Merge pull request #60 from jhu-lcsr-forks/hydro-devel-merged

Fixes minus ldeployer
jhu-lcsr-forks · Feb 9, 2015 · 1f54dca · 1f54dca
2 parents 8a53d09 + 7ad3b66
commit 1f54dca
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Showing 25 changed files with 151 additions and 100 deletions.
diff --git a/rtt_dynamic_reconfigure/CMakeLists.txt b/rtt_dynamic_reconfigure/CMakeLists.txt
@@ -9,8 +9,9 @@ catkin_package(
 )
 
 include_directories(
-  include/orocos
+  BEFORE
   ${catkin_INCLUDE_DIRS}
+  include/orocos
 )
 
 orocos_library(rtt_dynamic_reconfigure src/auto_config.cpp)

diff --git a/rtt_dynamic_reconfigure/include/orocos/rtt_dynamic_reconfigure/auto_config.h b/rtt_dynamic_reconfigure/include/orocos/rtt_dynamic_reconfigure/auto_config.h
@@ -100,8 +100,8 @@ namespace rtt_dynamic_reconfigure {
 
 template <>
 struct Updater<AutoConfig> {
-    static bool propertiesFromConfig(AutoConfig &config, uint32_t, RTT::PropertyBag &bag) { RTT::refreshProperties(bag, config); }
-    static bool configFromProperties(AutoConfig &config, const RTT::PropertyBag &bag)     { RTT::updateProperties(config, bag); }
+    static bool propertiesFromConfig(AutoConfig &config, uint32_t, RTT::PropertyBag &bag) { return RTT::refreshProperties(bag, config); }
+    static bool configFromProperties(AutoConfig &config, const RTT::PropertyBag &bag)     { return RTT::updateProperties(config, bag); }
 };
 
 template <>

diff --git a/rtt_dynamic_reconfigure/include/orocos/rtt_dynamic_reconfigure/server.h b/rtt_dynamic_reconfigure/include/orocos/rtt_dynamic_reconfigure/server.h
@@ -44,6 +44,7 @@
 #include <rtt/OperationCaller.hpp>
 
 #include <rtt/internal/DataSources.hpp>
+#include <rtt/internal/GlobalEngine.hpp>
 
 #include <ros/ros.h>
 
@@ -530,6 +531,10 @@ class Server : public RTT::Service
             notify_callback_ = getOwner()->provides()->getLocalOperation("notifyPropertiesUpdate");
         }
 
+        // update_callback_ and notify_callback_ are called from the ROS spinner thread -> set GlobalEngine as caller engine
+        update_callback_.setCaller(RTT::internal::GlobalEngine::Instance());
+        notify_callback_.setCaller(RTT::internal::GlobalEngine::Instance());
+
         // refresh once
         refresh();
     }
@@ -636,10 +641,6 @@ bool getProperty(const std::string &name, const RTT::PropertyBag &bag, ValueType
 
 } // namespace rtt_dynamic_reconfigure
 
-#include <rtt/plugin/ServicePlugin.hpp>
-//#define RTT_DYNAMIC_RECONFIGURE_SERVICE_PLUGIN(CONFIG, NAME) \
-//    ORO_SERVICE_NAMED_PLUGIN(rtt_dynamic_reconfigure::Server<CONFIG>, NAME)
-
 #define RTT_DYNAMIC_RECONFIGURE_SERVICE_PLUGIN(CONFIG, NAME) \
     extern "C" {\
         RTT_EXPORT bool loadRTTPlugin(RTT::TaskContext* tc);  \

diff --git a/rtt_ros/CMakeLists.txt b/rtt_ros/CMakeLists.txt
@@ -60,17 +60,8 @@ orocos_generate_package(
   DEPENDS rostime
 )
 
