Merge remote-tracking branch 'origin/toolchain-2.9' into toolchain-2.10

rtt_actionlib/include/rtt_actionlib/rtt_action_server.h

@@ -70,6 +70,9 @@ namespace rtt_actionlib {
     //! Check if the server is ready to be started
     bool ready();
 
+    //! \brief Shutdown internal timer
+    void shutdown();
+
     //! \brief Set up status publishing timers
     virtual void initialize();
 
@@ -168,6 +171,12 @@ namespace rtt_actionlib {
       return action_bridge_.allConnected();
     }
 
+  template <class ActionSpec>
+    void RTTActionServer<ActionSpec>::shutdown()
+    {
+	status_timer_.killTimer(0);
+    }
+
   template <class ActionSpec>
     bool RTTActionServer<ActionSpec>::addPorts(
         RTT::Service::shared_ptr service,

rtt_actionlib/include/rtt_actionlib/rtt_simple_action_server.h

@@ -58,10 +58,9 @@ template <class ActionSpec> class RTTSimpleActionServer
 
 
 		/**
-		* Start action server in given TskContext.
-		* @param publish_feedback if true publish feedback periodically
+		* Start action server in given TaskContext.
 		*/
-		bool start(bool publish_feedback = false);
+		bool start();
 
 		/**
 		* Stop action server.
@@ -174,11 +173,10 @@ template <class ActionSpec> class RTTSimpleActionServer
 		}
 };
 
-template <class ActionSpec> bool RTTSimpleActionServer<ActionSpec>::start(bool publish_feedback) 
+template <class ActionSpec> bool RTTSimpleActionServer<ActionSpec>::start()
 {
 	if (ready()) {
 		action_server.start();
-		if (publish_feedback) action_server.initialize();
 		return true;
 	}
 	else return false;

rtt_roscomm/scripts/create_boost_header.py

@@ -1,4 +1,8 @@
 #!/usr/bin/env python
+
+from __future__ import print_function
+from __future__ import unicode_literals
+
 import sys
 
 import roslib
@@ -9,7 +13,7 @@
 from  roslib import packages,msgs
 import os
 
-from cStringIO import StringIO
+from io import StringIO
 
 import argparse
 
@@ -92,11 +96,11 @@ def generate_boost_serialization(package, msg_path, msg_type, boost_header_path)
     (output_dir,filename) = os.path.split(boost_header_path)
     try:
         os.makedirs(output_dir)
-    except OSError, e:
+    except OSError as e:
         pass
 
     f = open(boost_header_path, 'w')
-    print >> f, s.getvalue()
+    print(s.getvalue(), file=f)
 
     s.close()
 
@@ -115,7 +119,7 @@ def create_boost_headers(argv, stdout, stderr):
 if __name__ == "__main__":
     try:
         create_boost_headers(sys.argv, sys.stdout, sys.stderr)
-    except Exception, e:
+    except Exception as e:
         sys.stderr.write("Failed to generate boost headers: " + str(e))
         raise
         #sys.exit(1)

tests/rtt_roscomm_tests/test/transport_tests.cpp

@@ -117,22 +117,22 @@ TEST(TransportTest, VectorTest)
   EXPECT_FALSE(in.connected());
 }
 
-static int callback_called = 0;
+static std::map<int,int> callback_called;
 bool callback0(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
 {
-  ++callback_called;
+  ++callback_called[0];
   return true;
 }
 
 bool callback1()
 {
-  ++callback_called;
+  ++callback_called[1];
   return true;
 }
 
 void callback2()
 {
-  ++callback_called;
+  ++callback_called[2];
 }
 
 TEST(TransportTest, ServiceServerTest)
@@ -180,14 +180,14 @@ TEST(TransportTest, ServiceServerTest)
   EXPECT_TRUE(service_caller2.ready());
 
   // Call the service
-  EXPECT_EQ(0, callback_called);
+  EXPECT_TRUE(callback_called.empty());
   std_srvs::Empty empty;
   EXPECT_TRUE(service_caller0(empty.request, empty.response));
-  EXPECT_EQ(1, callback_called);
+  EXPECT_EQ(1, callback_called[0]);
   EXPECT_TRUE(service_caller1(empty.request, empty.response));
-  EXPECT_EQ(2, callback_called);
+  EXPECT_EQ(1, callback_called[1]);
   EXPECT_TRUE(service_caller2(empty.request, empty.response));
-  EXPECT_EQ(3, callback_called);
+  EXPECT_EQ(1, callback_called[2]);
 
   // Disconnect the service
   EXPECT_TRUE(rosservice.lock()->disconnect(service + "0"));