Full alpha functionality

Author: neocoretechs

src/main/java/org/ros/RosCore.java

@@ -50,13 +50,10 @@ public static RosCore newPublic(int port) {
     return new RosCore(BindAddress.newPublic(port), AdvertiseAddress.newPublic(port));
   }
 
-  public static RosCore newPrivate(int port) {
-    return new RosCore(BindAddress.newPrivate(port), AdvertiseAddress.newPrivate(port));
-  }
 
   public static RosCore newPrivate() {
 	BindAddress ba = BindAddress.newPrivate();
-    return new RosCore(ba, AdvertiseAddress.newPrivate(ba.toInetSocketAddress().getPort()));
+    return new RosCore(ba, AdvertiseAddress.newPrivate());
   }
 
   private RosCore(BindAddress bindAddress, AdvertiseAddress advertiseAddress) {

src/main/java/org/ros/address/AdvertiseAddress.java

@@ -19,6 +19,7 @@
 
 import org.ros.exception.RosRuntimeException;
 
+import java.io.Serializable;
 import java.net.InetAddress;
 import java.net.InetSocketAddress;
 import java.net.URI;
@@ -34,16 +35,19 @@
  * the advertised port.
  * 
  * @author damonkohler@google.com (Damon Kohler)
+ * @author jg
  */
-public class AdvertiseAddress {
-
-  private final String host;
-  private final int port;
+public class AdvertiseAddress implements Serializable {
+  private static final long serialVersionUID = -8488174967781048482L;
+  private String host;
+  private int port;
 
   private Callable<Integer> portCallable;
 
-  public static AdvertiseAddress newPrivate(int port) {
-    return new PrivateAdvertiseAddressFactory().newDefault(port);
+  public AdvertiseAddress() {  }
+  
+  public static AdvertiseAddress newPrivate() {
+    return new PrivateAdvertiseAddressFactory().newDefault();
   }
 
   /**
@@ -63,6 +67,21 @@ public AdvertiseAddress(String host, final int port) {
     this.port = port;
   }
 
+  public AdvertiseAddress(InetAddress host, int port) {
+	this.host = host.getCanonicalHostName();
+	this.port = port;
+  }
+
+  public AdvertiseAddress(String loopback) {
+	  InetSocketAddress addr = InetSocketAddressFactory.newFromHostString(loopback);
+	  this.host = addr.getHostName();
+	  this.port = addr.getPort();
+  }
+
+  public AdvertiseAddress(InetSocketAddress addr) {
+	this.host = addr.getHostName();
+	this.port = addr.getPort();
+  }
 
 public String getHost() {
     return host;

src/main/java/org/ros/address/AdvertiseAddressFactory.java

@@ -21,5 +21,5 @@
  */
 public interface AdvertiseAddressFactory {
 
-  AdvertiseAddress newDefault(int port);
+  AdvertiseAddress newDefault();
 }

src/main/java/org/ros/address/BindAddress.java

@@ -16,8 +16,12 @@
 
 package org.ros.address;
 
+import java.io.IOException;
+import java.net.InetAddress;
 import java.net.InetSocketAddress;
-import java.util.concurrent.atomic.AtomicInteger;
+import java.net.ServerSocket;
+
+import org.ros.exception.RosRuntimeException;
 
 /**
  * A wrapper for {@link InetSocketAddress} that emphasizes the difference
@@ -29,7 +33,6 @@
 public class BindAddress {
 
   private final InetSocketAddress address;
-  private final static AtomicInteger portSelector = new AtomicInteger(8090);
 
   private BindAddress(InetSocketAddress address) {
     this.address = address;
@@ -41,11 +44,16 @@ private BindAddress(InetSocketAddress address) {
    *         to all network interfaces on the host
    */
   public static BindAddress newPublic(int port) {
-    return new BindAddress(new InetSocketAddress(port));
+    return new BindAddress(new InetSocketAddress(InetSocketAddressFactory.newNonLoopback(), port));
   }
 
   public static BindAddress newPublic() {
-    return newPublic(portSelector.getAndAdd(2));
+	InetAddress host = InetSocketAddressFactory.newNonLoopback();
+    try {
+		return new BindAddress(new InetSocketAddress(host, findPortOnAddress(host)));
+	} catch (IOException e) {
+		throw new RosRuntimeException(e);
+	}
   }
 
   /**
@@ -58,7 +66,7 @@ public static BindAddress newPrivate(int port) {
   }
 
   public static BindAddress newPrivate() {
-    return newPrivate(portSelector.getAndAdd(2));
+	return new BindAddress(InetSocketAddressFactory.newLoopback());
   }
 