-install(PROGRAMS 
-  scripts/rtt-upgrade-2.5
-  # Wrapper scripts
-  scripts/deployer
-  scripts/orocreate-pkg
-  scripts/orogen
-  scripts/orogen-unregister
-  scripts/rttlua
-  scripts/rttlua-tlsf
-  scripts/rttscript
-  scripts/typegen
+install(DIRECTORY scripts/
+  USE_SOURCE_PERMISSIONS
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
 install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} )

diff --git a/rtt_ros_msgs/CMakeLists.txt b/rtt_ros_msgs/CMakeLists.txt
@@ -37,6 +37,7 @@ find_package(catkin REQUIRED COMPONENTS message_generation std_msgs)
 ## Generate services in the 'srv' folder
 add_service_files(
   FILES
+  Eval.srv
   RunScript.srv
   GetPeerList.srv
   )

diff --git a/rtt_ros_msgs/srv/Eval.srv b/rtt_ros_msgs/srv/Eval.srv
@@ -0,0 +1,3 @@
+string code
+---
+bool success
diff --git a/rtt_roscomm/rtt_roscomm_pkg_template/package.xml b/rtt_roscomm/rtt_roscomm_pkg_template/package.xml
@@ -18,7 +18,6 @@
 
   </description>
   <maintainer email="[email protected]">Orocos Developers</maintainer>
-  <author>create_rtt_msgs</author>
   <license>BSD</license>
 
   <buildtool_depend>catkin</buildtool_depend>

diff --git a/rtt_rosdeployment/CMakeLists.txt b/rtt_rosdeployment/CMakeLists.txt
@@ -8,7 +8,7 @@ include_directories(${catkin_INCLUDE_DIRS})
 orocos_use_package(ocl-deployment)
 
 orocos_plugin(rtt_rosdeployment src/rtt_rosdeployment_service.cpp)
-target_link_libraries(rtt_rosdeployment ${catkin_LIBRARIES})
+target_link_libraries(rtt_rosdeployment ${catkin_LIBRARIES} ${OROCOS-RTT_RTT-SCRIPTING_LIBRARY})
 
 orocos_generate_package(
   DEPENDS rtt_ros_msgs

diff --git a/rtt_rosdeployment/package.xml b/rtt_rosdeployment/package.xml
@@ -25,7 +25,10 @@
   <export>
     <rtt_ros>
       <plugin_depend>rtt_rosnode</plugin_depend>
-      <plugin_depend>rtt_ros_msgs</plugin_depend>
+      <!--
+        rtt_ros_msgs is not an RTT plugin
+        <plugin_depend>rtt_ros_msgs</plugin_depend>
+      -->
     </rtt_ros>
   </export>
 </package>
diff --git a/rtt_rosdeployment/src/rtt_rosdeployment_service.cpp b/rtt_rosdeployment/src/rtt_rosdeployment_service.cpp
@@ -3,7 +3,9 @@
 #include <rtt/plugin/Plugin.hpp>
 #include <rtt/plugin/ServicePlugin.hpp>
 #include <rtt/internal/GlobalService.hpp>
+#include <rtt/scripting/Scripting.hpp>
 
+#include <rtt_ros_msgs/Eval.h>
 #include <rtt_ros_msgs/RunScript.h>
 #include <rtt_ros_msgs/GetPeerList.h>
 
@@ -24,16 +26,23 @@ class ROSDeploymentService : public RTT::Service
 
   ros::NodeHandle nh_;
 
+  ros::ServiceServer eval_service_;
   ros::ServiceServer run_script_service_;
   ros::ServiceServer get_peer_list_service_;
 
+  bool eval_cb(
+      rtt_ros_msgs::Eval::Request& request,
+      rtt_ros_msgs::Eval::Response& response);
+
   bool run_script_cb(
       rtt_ros_msgs::RunScript::Request& request,
       rtt_ros_msgs::RunScript::Response& response);
 
   bool get_peer_list_cb(
       rtt_ros_msgs::GetPeerList::Request& request,
       rtt_ros_msgs::GetPeerList::Response& response);
+
+  RTT::OperationCaller<bool(std::string const&)> eval_;
 };
 
