Tightened up message reception fault handling, decreased incoming cir…

…cular queue size. Cleaned up ChannelHandlerContext docs.

src/main/java/org/ros/concurrent/CircularBlockingDeque.java

@@ -183,6 +183,8 @@ public T peekLast() {
   public boolean isEmpty() {
     return length == 0;
   }
+
+  public int length() { return length; }
 
   /**
    * Returns an iterator over the queue.

src/main/java/org/ros/internal/node/topic/DefaultSubscriber.java

@@ -2,9 +2,9 @@
 
 import org.apache.commons.logging.Log;
 import org.apache.commons.logging.LogFactory;
+
 import org.ros.concurrent.ListenerGroup;
 import org.ros.concurrent.SignalRunnable;
-import org.ros.exception.RosRuntimeException;
 import org.ros.internal.node.server.NodeIdentifier;
 import org.ros.internal.transport.ProtocolNames;
 import org.ros.internal.transport.queue.IncomingMessageQueue;
@@ -128,12 +128,7 @@ public void addPublisher(PublisherIdentifier publisherIdentifier, InetSocketAddr
       if (knownPublishers.contains(publisherIdentifier)) {
         return;
       }
-      try {
-		tcpClientManager.connect(toString(), address);
-      } catch (IOException e) {
-    	log.error("Failure attempting to add publisher "+toString()+" "+address);
-		throw new RosRuntimeException(e);
-      }
+	  tcpClientManager.connect(toString(), address);
       // TODO(damonkohler): knownPublishers is duplicate information that is
       // already available to the TopicParticipantManager.
       knownPublishers.add(publisherIdentifier);

src/main/java/org/ros/internal/transport/ChannelHandlerContext.java

@@ -9,13 +9,18 @@
 
 import java.util.Set;
 import java.util.concurrent.Executor;
-import java.util.concurrent.Future;
 
 import org.ros.internal.transport.tcp.ChannelGroup;
 
+/**
+ * This is the ChannelHandlerContext that links the underlying TCP Socket 'channel' to the {@link ChannelPipeline} and the {@link ChannelGroup}
+ * and provides access to the {@link Executor} to spin up event dispatcher.
+ * @author jg (C) NeoCoreTechs 2017
+ *
+ */
 public interface ChannelHandlerContext {
-	  /**
-     * Return the {@link Channel} which is bound to the {@link ChannelHandlerContext}.
+	 /**
+     * Return the {@link Socket} which is bound to the {@link ChannelHandlerContext}.
      */
     Socket channel();
 
@@ -33,99 +38,59 @@ public interface ChannelHandlerContext {
     String name();
 
     /**
-     * Request to bind to the given {@link SocketAddress} and notify the {@link Future} once the operation
-     * completes, either because the operation was successful or because of an error.
+     * Request to bind to the given {@link SocketAddress} 
      * <p>
-     * This will result in having the
-     * {@link ChannelOutboundHandler#bind(ChannelHandlerContext, SocketAddress, CompletionHandler)} method
-     * called of the next {@link ChannelHandler} contained in the  {@link ChannelPipeline} of the
-     * {@link Channel}.
+     * This will result in having the socket bound to the local address.
      */
     void bind(SocketAddress localAddress) throws IOException;
 
     /**
-     * Request to connect to the given {@link SocketAddress} and notify the {@link ChannelFuture} once the operation
-     * completes, either because the operation was successful or because of an error.
-     * <p>
-     * If the connection fails because of a connection timeout, the {@link ChannelFuture} will get failed with
-     * a {@link ConnectTimeoutException}. If it fails because of connection refused a {@link ConnectException}
-     * will be used.
+     * Request to connect to the given {@link SocketAddress}.
      * <p>
-     * This will result in having the
-     * {@link ChannelOutboundHandler#connect(ChannelHandlerContext, SocketAddress, SocketAddress, CompletionHandler)}
-     * method called of the next {@link ChannelHandler} contained in the  {@link ChannelPipeline} of the
-     * {@link Channel}.
+     * If the connection fails because of a connection timeout, the exception will be thrown
+     * This will result in having the socket connected and the input and output streams initialized.
      * @throws IOException 
      */
     void connect(SocketAddress remoteAddress) throws IOException;
 
     /**
-     * Request to connect to the given {@link SocketAddress} while bind to the localAddress and notify the
-     * {@link Future} once the operation completes, either because the operation was successful or because of
-     * an error.
-     * <p>
-     * This will result in having the
-     * {@link ChannelHandler#connect(ChannelHandlerContext, SocketAddress, SocketAddress, CompletionHandler)}
-     * method called of the next {@link ChannelOutboundHandler} contained in the  {@link ChannelPipeline} of the
-     * {@link Channel}.
+     * Request to connect to the given remote {@link SocketAddress} while bind to the localAddress.
+     * This will result in having the socket bound and streams ready.
      * @throws IOException 
      */
     void connect(SocketAddress remoteAddress, SocketAddress localAddress) throws IOException;
 
