Merge branch 'catkin' into prepare-catkin-merge

Conflicts: UseOROCOS-RTT.cmake
psoetens · Oct 9, 2013 · 7b4bfec · 7b4bfec
2 parents 73cb586 + 7e6c152
commit 7b4bfec
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Showing 21 changed files with 952 additions and 812 deletions.
diff --git a/.travis.yml b/.travis.yml
@@ -0,0 +1,30 @@
+language:
+  - cpp
+  - python
+python:
+  - "2.7"
+compiler:
+  - gcc
+before_install:
+  # Define some config vars
+  - export ROS_DISTRO=hydro
+  - export CI_SOURCE_PATH=$(pwd)
+  # Bootstrap a minimal ROS installation
+  - git clone https://raw.github.com/jhu-lcsr/ros_ci_tools /tmp/ros_ci_tools && export PATH=/tmp/ros_ci_tools:$PATH
+  - ros_ci_bootstrap
+  # Create isolated workspace based on the ros distro
+  - source /opt/ros/$ROS_DISTRO/setup.bash
+  - mkdir -p ~/ws_isolated/src
+  - cd ~/ws_isolated
+  - ln -s $CI_SOURCE_PATH src/
+  # Install dependencies for source repos
+  - rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y > /dev/null
+
+install:
+  # Build in an isolated catkin workspace
+  - export EXTRA_CMAKE_ARGS="-DENABLE_TESTS=ON -DENABLE_CORBA=ON -DCORBA_IMPLEMENTATION=OMNIORB"
+  - catkin_make_isolated --install -j2 --cmake-args $EXTRA_CMAKE_ARGS
+
+script:
+  # Run tests
+  - pushd build_isolated/rtt && make check && popd
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -175,3 +175,6 @@ INSTALL(EXPORT ${LIBRARY_EXPORT_FILE} DESTINATION "${CONFIG_FILE_PATH}"
 
 # Package use file + helper files
 INSTALL(FILES UseOROCOS-RTT.cmake UseOROCOS-RTT-helpers.cmake config/cmake_uninstall.cmake.in DESTINATION "${CONFIG_FILE_PATH}")
+
+# Install package.xml
+INSTALL(FILES package.xml DESTINATION share/rtt)
diff --git a/Makefile b/Makefile
diff --git a/UseOROCOS-RTT-helpers.cmake b/UseOROCOS-RTT-helpers.cmake
diff --git a/UseOROCOS-RTT.cmake b/UseOROCOS-RTT.cmake
diff --git a/manifest.xml b/manifest.xml
@@ -9,6 +9,7 @@
 
 		<rosdep name="boost" />
 		<rosdep name="omniorb" />
+		<rosdep name="xpath-perl" />
 
 		<export>
 			<!-- The default target is gnulinux when using rospack. This is definately a crippled solution -->

diff --git a/orocos-rtt-config.cmake b/orocos-rtt-config.cmake
@@ -69,7 +69,7 @@ set(DOC_STRING "The Operating System target. One of [gnulinux lxrt macosx win32
 set(OROCOS_TARGET_ENV $ENV{OROCOS_TARGET}) # MUST use helper variable, otherwise not picked up !!!
 if(OROCOS_TARGET_ENV)
   set(OROCOS_TARGET ${OROCOS_TARGET_ENV} CACHE STRING "${DOC_STRING}" FORCE)
-  message( "Detected OROCOS_TARGET environment variable. Using: ${OROCOS_TARGET}")
+  message(STATUS "- Detected OROCOS_TARGET environment variable. Using: ${OROCOS_TARGET}")
 else()
   if(NOT DEFINED OROCOS_TARGET)
     if(MSVC)
@@ -151,7 +151,7 @@ set(OROCOS-RTT_USE_FILE_PATH ${SELF_DIR})
 set(OROCOS-RTT_USE_FILE ${SELF_DIR}/UseOROCOS-RTT.cmake)
 
 # Confirm found, not cached !
-message("Orocos-RTT found in ${OROCOS-RTT_IMPORT_FILE}")
+message(STATUS "Orocos-RTT found in ${OROCOS-RTT_IMPORT_FILE}")
 set(OROCOS-RTT_FOUND TRUE)
 
 endif()

diff --git a/package.xml b/package.xml
@@ -11,18 +11,18 @@
 
     <buildtool_depend>cmake</buildtool_depend>
 
+    <build_depend>xpath-perl</build_depend>
     <build_depend>boost</build_depend>
     <build_depend>omniorb</build_depend>
     <build_depend>rospack</build_depend>
 
     <run_depend>boost</run_depend>
     <run_depend>omniorb</run_depend>
     <run_depend>rospack</run_depend>
+    <run_depend>xpath-perl</run_depend>
 
