Fix missing spaces in toString methods.

Move ServiceException outside the internal package and simplify error handling for services.
Update the service tutorial and associated documentation.

docs/src/main/sphinx/getting_started.rst

@@ -68,7 +68,7 @@ Creating nodes
 --------------
 
 Typically ROS nodes are synonymous with processes. In rosjava, however, nodes
-are more like :roswiki:`nodelets` in that many nodes can run in a single
+are more like :roswiki:`nodelet`\s in that many nodes can run in a single
 process, the Java VM.
 
 Users, like yourself, do not create :javadoc:`org.ros.node.Node`\s. Instead,
@@ -131,11 +131,11 @@ to handle clean up since it will not delay shutdown.
 Publishers and subscribers
 --------------------------
 
-The following code is available from the rosjava_tutorial_pubsub package. In
-this example, we create a publisher for the chatter topic. That should feel
-relatively familiar if you're a ROS veteran. The
-:javadoc:`org.ros.topic.Publisher` publishes ``std_msgs.String`` messages to
-the ``/chatter`` topic.
+The following class (:javadoc:`org.ros.rosjava_tutorial_pubsub.Talker`) is
+available from the rosjava_tutorial_pubsub package. In this example, we create
+a publisher for the chatter topic. This should feel relatively familiar if
+you're a ROS veteran. The :javadoc:`org.ros.topic.Publisher` publishes
+``std_msgs.String`` messages to the ``/chatter`` topic.
 
 .. literalinclude:: ../../../../rosjava_tutorial_pubsub/src/main/java/org/ros/rosjava_tutorial_pubsub/Talker.java
   :language: java
@@ -162,7 +162,7 @@ class.
   :language: java
   :linenos:
 
-In line 43 we see another example of rosjava's asynchornous API. We can add as
+In line 42 we see another example of rosjava's asynchornous API. We can add as
 many :javadoc:`org.ros.message.MessageListener`\s to our
 :javadoc:`org.ros.node.topic.Subscriber` as we like. When a new message is
 received, all of our :javadoc:`org.ros.message.MessageListener`\s will be
@@ -206,6 +206,61 @@ the following commands will remap the default topic /chatter to /foo.
 See :roswiki:`Remapping%20Arguments` for more information on passing arguments
 to ROS executables.
 
+Services
+--------
+
+The following class (:javadoc:`org.ros.rosjava_tutorial_services.Server`) is
+available from the rosjava_tutorial_services package. In this example, we
+create a :javadoc:`org.ros.node.service.ServiceServer` for the
+``test_ros.AddTwoInts`` service. This should feel relatively familiar if you're
+a ROS veteran.
+
+.. literalinclude:: ../../../../rosjava_tutorial_services/src/main/java/org/ros/rosjava_tutorial_services/Server.java
+  :language: java
+  :linenos:
+
+The :javadoc:`org.ros.node.service.ServiceResponseBuilder` is called
+asynchronously for each incoming request. On line 44 we modify the response
+output parameter to contain the sum of the two integers in the request. The
+response will be sent once the
+:javadoc:`org.ros.node.service.ServiceResponseBuilder#build(T, S)` returns.
+
+Now lets take a look at the :javadoc:`org.ros.rosjava_tutorial_services.Client`
+class.
+
+.. literalinclude:: ../../../../rosjava_tutorial_services/src/main/java/org/ros/rosjava_tutorial_services/Client.java
+  :language: java
+  :linenos:
+
+In line 51 we see another example of rosjava's asynchornous API. When the response is
+received, our :javadoc:`org.ros.node.service.ServiceResponseListener` will be
+called with the incoming response as an argument to
+:javadoc:`org.ros.node.service.ServiceResponseListener#onSuccess(T)`.
+
+In the event that the server thows a
+:javadoc:`org.ros.exception.ServiceException` while building the response,
+:javadoc:`org.ros.node.service.ServiceResponseListener#onFailure(RemoteException)`
+will be called. The :javadoc:`org.ros.exception.RemoteException` will contain
+the error message from the server.
+
+Building and executing these nodes works in the same manner as described above:
+
+.. code-block:: bash
+
+  roscd rosjava_tutorial_services
+  ../gradlew installApp
+  roscore &
+  ./build/rosjava_tutorial_services/bin/rosjava_tutorial_services org.ros.rosjava_tutorial_services.Server &
+  ./build/rosjava_tutorial_services/bin/rosjava_tutorial_services org.ros.rosjava_tutorial_services.Client
+
+At this point, you should see the log message "2 + 2 = 4" appear in your
+terminal.
+
+Just as before, you can configure the executed nodes from the command line in
+the same way you would any other ROS executable. See
+:roswiki:`Remapping%20Arguments` for more information on passing arguments to
+ROS executables.
+
 Messages
 --------
 
@@ -228,11 +283,6 @@ If you want to use messages that you define:
 - ensure that my_msgs is in your ROS_PACKAGE_PATH (see :roswiki:`EnvironmentVariables`)
 - reinstall rosjava_messages (see :doc:`building`)
 