-
-
     /**
-     * Request to disconnect from the remote peer and notify the {@link Future} once the operation completes,
-     * either because the operation was successful or because of an error.
-     * <p>
-     * This will result in having the
-     * {@link ChannelHandler#disconnect(ChannelHandlerContext, CompletionHandler)}
-     * method called of the next {@link ChannelHandler} contained in the  {@link ChannelPipeline} of the
-     * {@link Channel}.
+     * Request to disconnect from the remote peer.
+     * This will result in having the Socket closed.
      * @throws IOException 
      */
     void disconnect() throws IOException;
 
     /**
-     * Request to close the {@link Channel} and notify the {@link Future} once the operation completes,
-     * either because the operation was successful or because of
-     * an error.
-     *
+     * Request to close the {@link Channel}.
      * After it is closed it is not possible to reuse it again.
-     * <p>
-     * This will result in having the
-     * {@link ChannelHandler#close(ChannelHandlerContext, CompletionHandler)}
-     * method called of the next {@link ChannelHandler} contained in the  {@link ChannelPipeline} of the
-     * {@link Channel}.
+     * This will result in having the {@link Socket} closed.
      * @throws IOException 
      */
     void close() throws IOException;
 
-
     /**
-     * Request to Read data from the {@link Channel} into the first inbound buffer, triggers an
-     * {@link ChannelHandler#channelRead(ChannelHandlerContext, Object)} event if data was
-     * read, and triggers a
-     * {@link ChannelHandler#channelReadComplete(ChannelHandlerContext) channelReadComplete} event so the
-     * handler can decide to continue reading.  If there's a pending read operation already, this method does nothing.
-     * <p>
-     * This will result in having the
-     * {@link ChannelHandler#read(ChannelHandlerContext)}
-     * method called of the next {@link ChannelHandler} contained in the  {@link ChannelPipeline} of the
-     * {@link Channel}.
-     * @throws IOException 
+     * Request to Read data from the {@link InputStream} into the first inbound buffer.
+     * It is up to the client, i.e. {@link AsynchTCPWorker}, to trigger a read event if data was
+     * read, and it does this through the pipeline {@link ChannelPipeline#fireChannelRead(Object)} and 
+     * triggers an event through the pipeline via the {@link ChannelPipeline#fireChannelReadComplete()}
+     * if successful.  If there's a pending read operation already, this method does nothing.
+     * @throws IOException Generates {@link ChannelPipeline#fireExceptionCaught(Throwable)}
      */
 	Object read() throws IOException;
 
     /**
      * Request to write a message via this {@link ChannelHandlerContext} through the {@link ChannelPipeline}.
-     * This method will not request to actual flush, so be sure to call {@link #flush()}
-     * once you want to request to flush all pending data to the actual transport.
      * @throws IOException 
      */
     void write(Object msg) throws IOException;
 
-
     /**
      * Return the assigned {@link ChannelPipeline}
      */
@@ -164,10 +129,20 @@ public interface ChannelHandlerContext {
      */
     Set<String> getMessageTypes();
 
+    /**
+     * Write with the named {@link CompletionHandler}
+     * @param msg
+     * @param handler
+     */
 	void write(Object msg, CompletionHandler<Integer, Void> handler);
 
+	  /**
+     * Request to Read data from the {@link InputStream} into the first inbound buffer.
+     * <p>
+     * This will result in having the Socket read and {@link CompletionHandler#completed(Object, Object)}
+     * On IOException {@link CompletionHandler#failed(Throwable, Object)}
+     */
 	Object read(CompletionHandler<Integer, Void> handler);
 
 
-
 }

src/main/java/org/ros/internal/transport/ChannelHandlerContextImpl.java

@@ -39,8 +39,9 @@ public class ChannelHandlerContextImpl implements ChannelHandlerContext {
 	boolean ready = false;
 	Object mutex = new Object();
 	Set<String> outboundMessageTypes;
-
-
+	InputStream is = null;
+	OutputStream os = null;
+
 	public ChannelHandlerContextImpl(/*Asynchronous*/ChannelGroup channelGroup2, /*Asynchronous*/Socket channel2, Executor exc) {
 		channelGroup = channelGroup2;
 		channel = channel2;
@@ -73,6 +74,9 @@ public String name() {
 	@Override
 	public void connect(SocketAddress remoteAddress) throws IOException {
 		channel.connect(remoteAddress);
+		is = channel.getInputStream();
+		os = channel.getOutputStream();
+
 	}
 
