Full master functionality, further serialization work and operational bus with minor serialization issues.

Author: neocoretechs

src/main/java/org/ros/internal/node/rpc/MasterRpcEndpointImpl.java

@@ -100,15 +100,11 @@ public List<Object> registerPublisher(String callerId, String topicName, String
 	  RemoteRequestInterface rri = new RemoteRequest("org.ros.internal.node.server.master.MasterServer", 
 			  "registerPublisher",
 			  GraphName.of(callerId), new InetSocketAddress(callerSlaveUri, Integer.valueOf(port)), GraphName.of(topicName), topicMessageType);
-    List<InetSocketAddress> subscribers =
+	  List<InetSocketAddress> subscribers =
          //master.registerPublisher(GraphName.of(callerId), 
         //new InetSocketAddress(callerSlaveUri, Integer.valueOf(port)), GraphName.of(topicName), topicMessageType);
     		(List<InetSocketAddress>)remoteMaster.queue(rri);
-      List<String> urls = new ArrayList<String>();
-      for (InetSocketAddress uri : subscribers) {
-        urls.add(uri.toString());
-      }
-      return Response.newSuccess("Success", urls).toList();
+      return Response.newSuccess("Success", subscribers).toList();
   }
 
   @Override

src/main/java/org/ros/internal/node/server/NodeIdentifier.java

@@ -21,6 +21,7 @@
 import org.ros.namespace.GraphName;
 import org.ros.node.Node;
 
+import java.io.Serializable;
 import java.net.InetSocketAddress;
 import java.net.URI;
 
@@ -30,10 +31,11 @@
  * 
  * @author damonkohler@google.com (Damon Kohler)
  */
-public class NodeIdentifier {
-
-  private final GraphName name;
-  private final InetSocketAddress uri;
+public class NodeIdentifier implements Serializable {
+  private static final long serialVersionUID = -3493232406156967129L;
+  
+  private GraphName name;
+  private InetSocketAddress uri;
 
   public static NodeIdentifier forName(String name) {
     return new NodeIdentifier(GraphName.of(name), null);
@@ -47,6 +49,7 @@ public static NodeIdentifier forNameAndUri(String name, String uri, int port) {
     return new NodeIdentifier(GraphName.of(name), new InetSocketAddress(uri, port));
   }
 
+  public NodeIdentifier() {}
   /**
    * Constructs a new {@link NodeIdentifier}.
    * 

src/main/java/org/ros/internal/node/server/SlaveServer.java

@@ -216,6 +216,8 @@ public NodeIdentifier toNodeIdentifier() {
 
   @Override
   public Object invokeMethod(RemoteRequestInterface rri) throws Exception {
-	return invokableMethods.invokeMethod(rri, this);
+	  synchronized(invokableMethods) {
+		  return invokableMethods.invokeMethod(rri, this);
+	  }
   }
 }

src/main/java/org/ros/internal/node/server/master/MasterServer.java

@@ -336,7 +336,7 @@ public List<List<String>> getTopicTypes(GraphName calledId) {
     synchronized (masterRegistrationManager) {
       List<List<String>> result = new ArrayList<List<String>>();
       for (TopicRegistrationInfo topic : masterRegistrationManager.getAllTopics()) {
-    	 ArrayList l1 = new ArrayList();
+    	 ArrayList<String> l1 = new ArrayList<String>();
     	 l1.add(topic.getTopicName().toString());
     	 l1.add(topic.getMessageType());
         result.add(l1);
@@ -436,7 +436,7 @@ private List<Object> getSystemStateServices() {
     for (ServiceRegistrationInfo service : masterRegistrationManager.getAllServices()) {
       List<Object> topicInfo = new ArrayList<Object>();
       topicInfo.add(service.getServiceName().toString());
-      topicInfo.add(new ArrayList().add(service.getServiceName().toString()));
+      topicInfo.add(new ArrayList<String>().add(service.getServiceName().toString()));
 
       result.add(topicInfo);
     }
@@ -482,7 +482,7 @@ public List<Object> getPublishedTopics(GraphName caller, GraphName subgraph) {
       List<Object> result = new ArrayList<Object>();
       for (TopicRegistrationInfo topic : masterRegistrationManager.getAllTopics()) {
         if (topic.hasPublishers()) {
-        	ArrayList l1 = new ArrayList();
+        	ArrayList<String> l1 = new ArrayList<String>();
         	l1.add(topic.getTopicName().toString());
         	l1.add(topic.getMessageType());
             result.add(l1);

src/main/java/org/ros/internal/transport/ProtocolNames.java

@@ -1,22 +1,23 @@
 package org.ros.internal.transport;
 
+import java.io.Serializable;
 import java.util.Collection;
 import java.util.HashSet;
 
 /**
  * @author Groff
  */
-public final class ProtocolNames {
-  
-  public static final String TCPROS = "TCPROS";
-  public static final String UDPROS = "UDPROS";
-  public static final Collection<String> SUPPORTED = new HashSet<String>();
-  public static final Collection<String> TCP = new HashSet<String>();
-  public static final Collection<String> UDP = new HashSet<String>();
+public final class ProtocolNames implements Serializable {
+  private static final long serialVersionUID = -7758680000961964374L;
+  public static String TCPROS = "TCPROS";
+  public static String UDPROS = "UDPROS";
+  public static Collection<String> SUPPORTED = new HashSet<String>();
+  public static Collection<String> TCP = new HashSet<String>();
+  public static Collection<String> UDP = new HashSet<String>();
   static {
 	  SUPPORTED.add(TCPROS);
 	  TCP.add(TCPROS);
 	  UDP.add(UDPROS);
   }
-  private ProtocolNames(){}
+  public ProtocolNames(){}
 }