Fixed runtime error fail in service resonse.

Author: neocoretechs

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

@@ -53,7 +53,7 @@ public static <T> Response<T> newNotfound(String message, T value) {
    */
   public static <T> Response<T> fromListCheckedFailure(List<Object> response,
       ResultFactory<T> resultFactory) throws RemoteException {
-    StatusCode statusCode;
+    StatusCode statusCode = StatusCode.SUCCESS;
     String message;
     try {
       statusCode = StatusCode.fromInt((Integer) response.get(0));
@@ -63,13 +63,15 @@ public static <T> Response<T> fromListCheckedFailure(List<Object> response,
       }
 
     } catch (ClassCastException e) {
-      throw new RosRuntimeException(
-          "Remote side did not return correct type (status code/message).", e);
+      throw new RemoteException(StatusCode.FAILURE,
+          "Remote side did not return correct type headers in response. Expected StatusCode.class, got "+response.get(0).getClass()+
+          " and message of type String but got "+response.get(1).getClass()+" for values "+response.get(0)+" and "+response.get(1));
     }
     try {
       return new Response<T>(statusCode, message, resultFactory.newFromValue(response.get(2)));
     } catch (ClassCastException e) {
-      throw new RosRuntimeException("Remote side did not return correct value type.", e);
+      throw new RemoteException(StatusCode.FAILURE,"Remote side did not return correct value type in response. Got "+ response.get(2).getClass()+
+      " from value "+ response.get(2)+" expected "+((T)resultFactory).getClass());
     }
   }
 
@@ -98,16 +100,18 @@ public static <T> Response<T> fromListChecked(List<Object> response,
       statusCode = StatusCode.fromInt((Integer) response.get(0));
       message = (String) response.get(1);
       if (statusCode != StatusCode.SUCCESS) {
-   
         throw new RemoteException(statusCode, message);
       }
     } catch (ClassCastException e) {
-      throw new RosRuntimeException("Remote side did not return correct type (status code/message).", e);
+        throw new RemoteException(StatusCode.FAILURE,
+                "Remote side did not return correct type headers in response. Expected StatusCode.class, got "+response.get(0).getClass()+
+                " and message of type String but got "+response.get(1).getClass()+" for values "+response.get(0)+" and "+response.get(1));
     }
     try {
       return new Response<T>(statusCode, message, resultFactory.newFromValue(response.get(2)));
     } catch (ClassCastException e) {
-      throw new RosRuntimeException("Remote side did not return correct value type.", e);
+        throw new RemoteException(StatusCode.FAILURE,"Remote side did not return correct value type in response. Got "+ response.get(2).getClass()+
+        	      " from value "+ response.get(2)+" expected "+((T)resultFactory).getClass());
     }
   }
 
@@ -142,12 +146,15 @@ public static <T> Response<T> fromListCheckedNotFound(List<Object> response,
         throw new RemoteException(statusCode, message);
       }
     } catch (ClassCastException e) {
-      throw new RosRuntimeException("Remote side did not return correct type (status code/message).", e);
+        throw new RemoteException(StatusCode.FAILURE,
+                "Remote side did not return correct type headers in response. Expected StatusCode.class, got "+response.get(0).getClass()+
+                " and message of type String but got "+response.get(1).getClass()+" for values "+response.get(0)+" and "+response.get(1));
     }
     try {
       return new Response<T>(statusCode, message, resultFactory.newFromValue(response.get(2)));
     } catch (ClassCastException e) {
-      throw new RosRuntimeException("Remote side did not return correct value type.", e);
+        throw new RemoteException(StatusCode.FAILURE,"Remote side did not return correct value type in response. Got "+ response.get(2).getClass()+
+        	      " from value "+ response.get(2)+" expected "+((T)resultFactory).getClass());
     }
   }
 

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

@@ -190,7 +190,7 @@ List<Object> registerPublisher(String callerId, String topicName, String topicTy
    *          ROS caller ID
    * @param service
    *          Fully-qualified name of service
-   * @return service URL is provides address and port of the service. Fails if
+   * @return service socket address that provides address and port of the service. Fails if
    *         there is no provider.
    */
   List<Object> lookupService(String callerId, String service);

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

@@ -34,7 +34,7 @@
  */
 public class DefaultServiceServer<T, S> implements ServiceServer<T, S> {
 
-  private static final boolean DEBUG = false;
+  private static final boolean DEBUG = true;
   private static final Log log = LogFactory.getLog(DefaultPublisher.class);
 
   private final ServiceDeclaration serviceDeclaration;
@@ -54,6 +54,9 @@ public DefaultServiceServer(ServiceDeclaration serviceDeclaration,
     this.messageFactory = messageFactory;
     this.scheduledExecutorService = scheduledExecutorService;
     listenerGroup = new ListenerGroup<ServiceServerListener<T, S>>(scheduledExecutorService);
+    if(DEBUG)
+    	log.info("DefaultServiceServer contructed with service declaration:"+serviceDeclaration+" serviceResponseBuilder:"+serviceResponseBuilder+
+    			"Advertise address:"+advertiseAddress+" Message factory:"+messageFactory+" Executor:"+scheduledExecutorService+" Listener Group:"+listenerGroup);
     listenerGroup.add(new DefaultServiceServerListener<T, S>() {
       @Override
       public void onMasterRegistrationSuccess(ServiceServer<T, S> registrant) {

src/main/java/org/ros/internal/transport/tcp/TcpServerPipelineFactory.java

@@ -4,6 +4,7 @@
 
 import org.apache.commons.logging.Log;
 import org.apache.commons.logging.LogFactory;
+import org.ros.internal.node.service.DefaultServiceServer;
 import org.ros.internal.node.service.ServiceManager;
 import org.ros.internal.node.topic.DefaultPublisher;
 import org.ros.internal.node.topic.TopicParticipantManager;
@@ -52,6 +53,14 @@ protected void initChannel(ChannelHandlerContext ch) throws Exception {
 		for(DefaultPublisher<?> p : pubs) {
 			log.info("PUBLISHER:"+p);
 		}
+		log.info("TcpServerPipelineFactory ServiceManager:"+serviceManager);
+		Collection<DefaultServiceServer<?,?>> srvrs = serviceManager.getServers();
+		if( srvrs.isEmpty()) {
+			log.info("NO SERVICES IN TopicParticipantManager "+topicParticipantManager);
+		}
+		for(DefaultServiceServer<?,?> s : srvrs) {
+			log.info("SERVICE:"+s);
+		}
 	}
   }
 }