 
@@ -44,13 +53,25 @@ ROSDeploymentService::ROSDeploymentService(OCL::DeploymentComponent* deployer) :
 {
   if(deployer_) {
     // Create services
+    eval_service_ = nh_.advertiseService("eval",&ROSDeploymentService::eval_cb,this);
     run_script_service_ = nh_.advertiseService("run_script",&ROSDeploymentService::run_script_cb,this);
     get_peer_list_service_ = nh_.advertiseService("get_peer_list",&ROSDeploymentService::get_peer_list_cb,this);
+
+    eval_ = deployer_->getProvider<RTT::Scripting>("scripting")->eval;
   } else {
     RTT::log(RTT::Error) << "Attempted to load the rosdeployment service on a TaskContext which is not an OCL::DeploymentComponent. No ROS services will be advertised." << RTT::endlog();
   }
 }
 
+bool ROSDeploymentService::eval_cb(
+    rtt_ros_msgs::Eval::Request& request,
+    rtt_ros_msgs::Eval::Response& response)
+{
+  if (!eval_.ready()) return false;
+  response.success = eval_(request.code);
+  return true;
+}
+
 bool ROSDeploymentService::run_script_cb(
     rtt_ros_msgs::RunScript::Request& request,
     rtt_ros_msgs::RunScript::Response& response)

diff --git a/rtt_rosparam/src/rtt_rosparam_service.cpp b/rtt_rosparam/src/rtt_rosparam_service.cpp
@@ -3,6 +3,9 @@
 #include <rtt/plugin/ServicePlugin.hpp>
 #include <rtt/types/PropertyDecomposition.hpp>
 
+#include <boost/utility/enable_if.hpp>
+#include <boost/type_traits/is_convertible.hpp>
+
 #include <XmlRpcException.h>
 
 #include <Eigen/Dense>
@@ -414,25 +417,35 @@ bool xmlParamToProp<RTT::PropertyBag>(const XmlRpc::XmlRpcValue &xml_value, RTT:
 //! Convert an XmlRpc structure value into an abstract RTT PropertyBase
 bool xmlParamToProp( const XmlRpc::XmlRpcValue &xml_value, RTT::base::PropertyBase* prop_base);
 
-//! Convert an XmlRpc value to type T
-template <class T> void xmlParamToValue(const XmlRpc::XmlRpcValue &xml_value, T &value) {
-  value = static_cast<const T&>(const_cast<XmlRpc::XmlRpcValue &>(xml_value));
-}
-
-template <> void xmlParamToValue<float>(const XmlRpc::XmlRpcValue &xml_value, float &value) {
-  value = static_cast<const double&>(const_cast<XmlRpc::XmlRpcValue &>(xml_value));
-}
-
-template <> void xmlParamToValue<unsigned int>(const XmlRpc::XmlRpcValue &xml_value, unsigned int &value) {
-  value = static_cast<const int&>(const_cast<XmlRpc::XmlRpcValue &>(xml_value));
-}
+template <class XMLRPCType,class PropertyType, class enabled=void> struct XmlParamToValue{
+    static bool assign(const XMLRPCType& xml_value, PropertyType &prop_value)
+    {
+        return false;
+    }
+};
 
-template <> void xmlParamToValue<char>(const XmlRpc::XmlRpcValue &xml_value, char &value) {
-  value = static_cast<const int&>(const_cast<XmlRpc::XmlRpcValue &>(xml_value));
-}
+template <class XMLRPCType, class PropertyType >
+struct XmlParamToValue <XMLRPCType, PropertyType, typename boost::enable_if<boost::is_convertible<XMLRPCType,PropertyType> >::type >{
+    static bool assign(const XMLRPCType& xml_value, PropertyType &prop_value)
+    {
+        prop_value = xml_value;
+        return true;
+    }
+};
 
