Bug Fix

common_tools/src/main/java/com/github/rosjava/android_remocons/common_tools/master/ConcertChecker.java

@@ -55,6 +55,7 @@
 import java.net.URI;
 import java.net.URISyntaxException;
 import java.util.Date;
+import java.util.UUID;
 
 /**
  * Threaded ROS-concert checker. Runs a thread which checks for a valid ROS
@@ -84,6 +85,9 @@ public interface FailureHandler {
     private CheckerThread checkerThread;
     private ConcertDescriptionReceiver foundConcertCallback;
     private FailureHandler failureCallback;
+    private NodeMainExecutorService nodeMainExecutorService = null;
+    private MasterInfo masterInfo = null;
+    private RoconInteractions roconInteractions = null;
 
     /**
      * Constructor. Should not take any time.
@@ -153,28 +157,37 @@ public void run() {
                 String version = (String) paramClient.getParam(GraphName.of("/rosversion")).getResult();
                 Log.i("Remocon", "r ros master found [" + version + "]");
 
-                NodeMainExecutorService nodeMainExecutorService = new NodeMainExecutorService();
+                nodeMainExecutorService = new NodeMainExecutorService();
                 NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic(
                         InetAddressFactory.newNonLoopback().getHostAddress(), concertUri);
 
                 // Check for the concert information topic
-                MasterInfo masterInfo = new MasterInfo();
-                RoconInteractions roconInteractions = new RoconInteractions(Constants.ANDROID_PLATFORM_INFO.getUri());
+                masterInfo = new MasterInfo();
+                roconInteractions = new RoconInteractions(Constants.ANDROID_PLATFORM_INFO.getUri());
+
+                String masterInfoNodeName = "master_info_node" + UUID.randomUUID().toString().replace("-", "_");
+                String roconInteractionsNodeName = "rocon_interactions_node" + UUID.randomUUID().toString().replace("-", "_");
+
+                Log.i("Remocon", "masterInfoNodeName: " + masterInfoNodeName);
+                Log.i("Remocon", "roconInteractionsNodeName: " + roconInteractionsNodeName);
 
                 nodeMainExecutorService.execute(
                         masterInfo,
-                        nodeConfiguration.setNodeName("master_info_node")
+                        nodeConfiguration.setNodeName(masterInfoNodeName)
                 );
                 masterInfo.waitForResponse(); // MasterInfoExc. on timeout, listener or ros runtime errors
                 Log.i("Remocon", "master info found");
+
                 nodeMainExecutorService.execute(
                         roconInteractions,
-                        nodeConfiguration.setNodeName("rocon_interactions_node")
+                        nodeConfiguration.setNodeName(roconInteractionsNodeName)
                 );
                 roconInteractions.waitForResponse(); // InteractionsExc. on timeout, service or ros runtime errors
                 Log.i("Remocon", "rocon interactions found");
 
                 // configure concert description
+
+
                 Date timeLastSeen = new Date();
                 RoconDescription description = new RoconDescription(
                         masterId,
@@ -184,6 +197,7 @@ public void run() {
                         roconInteractions.getNamespace(),
                         timeLastSeen);
 
+                Log.i("Remocon", "finish creation RoconDescription");
                 description.setConnectionStatus(RoconDescription.OK);
                 description.setUserRoles(roconInteractions.getRoles());
                 foundConcertCallback.receive(description);
@@ -207,6 +221,15 @@ public void run() {
             } catch (Throwable e) {
                 Log.w("Remocon", "exception while creating node in concert checker for URI " + concertUri, e);
                 failureCallback.handleFailure("unknown exception in the rocon checker [" + e.toString() + "]");
+            }finally {
+                if (nodeMainExecutorService != null){
+                    if (masterInfo != null){
+                        nodeMainExecutorService.shutdownNodeMain(masterInfo);
+                    }
+                    if (roconInteractions != null){
+                        nodeMainExecutorService.shutdownNodeMain(roconInteractions);
+                    }
+                }
             }
         }
     }

common_tools/src/main/java/com/github/rosjava/android_remocons/common_tools/rocon/AppLauncher.java

@@ -252,7 +252,7 @@ static private Result launchAndroidAppWithAppId(final Activity parent, final Roc
                 }
             }
         }
-        {
+        else{
             result = Result.NOT_INSTALLED;
         }
         return result;

common_tools/src/main/java/com/github/rosjava/android_remocons/common_tools/rocon/InteractionsManager.java

@@ -160,7 +160,20 @@ public void getAppsForRole(final MasterId masterId, final String role) {
             new AsyncTask<Void, Void, Void>() {
                 @Override
                 protected Void doInBackground(Void... params) {
-                    getAppsForRole();
+                    try {
+                        getAppsForRole();
+                    } catch (ServiceNotFoundException e) {
+                        e.printStackTrace();
+                        try {
+                            throw new ServiceNotFoundException(e);
+                        } catch (ServiceNotFoundException e1) {
+                            e1.printStackTrace();
+                        }
+                    } catch (RosRuntimeException e){
+                        e.printStackTrace();
+                        throw new RosRuntimeException(e);
+
+                    }
                     return null;
                 }
             }.execute();  // TODO: can we use this to incorporate a timeout to service calls?
@@ -223,7 +236,7 @@ protected Void doInBackground(Void... params) {
         }
     }
 
-    private void getAppsForRole() {
+    private void getAppsForRole() throws ServiceNotFoundException, RosRuntimeException {
         // call get_roles_and_apps concert service
         ServiceClient<GetInteractionsRequest, GetInteractionsResponse> srvClient;
         String serviceName = this.interactionsNamespace + "/get_interactions";
@@ -233,7 +246,10 @@ private void getAppsForRole() {
             srvClient = connectedNode.newServiceClient(serviceName, GetInteractions._TYPE);
         } catch (ServiceNotFoundException e) {
             Log.i("InteractionsMng", "List interactions service not found [" + serviceName + "]");
-            throw new RosRuntimeException(e); // TODO we should recover from this calling onFailure on listener
+            throw new ServiceNotFoundException(e); // TODO we should recover from this calling onFailure on listener
+        } catch(RosRuntimeException e){
+            Log.i("InteractionsMng", "Getting interactions service is failure [" + serviceName + "]");
+            throw new RosRuntimeException(e);
         }
         final GetInteractionsRequest request = srvClient.newMessage();
 
@@ -363,7 +379,13 @@ public void onStart(final ConnectedNode connectedNode) {
                 requestAppUse();
                 break;
             case GET_INTERACTIONS_FOR_ROLE:
-                getAppsForRole();
+                try {
+                    getAppsForRole();
+                } catch (ServiceNotFoundException e) {
+                    e.printStackTrace();
+                } catch(RosRuntimeException e){
+                    e.printStackTrace();
+                }
                 break;
             case GET_INTERACTION_INFO:
                 getAppInfo();

rocon_remocon/build.gradle

@@ -48,8 +48,8 @@ android {
   defaultConfig {
     minSdkVersion 15
     targetSdkVersion 15
-    versionCode 6
-    versionName "1.2.2"
+    versionCode 7
+    versionName "1.2.3"
   }
   productFlavors {
     indigo {