From e53cda3fa52e2e62290bff7c9789ec75f8b93156 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Wojciech=20M=C5=82ynarczyk?=
 <wojciech.mlynarczyk+github@gmail.com>
Date: Mon, 11 Feb 2019 13:03:23 +0100
Subject: [PATCH] rosnode kill support (shut down the node)

---
 .../java/org/ros/internal/node/DefaultNode.java  |  2 +-
 .../ros/internal/node/server/SlaveServer.java    | 16 +++++++++++++++-
 .../node/MasterSlaveIntegrationTest.java         |  2 +-
 3 files changed, 17 insertions(+), 3 deletions(-)

diff --git a/rosjava/src/main/java/org/ros/internal/node/DefaultNode.java b/rosjava/src/main/java/org/ros/internal/node/DefaultNode.java
index 9f1a1bdc1..ceab569b2 100644
--- a/rosjava/src/main/java/org/ros/internal/node/DefaultNode.java
+++ b/rosjava/src/main/java/org/ros/internal/node/DefaultNode.java
@@ -146,7 +146,7 @@ public DefaultNode(NodeConfiguration nodeConfiguration, Collection<NodeListener>
             nodeConfiguration.getTcpRosAdvertiseAddress(),
             nodeConfiguration.getXmlRpcBindAddress(),
             nodeConfiguration.getXmlRpcAdvertiseAddress(), masterClient, topicParticipantManager,
-            serviceManager, parameterManager, scheduledExecutorService);
+            serviceManager, parameterManager, scheduledExecutorService, this);
     slaveServer.start();
 
     NodeIdentifier nodeIdentifier = slaveServer.toNodeIdentifier();
diff --git a/rosjava/src/main/java/org/ros/internal/node/server/SlaveServer.java b/rosjava/src/main/java/org/ros/internal/node/server/SlaveServer.java
index 34034e15c..83bd579bd 100644
--- a/rosjava/src/main/java/org/ros/internal/node/server/SlaveServer.java
+++ b/rosjava/src/main/java/org/ros/internal/node/server/SlaveServer.java
@@ -20,6 +20,7 @@
 
 import org.ros.address.AdvertiseAddress;
 import org.ros.address.BindAddress;
+import org.ros.internal.node.DefaultNode;
 import org.ros.internal.node.client.MasterClient;
 import org.ros.internal.node.parameter.ParameterManager;
 import org.ros.internal.node.service.ServiceManager;
@@ -52,12 +53,15 @@ public class SlaveServer extends XmlRpcServer {
   private final TopicParticipantManager topicParticipantManager;
   private final ParameterManager parameterManager;
   private final TcpRosServer tcpRosServer;
+  private final DefaultNode defaultNode;
+  private boolean shutdownStarted;
 
   public SlaveServer(GraphName nodeName, BindAddress tcpRosBindAddress,
       AdvertiseAddress tcpRosAdvertiseAddress, BindAddress xmlRpcBindAddress,
       AdvertiseAddress xmlRpcAdvertiseAddress, MasterClient master,
       TopicParticipantManager topicParticipantManager, ServiceManager serviceManager,
-      ParameterManager parameterManager, ScheduledExecutorService executorService) {
+      ParameterManager parameterManager, ScheduledExecutorService executorService,
+      DefaultNode defaultNode) {
     super(xmlRpcBindAddress, xmlRpcAdvertiseAddress);
     this.nodeName = nodeName;
     this.masterClient = master;
@@ -66,6 +70,7 @@ public SlaveServer(GraphName nodeName, BindAddress tcpRosBindAddress,
     this.tcpRosServer =
         new TcpRosServer(tcpRosBindAddress, tcpRosAdvertiseAddress, topicParticipantManager,
             serviceManager, executorService);
+    this.defaultNode = defaultNode;
   }
 
   public AdvertiseAddress getTcpRosAdvertiseAddress() {
@@ -81,13 +86,22 @@ public void start() {
     super.start(org.ros.internal.node.xmlrpc.SlaveXmlRpcEndpointImpl.class,
         new SlaveXmlRpcEndpointImpl(this));
     tcpRosServer.start();
+    shutdownStarted = false;
   }
 
   // TODO(damonkohler): This should also shut down the Node.
   @Override
   public void shutdown() {
+    // prevent recursive call of this method
+    if (shutdownStarted) {
+      return;
+    }
+    shutdownStarted = true;
     super.shutdown();
     tcpRosServer.shutdown();
+    if (defaultNode != null) {
+      defaultNode.shutdown();
+    }
   }
 
   public List<Object> getBusStats(String callerId) {
diff --git a/rosjava/src/test/java/org/ros/internal/node/MasterSlaveIntegrationTest.java b/rosjava/src/test/java/org/ros/internal/node/MasterSlaveIntegrationTest.java
index 895f33355..cdf6085bb 100644
--- a/rosjava/src/test/java/org/ros/internal/node/MasterSlaveIntegrationTest.java
+++ b/rosjava/src/test/java/org/ros/internal/node/MasterSlaveIntegrationTest.java
@@ -62,7 +62,7 @@ public void setUp() {
         new SlaveServer(GraphName.of("/foo"), BindAddress.newPrivate(),
             AdvertiseAddress.newPrivate(), BindAddress.newPrivate(), AdvertiseAddress.newPrivate(),
             masterClient, topicParticipantManager, serviceManager, parameterManager,
-            executorService);
+            executorService, null);
     slaveServer.start();
     slaveClient = new SlaveClient(GraphName.of("/bar"), slaveServer.getUri());
   }