     <export>
-      <build_type>
-	cmake
-      </build_type>
+      <build_type>cmake</build_type>
     </export>
 
 </package>

diff --git a/rtt/deployment/ComponentLoader.cpp b/rtt/deployment/ComponentLoader.cpp
@@ -381,95 +381,10 @@ bool ComponentLoader::import( std::string const& package, std::string const& pat
         return true;
     }
 
-    // from here on: it's a package name or a path.
-    // package names must be found to return true. 
-    // path will be scanned and will always return true, but will warn when invalid.
-    if ( importRosPackage(package) )
-        return true;
-
     // Try the RTT_COMPONENT_PATH:
     return importInstalledPackage(package, path_list);
 }
 
-bool ComponentLoader::importRosPackage(std::string const& package)
-{
-    // check for rospack
-#ifdef HAS_ROSLIB
-    using namespace rospack;
-    try {
-        bool found = false;
-        Rospack rpack;
-        rpack.setQuiet(true);
-        char* rpp = getenv("ROS_PACKAGE_PATH");
-        vector<string> paths;
-        if (rpp)
-            paths = splitPaths(rpp);
-        string ppath;
-        rpack.crawl(paths,false);
-        rpack.find(package, ppath);
-        if ( !ppath.empty() ) {
-            path rospath = path(ppath) / "lib" / "orocos";
-            path rospath_target = rospath / OROCOS_TARGET_NAME;
-            // + add all dependencies to paths:
-            vector<string> rospackresult;
-            rpack.setQuiet(false);
-            bool valid = rpack.deps(package, false, rospackresult); // false: also indirect deps.
-            if (!valid) {
-                log(Error) <<"The ROS package '"<< package <<"' in '"<< ppath << "' caused trouble. Bailing out."<<endlog();
-                return false;
-            }
-
-            for(vector<string>::iterator it = rospackresult.begin(); it != rospackresult.end(); ++it) {
-                if ( isImported(*it) ) {
-                    log(Debug) <<"Package dependency '"<< *it <<"' already imported." <<endlog();
-                    continue;
-                }
-                if ( rpack.find( *it, ppath ) == false )
-                    throw *it;
-                path deppath = path(ppath) / "lib" / "orocos";
-                path deppath_target = path(deppath) / OROCOS_TARGET_NAME;
-                // if orocos directory exists and we could import it, mark it as loaded.
-                if ( is_directory( deppath_target ) ) {
-                    log(Debug) << "Ignoring files under " << deppath.string() << " since " << deppath_target.string() << " was found."<<endlog();
-                    found = true;
-                    if ( import( deppath_target.string() ) ) {
-                        loadedPackages.push_back( *it );
-                    }
-                }
-                else if ( is_directory( deppath ) ) {
-                    found = true;
-                    if ( import( deppath.string() ) ) {
-                        loadedPackages.push_back( *it );
-                    }
-                }
-            }
-            // now that all deps are done, import the package itself:
-            if ( is_directory( rospath_target ) ) {
-                log(Debug) << "Ignoring files under " << rospath.string() << " since " << rospath_target.string() << " was found."<<endlog();
-                found = true;
-                if ( import( rospath_target.string() ) ) {
-                    loadedPackages.push_back( package );
-                }
-            } else if ( is_directory( rospath ) ) {
-                found = true;
-                if ( import( rospath.string() ) ) {
-                    loadedPackages.push_back( package );
-                }
-            }
-            // since it was a ROS package, we exit here.
-            if (!found) {
-                log(Debug) <<"The ROS package '"<< package <<"' in '"<< ppath << "' nor its dependencies contained a lib/orocos directory. I'll look in the RTT_COMPONENT_PATH next."<<endlog();
-            }
-            return found;
-        } else
-            log(Info) << "Not a ros package: " << package << endlog();
-    } catch(std::string arg) {
-        log(Info) << "While processing the dependencies of " << package << ": not a ros package: " << arg << endlog();
-    }
-#endif
-    return false;
-}
-
 bool ComponentLoader::importInstalledPackage(std::string const& package, std::string const& path_list)
 {
     string paths;

diff --git a/rtt/deployment/ComponentLoader.hpp b/rtt/deployment/ComponentLoader.hpp
@@ -103,11 +103,6 @@ namespace RTT {
              */
             bool isCompatibleComponent(std::string const& filepath);
 
-            /**
-             * Returns true only if \a package is a ROS package and contained a lib/orocos directory.
-             */
-            bool importRosPackage(std::string const& package);
-
             /**
              * Returns true if \a package is a subdir of the RTT_COMPONENT_PATH
              */

diff --git a/rtt/internal/LocalOperationCaller.hpp b/rtt/internal/LocalOperationCaller.hpp
@@ -309,6 +309,30 @@ namespace RTT
                 return this->collectIfDone_impl(a1,a2,a3);
             }
 
