From aa09395ed7136d2b16c8f7d61535d058054f740b Mon Sep 17 00:00:00 2001
From: Dan Ambrosio <dan.ambrosio@stratom.com>
Date: Wed, 29 Mar 2017 14:31:01 -0700
Subject: [PATCH] Enhancments to rosjava/rosjava_core#237 fix. This moves
shutdown responsibility to the topicParticipantManager.
---
.../java/org/ros/internal/node/DefaultNode.java | 9 +--------
.../node/topic/TopicParticipantManager.java | 13 +++++++++++++
2 files changed, 14 insertions(+), 8 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 9dbe4089..a1572cb3 100644
--- a/rosjava/src/main/java/org/ros/internal/node/DefaultNode.java
+++ b/rosjava/src/main/java/org/ros/internal/node/DefaultNode.java
@@ -405,14 +405,7 @@ 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 (DefaultPublisher<?> publisher : topicParticipantManager.getPublishers()) {
- publisher.shutdown();
- topicParticipantManager.removePublisher(publisher);
- }
- for (DefaultSubscriber<?> subscriber : topicParticipantManager.getSubscribers()) {
- subscriber.shutdown();
- topicParticipantManager.removeSubscriber(subscriber);
- }
+ topicParticipantManager.shutdown();
for (ServiceServer<?, ?> serviceServer : serviceManager.getServers()) {
try {
Response<Integer> response =
diff --git a/rosjava/src/main/java/org/ros/internal/node/topic/TopicParticipantManager.java b/rosjava/src/main/java/org/ros/internal/node/topic/TopicParticipantManager.java
index 85181412..c481c854 100644
--- a/rosjava/src/main/java/org/ros/internal/node/topic/TopicParticipantManager.java
+++ b/rosjava/src/main/java/org/ros/internal/node/topic/TopicParticipantManager.java
@@ -136,6 +136,19 @@ public class TopicParticipantManager {
publisherConnections.remove(publisher, subscriberIdentifier);
}
+ public void shutdown(){
+ for(DefaultPublisher<?> publisher : publishers.values()){
+ publisher.shutdown();
+ removePublisher(publisher);
+ }
+ subscriberConnections.clear();
+ for(DefaultSubscriber<?> subscriber : subscribers.values()){
+ subscriber.shutdown();
+ removeSubscriber(subscriber);
+ }
+ publisherConnections.clear();
+ }
+
public Collection<DefaultSubscriber<?>> getSubscribers() {
return ImmutableList.copyOf(subscribers.values());
}
--
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