Merge branch 'master' into updated-dataflow-semantics-rebased

orocos-toolchain · Dec 6, 2017 · 64f956e · 64f956e
2 parents bbc9c12 + 625df04
commit 64f956e
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Showing 90 changed files with 2,716 additions and 1,383 deletions.
diff --git a/.travis.yml b/.travis.yml
@@ -11,10 +11,13 @@ before_install:
 
 install:
   - export EXTRA_CMAKE_ARGS="-DENABLE_TESTS=ON -DENABLE_CORBA=ON -DCORBA_IMPLEMENTATION=OMNIORB"
+  - export CFLAGS="-std=c99 -Wall -Wextra -Wno-unused-parameter"
+  - export CXXFLAGS="-std=c++11 -Wall -Wextra -Wno-unused-parameter"
   - mkdir -p build && cd build
   - cmake .. -DCMAKE_INSTALL_PREFIX=$(pwd)/install $EXTRA_CMAKE_ARGS
   - make -j2 install
 
 script:
   # Run tests
+  - export BOOST_TEST_LOG_LEVEL=message
   - make -j1 check
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -27,8 +27,8 @@ STRING( REGEX MATCHALL "[0-9]+" RTT_VERSIONS ${RTT_VERSION} )
 LIST( GET RTT_VERSIONS 0 RTT_VERSION_MAJOR)
 LIST( GET RTT_VERSIONS 1 RTT_VERSION_MINOR)
 LIST( GET RTT_VERSIONS 2 RTT_VERSION_PATCH)
-
-MESSAGE( "Orocos RTT version ${VERSION} (${RTT_VERSION_MAJOR}.${RTT_VERSION_MINOR}.${RTT_VERSION_PATCH})" )
+SET( RTT_SOVERSION ${RTT_VERSION_MAJOR}.${RTT_VERSION_MINOR} )
+MESSAGE( "Orocos RTT version ${RTT_VERSION}" )
 
 SET( PROJ_SOURCE_DIR ${orocos-rtt_SOURCE_DIR} )
 SET( PROJ_BINARY_DIR ${orocos-rtt_BINARY_DIR} )
@@ -43,11 +43,6 @@ if (NOT EXISTS ${PROJ_SOURCE_DIR}/orocos-rtt.cmake)
   INCLUDE(${PROJ_SOURCE_DIR}/orocos-rtt.default.cmake)
 endif ()
 
-OPTION(USE_CPP11 "Turn on to replace boost::bind with cpp11 bind." OFF)
-if(USE_CPP11)
-  ADD_DEFINITIONS(-DUSE_CPP11)
-endif(USE_CPP11)
-
 # On Windows, the default CMAKE_INSTALL_PREFIX is either:
 # C:\Program Files\orocos-rtt or C:\Program Files (x86)\orocos-rtt
 # However, we want it to be either:
@@ -178,7 +173,14 @@ INSTALL(FILES UseOROCOS-RTT.cmake UseOROCOS-RTT-helpers.cmake config/cmake_unins
 # Install package.xml
 INSTALL(FILES package.xml DESTINATION share/rtt)
 
-# Install an env-hook if catkin is found
+# Install an env-hook in etc/orocos/${OROCOS_TARGET}/profile.d
+configure_file(env-hooks/00.rtt.sh.in ${CMAKE_CURRENT_BINARY_DIR}/env-hooks/00.rtt.sh @ONLY)
+install(
+  FILES ${CMAKE_CURRENT_BINARY_DIR}/env-hooks/00.rtt.sh
+  DESTINATION etc/orocos/profile.d
+)
+
+# Install a catkin env-hook if catkin is installed
 find_package(catkin QUIET)
 if(catkin_FOUND)
   catkin_add_env_hooks(00.rtt SHELLS sh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks)

diff --git a/Doxyfile.in b/Doxyfile.in
diff --git a/config/check_depend.cmake b/config/check_depend.cmake
@@ -309,18 +309,18 @@ IF (CMAKE_COMPILER_IS_GNUCXX)
 