+	    template<class T1, class T2, class T3, class T4>
+            SendStatus collect_impl( T1& a1, T2& a2, T3& a3, T4& a4) {
+                this->caller->waitForMessages( boost::bind(&Store::RStoreType::isExecuted,boost::ref(this->retv)) );
+                return this->collectIfDone_impl(a1,a2,a3,a4);
+            }
+
+	    template<class T1, class T2, class T3, class T4, class T5>
+	    SendStatus collect_impl( T1& a1, T2& a2, T3& a3, T4& a4, T5& a5) {
+                this->caller->waitForMessages( boost::bind(&Store::RStoreType::isExecuted,boost::ref(this->retv)) );
+                return this->collectIfDone_impl(a1,a2,a3,a4, a5);
+            }
+
+	    template<class T1, class T2, class T3, class T4, class T5, class T6>
+	    SendStatus collect_impl( T1& a1, T2& a2, T3& a3, T4& a4, T5& a5, T6& a6) {
+                this->caller->waitForMessages( boost::bind(&Store::RStoreType::isExecuted,boost::ref(this->retv)) );
+                return this->collectIfDone_impl(a1,a2,a3,a4,a5,a6);
+            }
+
+	    template<class T1, class T2, class T3, class T4, class T5, class T6, class T7>
+	    SendStatus collect_impl( T1& a1, T2& a2, T3& a3, T4& a4, T5& a5, T6& a6, T7& a7) {
+                this->caller->waitForMessages( boost::bind(&Store::RStoreType::isExecuted,boost::ref(this->retv)) );
+                return this->collectIfDone_impl(a1,a2,a3,a4,a5,a6,a7);
+            }
+
             /**
              * Invoke this operator if the method has no arguments.
              */

diff --git a/rtt/os/TimeService.cpp b/rtt/os/TimeService.cpp
@@ -139,7 +139,7 @@ namespace RTT {
     TimeService::nsecs
     TimeService::getNSecs() const
     {
-        return rtos_get_time_ns();
+        return ticks2nsecs(offset) + (use_clock) ? (rtos_get_time_ns()) : (0); 
     }
 
     TimeService::nsecs

diff --git a/rtt/transports/corba/TaskContextProxy.cpp b/rtt/transports/corba/TaskContextProxy.cpp
@@ -188,38 +188,7 @@ namespace RTT
         // Detect already added parts of an interface, does not yet detect removed parts...
         if (CORBA::is_nil(mtask))
             return;
-
-        log(Debug) << "Fetching Ports."<<endlog();
-        CDataFlowInterface_var dfact = mtask->ports();
-        TypeInfoRepository::shared_ptr type_repo = TypeInfoRepository::Instance();
-        if (dfact) {
-            CDataFlowInterface::CPortDescriptions_var objs = dfact->getPortDescriptions();
-            for ( size_t i=0; i < objs->length(); ++i) {
-                CPortDescription port = objs[i];
-                if (this->ports()->getPort( port.name.in() ))
-                    continue; // already added.
-
-                TypeInfo const* type_info = type_repo->type(port.type_name.in());
-                if (!type_info)
-                {
-                    log(Warning) << "remote port " << port.name
-                        << " has a type that cannot be marshalled over CORBA: " << port.type_name << ". "
-                        << "It is ignored by TaskContextProxy" << endlog();
-                }
-                else
-                {
-                    PortInterface* new_port;
-                    if (port.type == RTT::corba::CInput)
-                        new_port = new RemoteInputPort( type_info, dfact.in(), port.name.in(), ProxyPOA() );
-                    else
-                        new_port = new RemoteOutputPort( type_info, dfact.in(), port.name.in(), ProxyPOA() );
-
-                    this->ports()->addPort(*new_port);
-                    port_proxies.push_back(new_port); // see comment in definition of port_proxies
-                }
-            }
-        }
-
+
         CService_var serv = mtask->getProvider("this");
         this->fetchServices(this->provides(), serv.in() );
 