-Services
---------
-
-TODO
-
 Parameters
 ----------
 

rosjava/src/main/java/org/ros/exception/ParameterClassCastException.java

@@ -35,5 +35,4 @@ public class ParameterClassCastException extends RosRuntimeException {
   public ParameterClassCastException(Throwable throwable) {
     super(throwable);
   }
-
 }

rosjava/src/main/java/org/ros/exception/ParameterNotFoundException.java

@@ -34,5 +34,4 @@ public class ParameterNotFoundException extends RosRuntimeException {
   public ParameterNotFoundException(Throwable throwable) {
     super(throwable);
   }
-
 }

rosjava/src/main/java/org/ros/exception/RemoteException.java

@@ -36,5 +36,4 @@ public class RemoteException extends RosRuntimeException {
   public StatusCode getStatusCode() {
     return statusCode;
   }
-
 }

rosjava/src/main/java/org/ros/internal/node/service/ServiceException.java → rosjava/src/main/java/org/ros/exception/ServiceException.java

@@ -14,26 +14,22 @@
  * the License.
  */
 
-package org.ros.internal.node.service;
-
-import java.nio.ByteBuffer;
-import java.nio.charset.Charset;
-
-import org.jboss.netty.buffer.ChannelBuffer;
-import org.jboss.netty.buffer.ChannelBuffers;
+package org.ros.exception;
 
 /**
  * @author damonkohler@google.com (Damon Kohler)
  */
 public class ServiceException extends Exception {
 
-  public ServiceException(String message) {
-    super(message);
+  public ServiceException(final Throwable throwable) {
+    super(throwable);
   }
 
-  public ChannelBuffer getMessageAsChannelBuffer() {
-    ByteBuffer encodedMessage = Charset.forName("US-ASCII").encode(getMessage());
-    return ChannelBuffers.wrappedBuffer(encodedMessage);
+  public ServiceException(final String message, final Throwable throwable) {
+    super(message, throwable);
   }
 
+  public ServiceException(final String message) {
+    super(message);
+  }
 }

rosjava/src/main/java/org/ros/exception/ServiceNotFoundException.java

@@ -32,5 +32,4 @@ public class ServiceNotFoundException extends RosException {
   public ServiceNotFoundException(final String message) {
     super(message);
   }
-
 }

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

@@ -18,6 +18,8 @@ package org.ros.internal.node;
 
 import com.google.common.annotations.VisibleForTesting;
 
+import org.ros.node.service.ServiceResponseBuilder;
+
 import org.apache.commons.logging.Log;
 import org.ros.concurrent.CancellableLoop;
 import org.ros.concurrent.ListenerCollection;
@@ -37,7 +39,6 @@ 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.service.ServiceResponseBuilder;
 import org.ros.internal.node.topic.PublisherFactory;
 import org.ros.internal.node.topic.SubscriberFactory;
 import org.ros.internal.node.topic.TopicDeclaration;

rosjava/src/main/java/org/ros/internal/node/service/DefaultServiceServer.java

@@ -18,6 +18,8 @@ package org.ros.internal.node.service;
 
 import com.google.common.base.Preconditions;
 
+import org.ros.node.service.ServiceResponseBuilder;
+
 import org.apache.commons.logging.Log;
 import org.apache.commons.logging.LogFactory;
 import org.jboss.netty.buffer.ChannelBuffer;

rosjava/src/main/java/org/ros/internal/node/service/ServiceFactory.java

@@ -18,6 +18,8 @@ package org.ros.internal.node.service;
 
 import com.google.common.base.Preconditions;
 
+import org.ros.node.service.ServiceResponseBuilder;
+
 import org.ros.internal.message.service.ServiceDescription;
 import org.ros.internal.node.server.SlaveServer;
 import org.ros.internal.node.server.master.MasterServer;

rosjava/src/main/java/org/ros/internal/node/service/ServiceIdentifier.java

@@ -16,11 +16,11 @@
 
 package org.ros.internal.node.service;
 
-import java.net.URI;
+import com.google.common.base.Preconditions;
 
 import org.ros.namespace.GraphName;
 
-import com.google.common.base.Preconditions;
+import java.net.URI;
 
 /**
  * @author damonkohler@google.com (Damon Kohler)

rosjava/src/main/java/org/ros/internal/node/service/ServiceRequestHandler.java

@@ -21,11 +21,14 @@ import org.jboss.netty.buffer.ChannelBuffers;
 import org.jboss.netty.channel.ChannelHandlerContext;
 import org.jboss.netty.channel.MessageEvent;
 import org.jboss.netty.channel.SimpleChannelHandler;
+import org.ros.exception.ServiceException;
 import org.ros.message.MessageDeserializer;
 import org.ros.message.MessageFactory;
 import org.ros.message.MessageSerializer;
+import org.ros.node.service.ServiceResponseBuilder;
 
 import java.nio.ByteBuffer;
+import java.nio.charset.Charset;
 import java.util.concurrent.ExecutorService;
 