   IF ( ${CXX_HAS_VERSION} EQUAL 0 )
     # We are assuming here that -dumpversion is gcc specific.
-    IF( CXX_VERSION MATCHES "[4-5]\\.[0-9](\\.[0-9])?" )
+    IF( CXX_VERSION MATCHES "[4-6]\\.[0-9](\\.[0-9])?" )
       MESSAGE(STATUS "Detected gcc4/5: ${CXX_VERSION}")
       SET(RTT_GCC_HASVISIBILITY TRUE)
-    ELSE(CXX_VERSION MATCHES "[4-5]\\.[0-9](\\.[0-9])?")
+    ELSE(CXX_VERSION MATCHES "[4-6]\\.[0-9](\\.[0-9])?")
       IF( CXX_VERSION MATCHES "3\\.[0-9](\\.[0-9])?" )
         MESSAGE(STATUS "Detected gcc3: ${CXX_VERSION}")
       ELSE( CXX_VERSION MATCHES "3\\.[0-9](\\.[0-9])?" )
         MESSAGE("ERROR: You seem to be using gcc version:")
         MESSAGE("${CXX_VERSION}")
         MESSAGE( FATAL_ERROR "ERROR: For gcc, Orocos requires version 4.x or 3.x")
       ENDIF( CXX_VERSION MATCHES "3\\.[0-9](\\.[0-9])?" )
-    ENDIF(CXX_VERSION MATCHES "[4-5]\\.[0-9](\\.[0-9])?")
+    ENDIF(CXX_VERSION MATCHES "[4-6]\\.[0-9](\\.[0-9])?")
   ELSE ( ${CXX_HAS_VERSION} EQUAL 0)
     MESSAGE("Could not determine gcc version: ${CXX_HAS_VERSION}")
   ENDIF ( ${CXX_HAS_VERSION} EQUAL 0)

diff --git a/env-hooks/00.rtt.sh.in b/env-hooks/00.rtt.sh.in
@@ -1,4 +1,16 @@
 #!/bin/sh
-export OROCOS_TARGET=@OROCOS_TARGET@
-export RTT_COMPONENT_PATH=`echo $CMAKE_PREFIX_PATH | sed 's!:!/lib/orocos:!g' | sed 's!$!/lib/orocos!'`
 
+: ${OROCOS_TARGET:=@OROCOS_TARGET@}
+
+for file_path in `echo $CMAKE_PREFIX_PATH | tr : ' '` "@CMAKE_INSTALL_PREFIX@"; do
+  if [ ! -d "$file_path/lib/orocos" ]; then
+    continue
+  elif [ -z "$RTT_COMPONENT_PATH" ]; then
+    RTT_COMPONENT_PATH="$file_path/lib/orocos"
+  elif ! echo "$RTT_COMPONENT_PATH" | grep -q "$file_path/lib/orocos"; then
+    RTT_COMPONENT_PATH="$RTT_COMPONENT_PATH:$file_path/lib/orocos"
+  fi
+done
+
+export OROCOS_TARGET
+export RTT_COMPONENT_PATH
diff --git a/rtt/CMakeLists.txt b/rtt/CMakeLists.txt
@@ -128,10 +128,12 @@ IF ( OS_RT_MALLOC )
     IF (OS_RT_MALLOC_DEBUG)
         SET( TLSF_FLAGS "${TLSF_FLAGS} -D_DEBUG_TLSF_")
     ENDIF (OS_RT_MALLOC_DEBUG)
-
+    SET( TLSF_FLAGS "${TLSF_FLAGS} -fno-strict-aliasing")
     SET_SOURCE_FILES_PROPERTIES( os/tlsf/tlsf.c PROPERTIES
                                 COMPILE_FLAGS "${TLSF_FLAGS}")
 
+    set(TLSF_FLAGS "${TLSF_FLAGS}" CACHE INTERNAL "")
+
     GET_SOURCE_FILE_PROPERTY( TLSF os/tlsf/tlsf.c COMPILE_FLAGS)
     MESSAGE( "TLSF settings: ${TLSF}")
 