 	@Override
@@ -95,7 +99,6 @@ public void close() throws IOException {
 
 	@Override
 	public Object read() throws IOException {
-		InputStream is = channel.getInputStream();
 		ObjectInputStream ois = new ObjectInputStream(is);
 		try {
 			return ois.readObject();
@@ -106,7 +109,6 @@ public Object read() throws IOException {
 
 	@Override
 	public void write(Object msg) throws IOException {
-		OutputStream os = channel.getOutputStream();
 		ObjectOutputStream oos = new ObjectOutputStream(os);
 		oos.writeObject(msg);
 		oos.flush();

src/main/java/org/ros/internal/transport/queue/IncomingMessageQueue.java

@@ -10,6 +10,7 @@
 /**
  * Created in default subscriber to handle the incoming messages.
  * Creates a MessageReceiver and a MessageDispatcher.
+ * The MessageDispatcher is spun up by the ExecutorService.
  * @author jg
  */
 public class IncomingMessageQueue<T> {
@@ -18,17 +19,17 @@ public class IncomingMessageQueue<T> {
    * The maximum number of incoming messages that will be queued.
    * <p>
    * This limit applies to dispatching {@link LazyMessage}s as they arrive over
-   * the network. It is independent of {@link MessageDispatcher} queue
-   * capacities specified by
+   * the network. It is independent of {@link MessageDispatcher} queue capacities specified by
    * {@link IncomingMessageQueue#addListener(MessageListener, int)} which are
    * consumed by user provided {@link MessageListener}s.
+   * @author Groff (C) NeoCoreTechs 2017
    */
-  private static final int DEQUE_CAPACITY = 8192;
+  private static final int DEQUE_CAPACITY = 256;
 
   private final MessageReceiver<T> messageReceiver;
   private final MessageDispatcher<T> messageDispatcher;
 
-  public IncomingMessageQueue( ExecutorService executorService) {
+  public IncomingMessageQueue(ExecutorService executorService) {
     CircularBlockingDeque<T> lazyMessages =
         new CircularBlockingDeque<T>(DEQUE_CAPACITY);
     messageReceiver = new MessageReceiver<T>(lazyMessages);

src/main/java/org/ros/internal/transport/queue/MessageDispatcher.java

@@ -12,10 +12,11 @@
 import java.util.concurrent.ExecutorService;
 
 /**
- * @author jg
- * 
- * @param <T>
- *          the message type
+ * The IncomingMessageQueue creates this and spins it up via the ExecutorService.
+ * It shares the CircularBlockingDeque with the MessageReceiver.
+ * It services the MessageListeners with received messages from the queue.
+ * @param <T> the message type
+ * @author jg (C) NeoCoreTechs 2017
  */
 public class MessageDispatcher<T> extends CancellableLoop {
 
@@ -34,8 +35,7 @@ public class MessageDispatcher<T> extends CancellableLoop {
   private boolean latchMode;
   private T latchedMessage;
 
-  public MessageDispatcher(CircularBlockingDeque<T> lazyMessages,
-      ExecutorService executorService) {
+  public MessageDispatcher(CircularBlockingDeque<T> lazyMessages, ExecutorService executorService) {
     this.lazyMessages = lazyMessages;
     messageListeners = new ListenerGroup<MessageListener<T>>(executorService);
     mutex = new Object();
@@ -55,8 +55,7 @@ public void addListener(MessageListener<T> messageListener, int limit) {
       log.info("Adding listener.");
     }
     synchronized (mutex) {
-      EventDispatcher<MessageListener<T>> eventDispatcher =
-          messageListeners.add(messageListener, limit);
+      EventDispatcher<MessageListener<T>> eventDispatcher = messageListeners.add(messageListener, limit);
       if (latchMode && latchedMessage != null) {
         eventDispatcher.signal(newSignalRunnable(latchedMessage));
       }
@@ -67,8 +66,7 @@ public void addListener(MessageListener<T> messageListener, int limit) {
    * Returns a newly allocated {@link SignalRunnable} for the specified
    * {@link LazyMessage}.
    * 
-   * @param lazyMessage
-   *          the {@link LazyMessage} to signal {@link MessageListener}s with
+   * @param lazyMessage the {@link LazyMessage} to signal {@link MessageListener}s with
    * @return the newly allocated {@link SignalRunnable}
    */
   private SignalRunnable<MessageListener<T>> newSignalRunnable(final T lazyMessage) {
@@ -81,9 +79,7 @@ public void run(MessageListener<T> messageListener) {
   }
 
   /**
-   * @param enabled
-   *          {@code true} if latch mode should be enabled, {@code false}
-   *          otherwise
+   * @param enabled {@code true} if latch mode should be enabled, {@code false} otherwise
    */
   public void setLatchMode(boolean enabled) {
     latchMode = enabled;