Re: [Java-player-developers] patch for PlayerClient.close()

[Radu B. R. <ru...@cs...>]

Thanks a lot Kurt, I just applied it to the repository.

Everything looks fine at first glance, but I wonder if closing the 
sockets directly without unsubscribing will cause any nasty effects on 
the Player side for some devices.

Best,
Radu.

Kurt Konolige wrote:
> This function hangs when talking to Stage (haven't tried it with a 
> real robot).  It's waiting for a response to a device close request, 
> which Stage never sends.  Took out the close request, just shut down 
> the I/O, which closes the Stage connection.  Also added setNotThreaded 
> code to wait for thread to exit.
>
> Patch is against the latest SVN.
>
> Cheers --Kurt
> ------------------------------------------------------------------------
>
> Index: PlayerClient.java
> ===================================================================
> --- PlayerClient.java	(revision 67)
> +++ PlayerClient.java	(working copy)
> @@ -97,6 +97,7 @@
>      // Timeout for packets
>  //    private long    timeout = 100;
>      private boolean isThreaded;
> +    private boolean isRunning;
>      
>      // current data mode
>      private int     datamode = PLAYER_DATAMODE_PUSH;
> @@ -109,6 +110,10 @@
>       */
>      public PlayerClient (String serverName, int portNumber) {
>          try {
> +	    // init
> +	    isThreaded = false;
> +	    isRunning = false;
> +
>              // initialize network connection
>              socket = new Socket (serverName, portNumber);
>              // open the proper streams (I/O)
> @@ -167,21 +172,25 @@
>       * with the Player server.
>       */
>      public void close () {
> -        try {
> -        	for (int i = 0; i < deviceList.size (); i++) {
> -        		PlayerDevice pd = (PlayerDevice)deviceList.get (i);
> -        		requestDeviceAccess (pd.getDeviceAddress ().getInterf (), 
> -        	    					 pd.getDeviceAddress ().getIndex (), 
> -        	    					 PLAYER_CLOSE_MODE);
> -        	    readAll ();
> -        	}
> +        try 
> +	  {
> +  /*
> +	    for (int i = 0; i < deviceList.size (); i++) 
> +	      {
> +		PlayerDevice pd = (PlayerDevice)deviceList.get (i);
> +		requestDeviceAccess (pd.getDeviceAddress ().getInterf (), 
> +				     pd.getDeviceAddress ().getIndex (), 
> +				     PLAYER_CLOSE_MODE);
> +		readAll ();
> +	      }
> +  */
>          	
>              // close all sockets
> -        	os.close     ();
> +            this.setNotThreaded ();
> +	    os.close     ();
>              buffer.close ();
>              is.close     ();
>              socket.close ();
> -            this.setNotThreaded ();
>          } catch (IOException e) {
>          	throw new PlayerException 
>          		("[PlayerClient]: Error in PlayerClient stop: " + 
> @@ -191,9 +200,14 @@
>  
>      /**
>       * Change the mode Javaclient runs to non-threaded.
> +     * NOTE: waits for thread to stop
>       */
>      public void setNotThreaded() {
> +	if (!isThreaded)
> +	    return;
>      	isThreaded = false;
> +	while (isRunning == true) // wait to exit run thread
> +	    try { Thread.sleep (10); } catch (Exception e) { }
>      }
>      
>      /**
> @@ -216,6 +230,7 @@
>       * Start the Javaclient thread. Ran automatically from runThreaded ().
>       */
>      public void run () {
> +	isRunning = true;
>          try {
>              while (isThreaded) {
>              	if (this.datamode == PLAYER_DATAMODE_PULL) {
> @@ -236,6 +251,8 @@
>              }
>          } catch (InterruptedException e) { throw new PlayerException (e); }
>  //    	} catch (IOException e) { throw new PlayerException (e); }
> +
> +	isRunning = false;	// sync with setNotThreaded
>      }
>  	 
>      /**
>   

-- 
| Radu Bogdan Rusu | http://rbrusu.com/
| http://www9.cs.tum.edu/people/rusu/
| Intelligent Autonomous Systems
| Technische Universitaet Muenchen