Enhance message system with StaticType

src/main/java/org/myrobotlab/codec/CodecUtils.java

@@ -38,6 +38,7 @@
 import org.myrobotlab.framework.MethodCache;
 import org.myrobotlab.framework.Platform;
 import org.myrobotlab.framework.StaticType;
+import org.myrobotlab.framework.interfaces.ServiceInterface;
 import org.myrobotlab.logging.Level;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
@@ -488,7 +489,6 @@ public static String getFullName(String name) {
     if (name == null) {
       return null;
     }
-
     if (getId(name) == null) {
       return name + '@' + Platform.getLocalInstance().getId();
     } else {
@@ -499,7 +499,7 @@ public static String getFullName(String name) {
   /**
    * Checks whether two service names are equal by first normalizing each. If a
    * name does not have a runtime ID, it is assumed to be a local service.
-   * 
+   *
    * @param name1
    *          The first service name
    * @param name2
@@ -510,6 +510,7 @@ public static boolean checkServiceNameEquality(String name1, String name2) {
     return Objects.equals(getFullName(name1), getFullName(name2));
   }
 
+
   /**
    * Converts a topic method name to the name of the method that is used for
    * callbacks. Usually this involves prepending the string "on", removing any
@@ -674,6 +675,14 @@ static public String getServiceType(String inType) {
     // falls back to virt class field
     boolean useVirtClassField = clazz == null;
     if (!useVirtClassField) {
+      // For blocking send return type checking
+      ServiceInterface si = Runtime.getService(serviceName);
+      String blockingKey = String.format("%s.%s", msg.getFullName(), msg.getMethod());
+      if (si != null && Message.MSG_TYPE_RETURN.equals(msg.msgType) && si.getInbox().blockingList.containsKey(blockingKey)) {
+        msg.data[0] = fromJson((String) msg.data[0], si.getInbox().blockingList.get(blockingKey).second);
+        msg.encoding = null;
+        return msg;
+      }
       try {
         Object[] params = MethodCache.getInstance().getDecodedJsonParameters(clazz, msg.method, msg.data);
         if (params == null)

src/main/java/org/myrobotlab/framework/Inbox.java

@@ -30,9 +30,11 @@
 import java.util.HashMap;
 import java.util.LinkedList;
 import java.util.List;
+import java.util.Map;
 
 import org.myrobotlab.framework.interfaces.MessageListener;
 import org.myrobotlab.logging.LoggerFactory;
+import org.myrobotlab.utils.ObjectTypePair;
 import org.slf4j.Logger;
 
 public class Inbox implements Serializable {
@@ -50,9 +52,16 @@ public class Inbox implements Serializable {
   // value
 
   // support remote blocking... in-process blocking uses invoke
-  public HashMap<String, Object[]> blockingList = new HashMap<>();
+  /**
+   * Maps blocking keys ("fullName.method") to an
+   * ObjectTypePair that is used to store the return
+   * type and return value. DO NOT SET THE VALUE
+   * TO A NEW OBJECT, we are synchronizing on the values,
+   * doing so will result in the threads never waking up.
+   */
+  public Map<String, ObjectTypePair<?>> blockingList = new HashMap<>();
 
-  List<MessageListener> listeners = new ArrayList<MessageListener>();
+  List<MessageListener> listeners = new ArrayList<>();
 
   public Inbox() {
     this("Inbox");
@@ -62,6 +71,7 @@ public Inbox(String name) {
     this.name = name;
   }
 
+  @SuppressWarnings("unchecked")
   public void add(Message msg) {
     /**
      * <pre>
@@ -74,16 +84,17 @@ public void add(Message msg) {
      */
 