@@ -194,8 +196,8 @@ ENDIF ( BUILD_STATIC )
   ADD_LIBRARY(orocos-rtt-${OROCOS_TARGET}_dynamic SHARED $ENV{GLOBAL_LIBRARY_SRCS})
   SET_TARGET_PROPERTIES( orocos-rtt-${OROCOS_TARGET}_dynamic PROPERTIES
   DEFINE_SYMBOL "RTT_DLL_EXPORT"
-  SOVERSION "${RTT_VERSION_MAJOR}.${RTT_VERSION_MINOR}"
   VERSION "${RTT_VERSION}"
+  SOVERSION "${RTT_SOVERSION}"
   OUTPUT_NAME orocos-rtt-${OROCOS_TARGET}
   COMPILE_DEFINITIONS OROCOS_TARGET=${OROCOS_TARGET}
   INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib"

diff --git a/rtt/ExecutionEngine.cpp b/rtt/ExecutionEngine.cpp
@@ -48,12 +48,6 @@
 #include "extras/SlaveActivity.hpp"
 
 #include <boost/bind.hpp>
-#include <boost/ref.hpp>
-#ifndef USE_CPP11
-#include <boost/lambda/lambda.hpp>
-#include <boost/lambda/bind.hpp>
-#endif
-#include <functional>
 #include <algorithm>
 
 #define ORONUM_EE_MQUEUE_SIZE 100
@@ -161,8 +155,8 @@ namespace RTT
             found = true; // always true in order to be able to quit waitForMessages.
         }
         virtual void dispose() {}
-        virtual bool isError() const { return false;}
-
+        virtual bool isError() const { return false; }
+        bool done() const { return !mf->isLoaded() || found; }
     };
 
     bool ExecutionEngine::removeFunction( ExecutableInterface* f )
@@ -182,11 +176,7 @@ namespace RTT
             // Running: create message on stack.
             RemoveMsg rmsg(f,this);
             if ( this->process(&rmsg) )
-#ifdef USE_CPP11
-                this->waitForMessages( ! bind(&ExecutableInterface::isLoaded, f) || bind(&RemoveMsg::found,boost::ref(rmsg)) );
-#else
-                this->waitForMessages( ! lambda::bind(&ExecutableInterface::isLoaded, f) || lambda::bind(&RemoveMsg::found,boost::ref(rmsg)) );
-#endif
+                this->waitForMessages( boost::bind(&RemoveMsg::done, &rmsg) );
             if (!rmsg.found)
                 return false;
         }
@@ -378,7 +368,7 @@ namespace RTT
                 )
             }
             // in case start() or updateHook() called error(), this will be called:
-            if (  taskc->mTaskState == TaskCore::RunTimeError ) {
+            if (taskc->mTaskState == TaskCore::RunTimeError && taskc->mTargetState >= TaskCore::Running) {
                 TRY (
                     taskc->errorHook();
                 ) CATCH(std::exception const& e,
@@ -408,7 +398,7 @@ namespace RTT
                     (*it)->exception(); // calls stopHook,cleanupHook
                 )
             }
-            if (  (*it)->mTaskState == TaskCore::RunTimeError ){
+            if ((*it)->mTaskState == TaskCore::RunTimeError && (*it)->mTargetState == TaskCore::RunTimeError){
                 TRY (
                     (*it)->errorHook();
                 ) CATCH(std::exception const& e,

diff --git a/rtt/Logger.cpp b/rtt/Logger.cpp
@@ -57,7 +57,7 @@
 #   endif
 #  endif
 #  ifdef OROSEM_REMOTE_LOGGING
-#   include <sstream>
+#   include "base/BufferLockFree.hpp"
 #  endif
 #endif
 
