Service model integration. Serializing handshake.

Author: neocoretechs

src/main/java/org/ros/internal/node/client/MasterClient.java

@@ -191,7 +191,7 @@ public Response<Integer> unregisterPublisher(PublisherIdentifier publisherIdenti
    *          the name of the {@link SlaveServer} to lookup
    * @return the {@link URI} of the {@link SlaveServer} with the given name
    */
-  public Response<URI> lookupNode(GraphName slaveName, String nodeName) {
+  public Response<InetSocketAddress> lookupNode(GraphName slaveName, String nodeName) {
     return Response.fromListChecked(rpcEndpoint.lookupNode(slaveName.toString(), nodeName),
         new UriResultFactory());
   }
@@ -216,7 +216,7 @@ public Response<InetSocketAddress> getUri(GraphName slaveName) {
    */
   public Response<InetSocketAddress> lookupService(GraphName callerName, String serviceName) {
     return Response.fromListCheckedFailure(
-        rpcEndpoint.lookupService(callerName.toString(), serviceName), new InetSocketAddressResultFactory());
+        rpcEndpoint.lookupService(callerName.toString(), serviceName), new UriResultFactory());
   }
 
   /**

src/main/java/org/ros/internal/node/client/SlaveClient.java

@@ -44,7 +44,7 @@ public List<Object> getBusInfo() {
     throw new UnsupportedOperationException();
   }
 
-  public Response<URI> getMasterUri() {
+  public Response<InetSocketAddress> getMasterUri() {
     return Response.fromListChecked(rpcEndpoint.getMasterUri(nodeName.toString()), new UriResultFactory());
   }
 

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

@@ -1,47 +1,26 @@
-/*
- * Copyright (C) 2011 Google Inc.
- * 
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- * 
- * http://www.apache.org/licenses/LICENSE-2.0
- * 
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
 package org.ros.internal.node.response;
 
-import java.net.URI;
-import java.net.URISyntaxException;
+import java.net.InetSocketAddress;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
 
-import org.ros.exception.RosRuntimeException;
-
-
 /**
- * A {@link ResultFactory} to take an object and turn it into a list of URLIs.
+ * A {@link ResultFactory} to take an object and turn it into a list of InetSocketAddressess.
  * 
- * @author damonkohler@google.com (Damon Kohler)
+ * @author Jonathan Groff (C) NeoCoreTechs 2020
  */
-public class UriListResultFactory implements ResultFactory<List<URI>> {
+public class UriListResultFactory implements ResultFactory<List<InetSocketAddress>> {
 
 	@Override
-	public List<URI> newFromValue(Object value) {
+	public List<InetSocketAddress> newFromValue(Object value) {
 		List<Object> values = Arrays.asList((Object[]) value);
-		List<URI> uris = new ArrayList<URI>();
+		List<InetSocketAddress> uris = new ArrayList<InetSocketAddress>();
+		UriResultFactory factory = new UriResultFactory();
 		for (Object uri : values) {
-			try {
-				uris.add(new URI((String) uri));
-			} catch (URISyntaxException e) {
-				throw new RosRuntimeException(e);
-			}
+			InetSocketAddress socket = factory.newFromValue(uri);
+			if(socket != null)
+				uris.add(socket);
 		}
 		return uris;
 	}

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

@@ -1,37 +1,22 @@
-/*
- * Copyright (C) 2011 Google Inc.
- * 
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- * 
- * http://www.apache.org/licenses/LICENSE-2.0
- * 
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
 package org.ros.internal.node.response;
 
-import java.net.URI;
-import java.net.URISyntaxException;
-
-import org.ros.exception.RosRuntimeException;
-
+import java.net.InetSocketAddress;
+//import java.net.URI;    
 /**
- * @author damonkohler@google.com (Damon Kohler)
+ * @author Jonathan Groff (C) NeocoreTechs 2020
  */
-public class UriResultFactory implements ResultFactory<URI> {
+public class UriResultFactory implements ResultFactory<InetSocketAddress> {
 
   @Override
-  public URI newFromValue(Object value) {
-    try {
-      return new URI((String) value);
-    } catch (URISyntaxException e) {
-      throw new RosRuntimeException(e);
-    }
+  public InetSocketAddress newFromValue(Object value) {
+    	int strt = ((String)value).indexOf("/");
+    	int end = ((String)value).indexOf(":");
+    	if(strt == -1 || end == -1) {
+    		System.out.println("Format of address of descritor incorrect, got "+value+", expected <hostname>/<n.n.n.n:port>");
+    		return null;
+    	}
+    	String host = ((String)value).substring(strt+1, end);
+    	Integer port = Integer.parseInt(((String)value).substring(end+1));
+      return new InetSocketAddress(host, port);
   }
 }

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

@@ -54,7 +54,7 @@ private void handleSuccess(final ChannelHandlerContext ctx, ServiceServerRespons
     ByteBuffer resbuf = messageBufferPool.acquire();
     Utility.serialize(response,  resbuf);
     try {
-		ctx.write(resbuf);
+		ctx.write(resbuf.array());
 	} catch (IOException e) {
 		throw new RosRuntimeException(e);
 	}
@@ -67,7 +67,7 @@ private void handleError(final ChannelHandlerContext ctx, ServiceServerResponse
     response.setMessage(encodedMessage);
     Utility.serialize(response,  responseBuffer);
     try {
-		ctx.write(responseBuffer);
+		ctx.write(responseBuffer.array());
 	} catch (IOException e) {
 		throw new RosRuntimeException(e);
 	}

src/main/java/org/ros/master/client/MasterStateClient.java

@@ -62,7 +62,7 @@ public MasterStateClient(Node caller, InetSocketAddress masterUri) throws IOExce
    * @return the {@link URI} of the {@link Node} with the given name
    */
   public URI lookupNode(String nodeName) {
-    Response<URI> response = masterClient.lookupNode(caller.getName(), nodeName);
+    Response<InetSocketAddress> response = masterClient.lookupNode(caller.getName(), nodeName);
     return response.getResult();
   }
 

src/test/java/org/ros/internal/node/MasterSlaveIntegrationTest.java

@@ -37,6 +37,7 @@
 
 import java.io.IOException;
 import java.net.InetAddress;
+import java.net.InetSocketAddress;
 import java.net.URI;
 import java.net.UnknownHostException;
 import java.util.concurrent.Executors;
@@ -98,7 +99,7 @@ public void tearDown() {
 
   @Test
   public void testGetMasterUri() {
-    Response<URI> response = slaveClient.getMasterUri();
+    Response<InetSocketAddress> response = slaveClient.getMasterUri();
     assertEquals(masterServer.getUri(), response.getResult());
   }