@@ -258,6 +227,10 @@ namespace RTT
     void TaskContextProxy::fetchServices(Service::shared_ptr parent, CService_ptr serv)
     {
         log(Debug) << "Fetching "<<parent->getName()<<" Service:"<<endlog();
+
+        // Fetch ports
+        this->fetchPorts(parent, serv);
+
         // load command and method factories.
         // methods:
         log(Debug) << "Fetching Operations."<<endlog();
@@ -310,7 +283,7 @@ namespace RTT
                     storeProperty(*parent->properties(), prefix, new Property<PropertyBag>( pname, props[i].description.in()) );
                     log(Debug) << "Looked up PropertyBag " << tn.in() << " "<< pname <<": created."<<endlog();
                 } else
-                    log(Error) << "Looked up Property " << tn.in() << " "<< pname <<": type not known. Check your RTT_COMPONENT_PATH."<<endlog();
+                    log(Error) << "Looked up Property " << tn.in() << " "<< pname <<": type not known. Check your RTT_COMPONENT_PATH ( \""<<getenv("RTT_COMPONENT_PATH")<<" \")."<<endlog();
             }
         }
 
@@ -338,7 +311,7 @@ namespace RTT
                     parent->setValue( ti->buildConstant( attrs[i].in(), ds));
             } else {
                 log(Error) << "Looking up Attribute " << tn.in();
-                Logger::log() <<": type not known. Check your RTT_COMPONENT_PATH."<<endlog();
+                Logger::log() <<": type not known. Check your RTT_COMPONENT_PATH ( \""<<getenv("RTT_COMPONENT_PATH")<<" \")."<<endlog();
             }
         }
 
@@ -358,6 +331,40 @@ namespace RTT
         }
     }
 
+    // Fetch remote ports and create local proxies
+    void TaskContextProxy::fetchPorts(RTT::Service::shared_ptr parent, CDataFlowInterface_ptr dfact)
+    {
+        log(Debug) << "Fetching Ports for service "<<parent->getName()<<"."<<endlog();
+        TypeInfoRepository::shared_ptr type_repo = TypeInfoRepository::Instance();
+        if (dfact) {
+            CDataFlowInterface::CPortDescriptions_var objs = dfact->getPortDescriptions();
+            for ( size_t i=0; i < objs->length(); ++i) {
+                CPortDescription port = objs[i];
+                if (parent->getPort( port.name.in() ))
+                    continue; // already added.
+
+                TypeInfo const* type_info = type_repo->type(port.type_name.in());
+                if (!type_info)
+                {
+                    log(Warning) << "remote port " << port.name
+                        << " has a type that cannot be marshalled over CORBA: " << port.type_name << ". "
+                        << "It is ignored by TaskContextProxy" << endlog();
+                }
+                else
+                {
+                    PortInterface* new_port;
+                    if (port.type == RTT::corba::CInput)
+                        new_port = new RemoteInputPort( type_info, dfact, port.name.in(), ProxyPOA() );
+                    else
+                        new_port = new RemoteOutputPort( type_info, dfact, port.name.in(), ProxyPOA() );
+
+                    parent->addPort(*new_port);
+                    port_proxies.push_back(new_port); // see comment in definition of port_proxies
+                }
+            }
+        }
+    }
+
     void TaskContextProxy::DestroyOrb()
     {
         try {

diff --git a/rtt/transports/corba/TaskContextProxy.hpp b/rtt/transports/corba/TaskContextProxy.hpp
@@ -119,6 +119,7 @@ namespace RTT
 
         void fetchRequesters(ServiceRequester* parent, CServiceRequester_ptr csrq);
         void fetchServices(Service::shared_ptr parent, CService_ptr mtask);
+        void fetchPorts(Service::shared_ptr parent, CDataFlowInterface_ptr serv);
     public:
         ~TaskContextProxy();
 

diff --git a/rtt/typekit/Types.inc b/rtt/typekit/Types.inc
@@ -45,6 +45,6 @@ RTT_EXPORT_TEMPLATE_TYPE(int)
 RTT_EXPORT_TEMPLATE_TYPE(unsigned int)
 RTT_EXPORT_TEMPLATE_TYPE(float)
 RTT_EXPORT_TEMPLATE_TYPE(char)
-//RTT_EXPORT_TEMPLATE_TYPE(std::string)
+RTT_EXPORT_TEMPLATE_TYPE(std::string)
 
 
diff --git a/rtt/types/CArrayTypeInfo.hpp b/rtt/types/CArrayTypeInfo.hpp
@@ -83,6 +83,7 @@ namespace RTT
             return false;
         }
 
+            using TemplateValueFactory<T>::buildVariable;
             virtual base::AttributeBase* buildVariable(std::string name,int sizehint) const
             {
                 // There were two choices: create an empty carray, ie pointer-like behavior; OR create one with storage in the DS.

diff --git a/rtt/types/SequenceTypeInfo.hpp b/rtt/types/SequenceTypeInfo.hpp
@@ -35,6 +35,7 @@ namespace RTT
                 return false;
             }
 
+            using TemplateValueFactory<T>::buildVariable;
             base::AttributeBase* buildVariable(std::string name,int size) const
             {
                 return SequenceTypeInfoBase<T>::buildVariable(name,size);