@@ -133,7 +133,7 @@ namespace RTT
               stdoutput( &str ),
 #endif
 #ifdef OROSEM_REMOTE_LOGGING
-              messagecnt(0),
+              remotestring(ORONUM_LOGGING_BUFSIZE,std::string(), true),
 #endif
 #if     defined(OROSEM_FILE_LOGGING)
 #if     defined(OROSEM_LOG4CPP_LOGGING)
@@ -203,14 +203,7 @@ namespace RTT
                 fprintf( logfile, "%s%s\n", res.c_str(), fileline.str().c_str() );
 #endif
 #ifdef OROSEM_REMOTE_LOGGING
-                // detect buffer 'overflow'
-                if ( messagecnt >= ORONUM_LOGGING_BUFSIZE ) {
-                    std::string dummy;
-                    remotestream >> dummy; // FIFO principle: read 1 line
-                    --messagecnt;
-                }
-                remotestream << res << fileline.str() << pf;
-                ++messagecnt;
+                remotestring.Push(res+fileline.str());  // TODO, handle failure.
 #endif
 #if defined(OROSEM_FILE_LOGGING) || defined(OROSEM_REMOTE_LOGGING)
                 fileline.str("");
@@ -227,8 +220,7 @@ namespace RTT
         std::stringstream fileline;
 #endif
 #if defined(OROSEM_REMOTE_LOGGING)
-        std::stringstream remotestream;
-        unsigned int messagecnt;
+        base::BufferLockFree<std::string> remotestring;
 #endif
 #if defined(OROSEM_FILE_LOGGING)
 #if     defined(OROSEM_LOG4CPP_LOGGING)
@@ -363,8 +355,9 @@ namespace RTT
     }
 
     void Logger::allowRealTime() {
-        *this << Logger::Warning << "Enabling Real-Time Logging !" <<Logger::endl;
+        // re-enable and then log, otherwise you might not get the log event!
         d->allowRT = true;
+        *this << Logger::Warning << "Enabling Real-Time Logging !" <<Logger::endl;
     }
     void Logger::disallowRealTime() {
         *this << Logger::Warning << "Disabling Real-Time Logging !" <<Logger::endl;
@@ -420,19 +413,25 @@ namespace RTT
 
     Logger& Logger::in(const std::string& modname)
     {
+        if ( !d->maylog() )
+            return *this;
         os::MutexLock lock( d->inpguard );
         d->moduleptr = modname.c_str();
         return *this;
     }
 
     Logger& Logger::out(const std::string& oldmod)
     {
+        if ( !d->maylog() )
+            return *this;
         os::MutexLock lock( d->inpguard );
         d->moduleptr = oldmod.c_str();
         return *this;
     }
 
     std::string Logger::getLogModule() const {
+        if ( !d->maylog() )
+            return "";
         os::MutexLock lock( d->inpguard );
         std::string ret = d->moduleptr.c_str();
         return ret;
@@ -504,16 +503,13 @@ namespace RTT
 #ifdef OROSEM_REMOTE_LOGGING
         if (!d->started)
             return "";
+
+        os::MutexLock lock( d->inpguard );
         std::string line;
-        {
-            os::MutexLock lock( d->inpguard );
-            getline( d->remotestream, line );
-            if ( !d->remotestream )
-                d->remotestream.clear();
-        }
-        if ( !line.empty() )
-            --d->messagecnt;
-        return line;
+        if(d->remotestring.Pop(line))
+            return line;
+        else
+            return "";
 #else
         return "";
 #endif
@@ -583,9 +579,6 @@ namespace RTT
             if ( d->maylogStdOut() ) {
 #ifndef OROSEM_PRINTF_LOGGING
                 d->stdoutput->flush();
-#endif
-#if defined(OROSEM_REMOTE_LOGGING)
-                d->remotestream.flush();
 #endif
             }
 #if defined(OROSEM_FILE_LOGGING)

diff --git a/rtt/Property.hpp b/rtt/Property.hpp
@@ -165,7 +165,7 @@ namespace RTT
          * @post ready() will be true if datasource is a valid pointer.
          */
         Property(const std::string& name, const std::string& description,
-                 typename internal::AssignableDataSource<DataSourceType>::shared_ptr datasource )
+                 const typename internal::AssignableDataSource<DataSourceType>::shared_ptr& datasource )
             : base::PropertyBase(name, description), _value( datasource )
         {
             // need to do this on the datasource in order to have access to set()/rvalue() of the data source.
@@ -373,14 +373,21 @@ namespace RTT
             return new Property<T>(*this);
         }
 
