Bring services model fully into pipeline

Author: neocoretechs

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

@@ -300,7 +300,7 @@ public <T, S> ServiceServer<T, S> getServiceServer(String serviceName) {
 
   @Override
   public InetSocketAddress lookupServiceUri(GraphName serviceName) {
-    Response<URI> response =
+    Response<InetSocketAddress> response =
         masterClient.lookupService(slaveServer.toNodeIdentifier().getName(),
             resolveName(serviceName).toString());
     if (response.getStatusCode() == StatusCode.SUCCESS) {

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

@@ -214,9 +214,9 @@ public Response<InetSocketAddress> getUri(GraphName slaveName) {
    * @return the {@link URI} of the {@link ServiceServer} with the given name.
    *         {@link ServiceServer} as a result
    */
-  public Response<URI> lookupService(GraphName callerName, String serviceName) {
+  public Response<InetSocketAddress> lookupService(GraphName callerName, String serviceName) {
     return Response.fromListCheckedFailure(
-        rpcEndpoint.lookupService(callerName.toString(), serviceName), new UriResultFactory());
+        rpcEndpoint.lookupService(callerName.toString(), serviceName), new InetSocketAddressResultFactory());
   }
 
   /**

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

@@ -46,6 +46,7 @@ public class SlaveServer extends RpcServer {
   private final GraphName nodeName;
   private final MasterClient masterClient;
   private final TopicParticipantManager topicParticipantManager;
+  private final ServiceManager serviceManager;
   private final ParameterManager parameterManager;
   private final TcpRosServer tcpRosServer;
   private ServerInvokeMethod invokableMethods;
@@ -59,6 +60,7 @@ public SlaveServer(GraphName nodeName, BindAddress tcpRosBindAddress,
     this.nodeName = nodeName;
     this.masterClient = master;
     this.topicParticipantManager = topicParticipantManager;
+    this.serviceManager = serviceManager;
     this.parameterManager = parameterManager;
     try {
 		invokableMethods = new ServerInvokeMethod(this.getClass().getName(), 0);

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

@@ -79,8 +79,8 @@ public InetSocketAddress getUri() {
    *          the name of the {@link ServiceServer} to look up
    * @return the {@link URI} of the {@link ServiceServer} with the given name
    */
-  public URI lookupService(String serviceName) {
-    Response<URI> result = masterClient.lookupService(caller.getName(), serviceName);
+  public InetSocketAddress lookupService(String serviceName) {
+    Response<InetSocketAddress> result = masterClient.lookupService(caller.getName(), serviceName);
     return result.getResult();
   }