rosjava/src/main/java/org/ros/internal/node/topic/DefaultPublisher.java
+++ b/rosjava/src/main/java/org/ros/internal/node/topic/DefaultPublisher.java
@@ -109,6 +109,7 @@ public class DefaultPublisher<T> extends DefaultTopicParticipant implements Publ
public void shutdown(long timeout, TimeUnit unit) {
signalOnShutdown(timeout, unit);
outgoingMessageQueue.shutdown();
+ listeners.shutdown();
}
@Override
--
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