-        virtual Property<T>* copy() const
+        virtual Property<T>* create() const
         {
-            return new Property<T>( _name, _description, _value );
+            return new Property<T>( _name, _description, T() );
         }
 
-        virtual Property<T>* create() const
+        virtual Property<T>* create( const base::DataSourceBase::shared_ptr& datasource ) const
         {
-            return new Property<T>( _name, _description, T() );
+            typename internal::AssignableDataSource<DataSourceType>::shared_ptr value
+                    = internal::AssignableDataSource<DataSourceType>::narrow( datasource.get() );
+            Property<T>* prop = new Property<T>( _name, _description, value );
+            if ( datasource && !prop->ready() ) {
+                log(Error) << "Cannot initialize Property: "
+                           << "incompatible type ( destination type: " << getType() << ", source type: " << datasource->getTypeName() << ")." << endlog();
+            }
+            return prop;
         }
 
         virtual base::DataSourceBase::shared_ptr getDataSource() const {

diff --git a/rtt/PropertyBag.cpp b/rtt/PropertyBag.cpp
@@ -233,7 +233,7 @@ namespace RTT
 
         for( const_iterator i = orig.mproperties.begin(); i != orig.mproperties.end(); ++i) {
             if ( orig.ownsProperty( *i ) ) {
-                PropertyBase* copy = (*i)->copy();
+                PropertyBase* copy = (*i)->create( (*i)->getDataSource() );
                 this->ownProperty( copy );
             } else {
                 this->add( *i );
@@ -615,7 +615,7 @@ namespace RTT
                             temp->update( (*sit) );
                         }
                         // step 3 : add result to target bag.
-                        target.add( temp );
+                        target.ownProperty( temp );
                     }
             }
             ++it;

diff --git a/rtt/Service.cpp b/rtt/Service.cpp
@@ -40,8 +40,6 @@
 #include "TaskContext.hpp"
 #include <algorithm>
 #include "internal/mystd.hpp"
-#include <boost/lambda/lambda.hpp>
-#include <boost/lambda/construct.hpp>
 #include <algorithm>
 
 namespace RTT {
@@ -223,7 +221,10 @@ namespace RTT {
             simpleoperations.erase(simpleoperations.begin() );
         }
 
-        for_each(ownedoperations.begin(),ownedoperations.end(), lambda::delete_ptr() );
+        for( OperationList::const_iterator it = ownedoperations.begin(); it != ownedoperations.end(); ++it )
+        {
+            delete *it;
+        }
         ownedoperations.clear();
 
         OperationInterface::clear();

diff --git a/rtt/ServiceRequester.cpp b/rtt/ServiceRequester.cpp
@@ -134,6 +134,7 @@ namespace RTT
     }
 
     bool ServiceRequester::connectTo( Service::shared_ptr sp) {
+        if (!sp) return false;
         for (OperationCallers::iterator it = mmethods.begin(); it != mmethods.end(); ++it) {
             if ( !it->second->ready() ) {
                 if (sp->hasOperation( it->first )) {

diff --git a/rtt/base/PropertyBase.hpp b/rtt/base/PropertyBase.hpp
@@ -179,18 +179,18 @@ namespace RTT
         virtual PropertyBase* clone() const = 0;
 
         /**
-         * Deliver a shallow copy of this PropertyBase with a shared
-         * DataSource. The original may be deleted and the clone can be
-         * transparantly used in its place or vice versa.
+         * Create a new default instance of the PropertyBase.
+         * This is a factory method to 'make something of the same type'.
+         * The new PropertyBase has the same name and description as this.
          */
-        virtual PropertyBase* copy() const = 0;
+        virtual PropertyBase* create() const = 0;
 
         /**
-         * Create a new default instance of the PropertyBase.
+         * Create a new instance of the PropertyBase with a custom data source.
          * This is a factory method to 'make something of the same type'.
          * The new PropertyBase has the same name and description as this.
          */
-        virtual PropertyBase* create() const = 0;
+        virtual PropertyBase* create( const base::DataSourceBase::shared_ptr& datasource ) const = 0;
 
         /**
          * Get an assignable base::DataSource through which this PropertyBase