-template <> void xmlParamToValue<unsigned char>(const XmlRpc::XmlRpcValue &xml_value, unsigned char &value) {
-  value = static_cast<const int&>(const_cast<XmlRpc::XmlRpcValue &>(xml_value));
+//! Convert an XmlRpc value to type T
+template <class PropertyType> bool xmlParamToValue(const XmlRpc::XmlRpcValue &xml_value, PropertyType &value) {
+    switch(xml_value.getType()) {
+    case XmlRpc::XmlRpcValue::TypeString:
+        return XmlParamToValue<std::string, PropertyType>::assign(static_cast<const std::string&>(const_cast<XmlRpc::XmlRpcValue &>(xml_value)),value);
+    case XmlRpc::XmlRpcValue::TypeDouble:
+        return XmlParamToValue<double, PropertyType>::assign(static_cast<double>(const_cast<XmlRpc::XmlRpcValue &>(xml_value)),value);
+    case XmlRpc::XmlRpcValue::TypeInt:
+        return XmlParamToValue<int, PropertyType>::assign(static_cast<int>(const_cast<XmlRpc::XmlRpcValue &>(xml_value)),value);
+    case XmlRpc::XmlRpcValue::TypeBoolean:
+        return XmlParamToValue<bool, PropertyType>::assign(static_cast<bool>(const_cast<XmlRpc::XmlRpcValue &>(xml_value)),value);
+    }
+    return false;
 }
 
 template <class T>
@@ -446,9 +459,8 @@ bool xmlParamToProp(
   }
 
   // Set the value
-  xmlParamToValue(xml_value, prop->set());
+  return xmlParamToValue(xml_value, prop->set());
 
-  return true;
 }
 
 template <class T>
@@ -469,11 +481,12 @@ bool xmlParamToProp(
   // Copy the data into the vector property
   std::vector<T> &vec = prop->value();
   vec.resize(xml_value.size());
+  bool result = true;
   for(size_t i=0; i<vec.size(); i++) {
-    xmlParamToValue(xml_value[i], vec[i]);
+    result &= xmlParamToValue(xml_value[i], vec[i]);
   }
 
-  return true;
+  return result;
 }
 
 template <>
@@ -494,13 +507,14 @@ bool xmlParamToProp<bool>(
   // Copy the data into the vector property
   std::vector<bool> &vec = prop->value();
   vec.resize(xml_value.size());
+  bool result = true;
   for(size_t i=0; i<vec.size(); i++) {
     bool temp;
-    xmlParamToValue(xml_value[i], temp);
+    result &= xmlParamToValue(xml_value[i], temp);
     vec[i] = temp;
   }
 
-  return true;
+  return result;
 }
 
 template <>
@@ -521,13 +535,14 @@ bool xmlParamToProp(
   // Copy the data into the vector property
   Eigen::VectorXd &vec = prop->value();
   vec.resize(xml_value.size());
+  bool result = true;
   for(size_t i=0; i<vec.size(); i++) {
     double temp;
-    xmlParamToValue(xml_value[i], temp);
+    result &= xmlParamToValue(xml_value[i], temp);
     vec[i] = temp;
   }
 
-  return true;
+  return result;
 }
 
 template <>
@@ -548,13 +563,14 @@ bool xmlParamToProp(
   // Copy the data into the vector property
   Eigen::VectorXf &vec = prop->value();
   vec.resize(xml_value.size());
+  bool result = true;
   for(size_t i=0; i<vec.size(); i++) {
     double temp;
-    xmlParamToValue(xml_value[i], temp);
+    result &= xmlParamToValue(xml_value[i], temp);
     vec[i] = temp;
   }
 
-  return true;
+  return result;
 }
 
 template <>
@@ -606,6 +622,8 @@ bool xmlParamToProp(
         xmlParamToProp(xml_value, dynamic_cast<RTT::Property<float>*>(prop_base));
     case XmlRpc::XmlRpcValue::TypeInt:
       return 
+        xmlParamToProp(xml_value, dynamic_cast<RTT::Property<double>*>(prop_base)) ||
+        xmlParamToProp(xml_value, dynamic_cast<RTT::Property<float>*>(prop_base)) ||
         xmlParamToProp(xml_value, dynamic_cast<RTT::Property<int>*>(prop_base)) ||
         xmlParamToProp(xml_value, dynamic_cast<RTT::Property<unsigned int>*>(prop_base)) ||
         xmlParamToProp(xml_value, dynamic_cast<RTT::Property<char>*>(prop_base)) ||

diff --git a/tests/rtt_dynamic_reconfigure_tests/test/rtt_dynamic_reconfigure_tests.cpp b/tests/rtt_dynamic_reconfigure_tests/test/rtt_dynamic_reconfigure_tests.cpp
@@ -119,7 +119,7 @@ TEST_F(DynamicReconfigureTest, ConfigDescription)
     EXPECT_EQ(5.0, *(tc.properties()->getPropertyType<double>("non_existent")));
 