   @Override
@@ -89,5 +97,12 @@ public boolean equals(Object obj) {
     } else if (!address.equals(other.address)) return false;
     return true;
   }
-
+  
+  private static Integer findPortOnAddress(InetAddress host) throws IOException {
+	    try (
+	        ServerSocket socket = new ServerSocket(0,0,host);
+	    ) {
+	      return socket.getLocalPort();
+	    }
+}
 }

src/main/java/org/ros/address/InetSocketAddressFactory.java

@@ -18,9 +18,11 @@
 
 import org.ros.exception.RosRuntimeException;
 
+import java.io.IOException;
 import java.net.InetAddress;
 import java.net.InetSocketAddress;
 import java.net.NetworkInterface;
+import java.net.ServerSocket;
 import java.net.SocketException;
 import java.net.UnknownHostException;
 import java.util.ArrayList;
@@ -36,7 +38,6 @@
  * @author jg
  */
 public class InetSocketAddressFactory {
-  private static AtomicInteger portSelector = new AtomicInteger(8090); // add and get by 2 each call, so first is 8090
 
   private InetSocketAddressFactory() {
     // Utility class
@@ -101,40 +102,17 @@ private static Collection<InetAddress> getAllInetAddressByName(String host) {
    * If the specified host name is {@code Address.LOCALHOST}, this method
    * returns a loopback address.
    * 
-   * In all cases the port is incremented by 2 each new address for a master and parameter server port
-   * combination;
    * 
    * @param host
    * @return an {@link InetAddress} with both an IP and a host set (no further resolving will take place)
    */
   public static InetSocketAddress newFromHostString(String host) {
-    try {
-      InetAddress target = null;
-      if (InetAddress.getByName(host) != null) {
-        return new InetSocketAddress(InetAddress.getByAddress(host, InetAddress.getByName(host).getAddress()), 
-        		portSelector.addAndGet(2));
-      }
-      if (host.equals(Address.LOCALHOST)) {
-        return new InetSocketAddress(InetAddress.getByAddress(Address.LOCALHOST, InetAddress.getByName(Address.LOOPBACK).getAddress()),
-        		portSelector.addAndGet(2));
-      }
-    } catch (UnknownHostException e) {
-      throw new RosRuntimeException(e);
-    }
-    Collection<InetAddress> allAddressesByName = getAllInetAddressByName(host);
-    // First, try to find a non-loopback IPv4 address.
-    for (InetAddress address : allAddressesByName) {
-      if (!address.isLoopbackAddress() && isIpv4(address)) {
-        return new InetSocketAddress(address, portSelector.addAndGet(2));
-      }
-    }
-    // Return a loopback IPv4 address as a last resort.
-    for (InetAddress address : allAddressesByName) {
-      if (isIpv4(address)) {
-        return new InetSocketAddress(address, portSelector.addAndGet(2));
-      }
-    }
-    throw new RosRuntimeException("Unable to construct InetAddress for host: " + host);
+        try {
+        	InetAddress hostaddr = InetAddress.getByName(host);
+			return new InetSocketAddress(hostaddr, findPortOnAddress(hostaddr));
+		} catch (IOException e) {
+			throw new RosRuntimeException(e);
+		}
   }
 
   public static InetSocketAddress newLoopback() {
@@ -144,4 +122,12 @@ public static InetSocketAddress newLoopback() {
   public static InetSocketAddress newLoopback(int port) {
 	    return new InetSocketAddress(Address.LOOPBACK, port);
   }
+  
+  private static Integer findPortOnAddress(InetAddress host) throws IOException {
+	    try (
+	        ServerSocket socket = new ServerSocket(0,0,host);
+	    ) {
+	      return socket.getLocalPort();
+	    }
+  }
 }

src/main/java/org/ros/address/PrivateAdvertiseAddressFactory.java

@@ -22,7 +22,7 @@
 public class PrivateAdvertiseAddressFactory implements AdvertiseAddressFactory {
 
   @Override
-  public AdvertiseAddress newDefault(int port) {
-    return new AdvertiseAddress(Address.LOOPBACK, port);
+  public AdvertiseAddress newDefault() {
+    return new AdvertiseAddress(Address.LOOPBACK);
   }
 }

src/main/java/org/ros/address/PublicAdvertiseAddressFactory.java

@@ -16,27 +16,45 @@
 
 package org.ros.address;
 
+import java.net.InetAddress;
+import java.net.InetSocketAddress;
+import java.net.UnknownHostException;
+
+import org.ros.exception.RosRuntimeException;
+
 /**
  * An {@link AdvertiseAddressFactory} which creates public (non-loopback) addresses.
  * 
  * @author damonkohler@google.com (Damon Kohler)
+ * @author jg
  */
 public class PublicAdvertiseAddressFactory implements AdvertiseAddressFactory {
 
