dispose correctly of the plugin channels

mavlink · Sep 13, 2019 · 0803505 · 0803505
1 parent ea81bde
commit 0803505
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Showing 4 changed files with 93 additions and 62 deletions.
diff --git a/examples/android-client/app/src/main/java/io/mavsdk/androidclient/MapsActivity.java b/examples/android-client/app/src/main/java/io/mavsdk/androidclient/MapsActivity.java
@@ -109,7 +109,7 @@ public void onPause() {
       disposable.dispose();
     }
 
-    // TODO: 4/10/19 close these channels properly
+    drone.dispose();
     drone = null;
   }
 
@@ -196,7 +196,7 @@ private void updateVehiclePosition(@Nullable LatLng newLatLng) {
    *
    * @param latLngs current mission waypoints
    */
-  private void updateMarkers(@Nullable List<LatLng> latLngs) {
+  private void updateMarkers(@NonNull List<LatLng> latLngs) {
     if (circleManager != null) {
       circleManager.delete(waypoints);
       waypoints.clear();

diff --git a/sdk/mavsdk/src/main/java/io/mavsdk/System.java b/sdk/mavsdk/src/main/java/io/mavsdk/System.java
@@ -12,71 +12,97 @@
 import io.mavsdk.telemetry.Telemetry;
 
 public class System {
-    private Action action;
-    private Calibration calibration;
-    private Camera camera;
-    private Core core;
-    private Gimbal gimbal;
-    private Info info;
-    private Mission mission;
-    private Offboard offboard;
-    private Param param;
-    private Telemetry telemetry;
+  private Action action;
+  private Calibration calibration;
+  private Camera camera;
+  private Core core;
+  private Gimbal gimbal;
+  private Info info;
+  private Mission mission;
+  private Offboard offboard;
+  private Param param;
+  private Telemetry telemetry;
 
-    public System() {
-        this("localhost", 50051);
-    }
+  /**
+   * Create a System object, initializing the plugins and connecting them to mavsdk_server.
+   *
+   * This defaults to a mavsdk_server running on localhost:50051.
+   */
+  public System() {
+    this("localhost", 50051);
+  }
 
-    public System(String host, int port) {
-        this.action = new Action(host, port);
-        this.calibration = new Calibration(host, port);
-        this.camera = new Camera(host, port);
-        this.core = new Core(host, port);
-        this.gimbal = new Gimbal(host, port);
-        this.info = new Info(host, port);
-        this.mission = new Mission(host, port);
-        this.offboard = new Offboard(host, port);
-        this.param = new Param(host, port);
-        this.telemetry = new Telemetry(host, port);
-    }
+  /**
+   * Create a System object, initializing the plugins and connecting them to mavsdk_server.
+   * @param host the address of mavsdk_server
+   * @param port the port of mavsdk_server
+   */
+  public System(String host, int port) {
+    this.action = new Action(host, port);
+    this.calibration = new Calibration(host, port);
+    this.camera = new Camera(host, port);
+    this.core = new Core(host, port);
+    this.gimbal = new Gimbal(host, port);
+    this.info = new Info(host, port);
+    this.mission = new Mission(host, port);
+    this.offboard = new Offboard(host, port);
+    this.param = new Param(host, port);
+    this.telemetry = new Telemetry(host, port);
+  }
 
-    public Action getAction() {
-        return action;
-    }
+  public Action getAction() {
+    return action;
+  }
 
-    public Calibration getCalibration() {
-        return calibration;
-    }
+  public Calibration getCalibration() {
+    return calibration;
+  }
 
-    public Camera getCamera() {
-        return camera;
-    }
+  public Camera getCamera() {
+    return camera;
+  }
 
-    public Core getCore() {
-        return core;
-    }
+  public Core getCore() {
+    return core;
+  }
 
-    public Gimbal getGimbal() {
-        return gimbal;
-    }
+  public Gimbal getGimbal() {
+    return gimbal;
+  }
 
-    public Info getInfo() {
-        return info;
-    }
+  public Info getInfo() {
+    return info;
+  }
 
-    public Mission getMission() {
-        return mission;
-    }
+  public Mission getMission() {
+    return mission;
+  }
 
-    public Offboard getOffboard() {
-        return offboard;
-    }
+  public Offboard getOffboard() {
+    return offboard;
+  }
 
-    public Param getParam() {
-        return param;
-    }
+  public Param getParam() {
+    return param;
+  }
 
-    public Telemetry getTelemetry() {
-        return telemetry;
-    }
-}
+  public Telemetry getTelemetry() {
+    return telemetry;
+  }
+
+  /**
+   * Dispose of all the plugins.
+   */
+  public void dispose() {
+    this.action.dispose();
+    this.calibration.dispose();
+    this.camera.dispose();
+    this.core.dispose();
+    this.gimbal.dispose();
+    this.info.dispose();
+    this.mission.dispose();
+    this.offboard.dispose();
+    this.param.dispose();
+    this.telemetry.dispose();
+  }
+}
diff --git a/sdk/mavsdk/src/test/java/io/mavsdk/MavsdkTest.java b/sdk/mavsdk/src/test/java/io/mavsdk/MavsdkTest.java
@@ -9,9 +9,9 @@ public class MavsdkTest {
   public void testStream() throws InterruptedException {
     System system = new System();
     system.getTelemetry().getPosition()
-             .doOnNext(next -> java.lang.System.out.println(next))
-             .test()
-             .await(5, TimeUnit.SECONDS);
+          .doOnNext(next -> java.lang.System.out.println(next))
+          .test()
+          .await(5, TimeUnit.SECONDS);
   }
 
   @Test
@@ -28,6 +28,7 @@ public void testCall() throws InterruptedException {
   @Test
   public void testRequest() throws InterruptedException {
     System system = new System();
-    system.getAction().getTakeoffAltitude().doOnSuccess(result -> java.lang.System.out.println(result)).test().await();
+    system.getAction().getTakeoffAltitude()
+          .doOnSuccess(result -> java.lang.System.out.println(result)).test().await();
   }
 }
diff --git a/sdk/templates/file.j2 b/sdk/templates/file.j2
@@ -44,6 +44,10 @@ public class {{ plugin_name.upper_camel_case }} {
     scheduler = Schedulers.trampoline();
   }
 
+  public void dispose() {
+    this.channel.shutdown();
+  }
+
   {% if has_result %}
   public class {{ plugin_name.upper_camel_case }}Exception extends Exception {
     private {{ plugin_name.upper_camel_case }}Result.Result code;