     // get a pointer to the reconfigure service
-    boost::shared_ptr<Server<TestConfig> > server = boost::shared_dynamic_cast<Server<TestConfig> >(tc.provides("test_reconfigure"));
+    boost::shared_ptr<Server<TestConfig> > server = boost::dynamic_pointer_cast<Server<TestConfig> >(tc.provides("test_reconfigure"));
     ASSERT_TRUE(server.get());
 
     // check ConfigDescription groups
@@ -191,7 +191,7 @@ TEST_F(DynamicReconfigureTest, AutoConfig)
     ASSERT_TRUE(tc.provides()->hasService("reconfigure"));
 
     // get a pointer to the reconfigure service
-    boost::shared_ptr<Server<AutoConfig> > server = boost::shared_dynamic_cast<Server<AutoConfig> >(tc.provides("reconfigure"));
+    boost::shared_ptr<Server<AutoConfig> > server = boost::dynamic_pointer_cast<Server<AutoConfig> >(tc.provides("reconfigure"));
     ASSERT_TRUE(server.get());
 
     // min/max/default property bag should exist with the same number of properties
@@ -287,7 +287,7 @@ TEST_F(DynamicReconfigureTest, AutoConfigAddPropertiesAndRefresh)
     ASSERT_TRUE(tc.provides()->hasService("reconfigure"));
 
     // get a pointer to the reconfigure service
-    boost::shared_ptr<Server<AutoConfig> > server = boost::shared_dynamic_cast<Server<AutoConfig> >(tc.provides("reconfigure"));
+    boost::shared_ptr<Server<AutoConfig> > server = boost::dynamic_pointer_cast<Server<AutoConfig> >(tc.provides("reconfigure"));
     ASSERT_TRUE(server.get());
 
     // add a property to the TaskContext after having loaded the reconfigure service

diff --git a/typekits/rtt_actionlib_msgs/package.xml b/typekits/rtt_actionlib_msgs/package.xml
@@ -18,7 +18,6 @@
 
   </description>
   <maintainer email="[email protected]">Orocos Developers</maintainer>
-  <author>create_rtt_msgs</author>
   <license>BSD</license>
 
   <buildtool_depend>catkin</buildtool_depend>

diff --git a/typekits/rtt_diagnostic_msgs/package.xml b/typekits/rtt_diagnostic_msgs/package.xml
@@ -18,7 +18,6 @@
 
   </description>
   <maintainer email="[email protected]">Orocos Developers</maintainer>
-  <author>create_rtt_msgs</author>
   <license>BSD</license>
 
   <buildtool_depend>catkin</buildtool_depend>

diff --git a/typekits/rtt_geometry_msgs/package.xml b/typekits/rtt_geometry_msgs/package.xml
@@ -18,7 +18,6 @@
 
   </description>
   <maintainer email="[email protected]">Orocos Developers</maintainer>
-  <author>create_rtt_msgs</author>
   <license>BSD</license>
 
   <buildtool_depend>catkin</buildtool_depend>

diff --git a/typekits/rtt_kdl_conversions/package.xml b/typekits/rtt_kdl_conversions/package.xml
@@ -5,12 +5,9 @@
     This package contains the components of the kdl_conversions package
   </description>
   <license>GPL</license>
-
-  <maintainer email="[email protected]">ruben smits</maintainer>
+  <maintainer email="[email protected]">Orocos Developers</maintainer>
 
-  <license>gpl</license>
-
-  <author>ruben smits</author>
+  <author>Ruben Smits</author>
 
   <buildtool_depend>catkin</buildtool_depend>