-  private final String host;
-
+  private final InetAddress host;
 
   public PublicAdvertiseAddressFactory() {
-    this(InetSocketAddressFactory.newNonLoopback().getCanonicalHostName());
+    this(InetSocketAddressFactory.newNonLoopback());
   }
 
-  public PublicAdvertiseAddressFactory(String host) {
+  public PublicAdvertiseAddressFactory(InetAddress host) {
 	    this.host = host;
   }
 
+  public PublicAdvertiseAddressFactory(String host) {
+	    try {
+			this.host = InetAddress.getByName(host);
+		} catch (UnknownHostException e) {
+			throw new RosRuntimeException("Host name "+host+" cannot be resolved");
+		}
+}
 
-  @Override
   public AdvertiseAddress newDefault(int port) {
     return new AdvertiseAddress(host, port);
   }
+
+  @Override
+  public AdvertiseAddress newDefault() {
+	InetSocketAddress isa = InetSocketAddressFactory.newLoopback();
+	return new AdvertiseAddress(isa);
+  }
 }

src/main/java/org/ros/internal/loader/CommandLineLoader.java

@@ -41,7 +41,8 @@
 
 /**
  * Create {@link NodeConfiguration} instances using a ROS command-line and
- * environment specification.
+ * environment specification. When starting a node through RosRun, this class is used
+ * to process the command line remappings.
  * 
  * @author kwc@willowgarage.com (Ken Conley)
  * @author damonkohler@google.com (Damon Kohler)
@@ -115,7 +116,7 @@ public List<String> getNodeArguments() {
   public NodeConfiguration build() {
     parseRemappingArguments();
     // TODO(damonkohler): Add support for starting up a private node.
-    NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic(getHost(), getPort());
+    NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic(getHost(), getMasterUri());
     nodeConfiguration.setParentResolver(buildParentResolver());
     nodeConfiguration.setRosRoot(getRosRoot());
     nodeConfiguration.setRosPackagePath(getRosPackagePath());
@@ -171,7 +172,7 @@ private NameResolver buildParentResolver() {
    * </ol>
    */
   private String getHost() {
-    String host = InetSocketAddressFactory.newLoopback().getAddress().getHostAddress();
+    String host = InetSocketAddressFactory.newLoopback().getAddress().getCanonicalHostName();
     if (specialRemappings.containsKey(CommandLineVariables.ROS_IP)) {
       host = specialRemappings.get(CommandLineVariables.ROS_IP);
     } else if (environment.containsKey(EnvironmentVariables.ROS_IP)) {
@@ -182,17 +183,6 @@ private String getHost() {
     return host;
   }
 
-  private int getPort() {
-	   int port = InetSocketAddressFactory.newLoopback().getPort();
-	    if (specialRemappings.containsKey(CommandLineVariables.ROS_IP_PORT)) {
-	      port = Integer.valueOf(specialRemappings.get(CommandLineVariables.ROS_IP_PORT));
-	    } else if (environment.containsKey(EnvironmentVariables.ROS_IP_PORT)) {
-	      port = Integer.valueOf(environment.get(EnvironmentVariables.ROS_IP_PORT));
-	    } else if (environment.containsKey(EnvironmentVariables.ROS_HOSTPORT)) {
-	      port = Integer.valueOf(environment.get(EnvironmentVariables.ROS_HOSTPORT));
-	    }
-	    return port; 
-  }
   /**
    * Precedence:
    * 

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

@@ -119,7 +119,7 @@ public class DefaultNode implements ConnectedNode {
    * {@link DefaultNodeFactory}.
    * 
    * @param nodeConfiguration
-   *          the {@link NodeConfiguration} for this {@link Node}
+   *          the {@link NodeConfiguration} for this {@link Node}, rpc bind/advertise and tcpros bind/advertise from here
    * @param nodeListeners
    *          a {@link Collection} of {@link NodeListener}s that will be added
    *          to this {@link Node} before it starts

src/main/java/org/ros/internal/node/response/InetAddressListResultFactory.java

@@ -33,15 +33,18 @@ public class InetAddressListResultFactory implements ResultFactory<List<InetAddr
 
 	@Override
 	public List<InetAddress> newFromValue(Object value) {
+		/*
 		List<Object> values = Arrays.asList(value);
 		List<InetAddress> uris = new ArrayList<InetAddress>();
 		for (Object uri : values) {
 			try {
-				uris.add(InetAddress.getByName((String) uri));
+				uris.add( InetAddress.getByName((String)uri));
 			} catch (UnknownHostException e) {
 				throw new RosRuntimeException(e);
 			}
 		}
 		return uris;
+		*/
+		return (List<InetAddress>)value;
 	}
 }