 /**
@@ -68,10 +71,11 @@ class ServiceRequestHandler<T, S> extends SimpleChannelHandler {
   }
 
   private void handleError(final ChannelHandlerContext ctx, ServiceServerResponse response,
-      ServiceException ex) {
+      String message) {
     response.setErrorCode(0);
-    response.setMessageLength(ex.getMessage().length());
-    response.setMessage(ex.getMessageAsChannelBuffer());
+    ByteBuffer encodedMessage = Charset.forName("US-ASCII").encode(message);
+    response.setMessageLength(encodedMessage.limit());
+    response.setMessage(ChannelBuffers.wrappedBuffer(encodedMessage));
     ctx.getChannel().write(response);
   }
 
@@ -90,7 +94,7 @@ class ServiceRequestHandler<T, S> extends SimpleChannelHandler {
           responseBuffer =
               ChannelBuffers.wrappedBuffer(handleRequest(requestBuffer.toByteBuffer()));
         } catch (ServiceException ex) {
-          handleError(ctx, response, ex);
+          handleError(ctx, response, ex.getMessage());
           return;
         }
         handleSuccess(ctx, response, responseBuffer);

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

@@ -16,10 +16,11 @@
 
 package org.ros.node;
 
+import org.ros.node.service.ServiceResponseBuilder;
+
 import org.apache.commons.logging.Log;
 import org.ros.concurrent.CancellableLoop;
 import org.ros.exception.ServiceNotFoundException;
-import org.ros.internal.node.service.ServiceResponseBuilder;
 import org.ros.internal.node.xmlrpc.MasterXmlRpcEndpoint;
 import org.ros.message.MessageFactory;
 import org.ros.message.MessageSerializationFactory;

rosjava/src/main/java/org/ros/internal/node/service/ServiceResponseBuilder.java → rosjava/src/main/java/org/ros/node/service/ServiceResponseBuilder.java

@@ -14,9 +14,9 @@
  * the License.
  */
 
-package org.ros.internal.node.service;
+package org.ros.node.service;
 
-import org.ros.node.service.ServiceServer;
+import org.ros.exception.ServiceException;
 
 /**
  * Builds a service response given a service request.

rosjava/src/test/java/org/ros/node/service/ServiceIntegrationTest.java

@@ -24,9 +24,8 @@ import org.junit.Test;
 import org.ros.RosTest;
 import org.ros.exception.RemoteException;
 import org.ros.exception.RosRuntimeException;
+import org.ros.exception.ServiceException;
 import org.ros.exception.ServiceNotFoundException;
-import org.ros.internal.node.service.ServiceException;
-import org.ros.internal.node.service.ServiceResponseBuilder;
 import org.ros.namespace.GraphName;
 import org.ros.node.Node;
 import org.ros.node.NodeMain;

rosjava_bootstrap/src/main/java/org/ros/exception/RosException.java

@@ -32,5 +32,4 @@ public class RosException extends Exception {
   public RosException(final String message) {
     super(message);
   }
-  
 }

rosjava_tutorial_services/src/main/java/org/ros/rosjava_tutorial_services/Client.java

@@ -24,7 +24,6 @@ import org.ros.node.Node;
 import org.ros.node.NodeMain;
 import org.ros.node.service.ServiceClient;
 import org.ros.node.service.ServiceResponseListener;
-import test_ros.AddTwoInts.Response;
 
 /**
  * A simple {@link ServiceClient} {@link NodeMain}.
@@ -51,7 +50,7 @@ public class Client implements NodeMain {
     request.setB(2);
     serviceClient.call(request, new ServiceResponseListener<test_ros.AddTwoInts.Response>() {
       @Override
-      public void onSuccess(Response response) {
+      public void onSuccess(test_ros.AddTwoInts.Response response) {
         node.getLog().info(
             String.format("%d + %d = %d", request.getA(), request.getB(), response.getSum()));
       }

rosjava_tutorial_services/src/main/java/org/ros/rosjava_tutorial_services/Server.java

@@ -16,14 +16,11 @@
 
 package org.ros.rosjava_tutorial_services;
 
-import org.ros.internal.node.service.ServiceException;
-import org.ros.internal.node.service.ServiceResponseBuilder;
 import org.ros.namespace.GraphName;
 import org.ros.node.Node;
 import org.ros.node.NodeMain;
+import org.ros.node.service.ServiceResponseBuilder;
 import org.ros.node.service.ServiceServer;
-import test_ros.AddTwoInts.Request;
-import test_ros.AddTwoInts.Response;
 
 /**
  * This is a simple {@link ServiceServer} {@link NodeMain}.
@@ -42,7 +39,8 @@ public class Server implements NodeMain {
     node.newServiceServer("add_two_ints", test_ros.AddTwoInts._TYPE,
         new ServiceResponseBuilder<test_ros.AddTwoInts.Request, test_ros.AddTwoInts.Response>() {
           @Override
-          public void build(Request request, Response response) throws ServiceException {
+          public void build(test_ros.AddTwoInts.Request request,
+              test_ros.AddTwoInts.Response response) {
             response.setSum(request.getA() + request.getB());
           }
         });