     // --- sendBlocking support begin --------------------
-    // TODO - possible safety check msg.status == Message.RETURN
-    // &&
     String blockingKey = String.format("%s.%s", msg.getFullName(), msg.getMethod());
     if (blockingList.containsKey(blockingKey)) {
-      Object[] returnContainer = blockingList.get(blockingKey);
+      // Generates an unchecked warning because of generic invariance, but we don't care
+      ObjectTypePair<Object> returnContainer = (ObjectTypePair<Object>) blockingList.get(blockingKey);
       if (msg.data == null) {
-        returnContainer[0] = null;
+        returnContainer.first = null;
       } else {
         // transferring data
-        returnContainer[0] = msg.data[0];
+        // Would not be able to do this if returnContainer had wildcard generic type,
+        // which is why it's Object
+        returnContainer.first = msg.data[0];
       }
 
       synchronized (returnContainer) {

src/main/java/org/myrobotlab/framework/Message.java

@@ -47,6 +47,23 @@ public class Message implements Serializable {
 
   private static final long serialVersionUID = 1L;
 
+  /**
+   * A message has this type if it is sent with the expectation that a return
+   * message will be received. Services should always respond
+   * with a return message after invoking the blocking message.
+   *
+   * @see #MSG_TYPE_RETURN
+   */
+  public static final String MSG_TYPE_BLOCKING = "BLOCKING";
+
+  /**
+   * A message has this type when it contains a single data
+   * element meant to represent a service method return value.
+   * The type of the return value is not explicitly carried with the message,
+   * since it can cross language boundaries.
+   */
+  public static final String MSG_TYPE_RETURN = "RETURN";
+
   // FIXME msgId should be a String encoded value of src and an atomic increment
   // ROS comes with a seq Id, a timestamp, and a frame Id
   /**
@@ -74,8 +91,7 @@ public class Message implements Serializable {
    * history of the message, its routing stops and Services it passed through.
    * This is important to prevent endless looping of messages. Turns out
    * ArrayList is quicker than HashSet on small sets
-   * http://www.javacodegeeks.com
-   * /2010/08/java-best-practices-vector-arraylist.html
+   * <a href="http://www.javacodegeeks.com/2010/08/java-best-practices-vector-arraylist.html">Java Best Practices</a>
    */
   protected List<String> historyList;
 
@@ -88,11 +104,12 @@ public class Message implements Serializable {
 
   /**
    * status is currently used for BLOCKING message calls the current valid state
-   * it can be in is null | BLOCKING | RETURN FIXME - this should be msgType not
-   * status
+   * it can be in is null | BLOCKING | RETURN
+   *
+   * @see #MSG_TYPE_BLOCKING
+   * @see #MSG_TYPE_RETURN
    */
-
-  public String status;
+  public String msgType;
 
   public String encoding; // null == none |json|cli|xml|stream ...
 
@@ -151,7 +168,7 @@ final public void set(final Message other) {
     historyList = new ArrayList<String>();
     historyList.addAll(other.historyList);
 
-    status = other.status;
+    msgType = other.msgType;
     encoding = other.encoding;
     method = other.method;
     // you know the dangers of reference copy
@@ -299,7 +316,7 @@ public boolean equals(Object o) {
             && Objects.equals(sendingMethod, message.sendingMethod)
             && Objects.equals(historyList, message.historyList)
             && Objects.equals(properties, message.properties)
-            && Objects.equals(status, message.status)
+            && Objects.equals(msgType, message.msgType)
             && Objects.equals(encoding, message.encoding)
             && Objects.equals(method, message.method)
             && Arrays.deepEquals(data, message.data);
@@ -310,7 +327,7 @@ public int hashCode() {
     int result = Objects.hash(
                     msgId, name, sender,
                     sendingMethod, historyList,
-                    properties, status, encoding,
+                    properties, msgType, encoding,
                     method
     );
     result = 31 * result + Arrays.hashCode(data);

src/main/java/org/myrobotlab/framework/Outbox.java

@@ -212,8 +212,7 @@ public void run() {
           continue;
         }
 
-        for (int i = 0; i < subList.size(); ++i) {
-          MRLListener listener = subList.get(i);
+        for (MRLListener listener : subList) {
           msg.setName(listener.callbackName);
           msg.method = listener.callbackMethod;