Merge remote-tracking branch 'origin/toolchain-2.9' into move-typekits-back-to-rtt_common_msgs

typekits/rtt_std_msgs/include/orocos/std_msgs/vector_multi_array_adapter.h

Author: spd-intermodalics

.travis.yml

@@ -1,35 +1,43 @@
-sudo: required
-dist: trusty
-language: generic
-compiler:
-  - gcc
-before_install:
-  # Define some config vars
-  - export ROS_DISTRO=indigo
-  - export CI_SOURCE_PATH=$(pwd)
-  # Bootstrap a minimal ROS installation
-  - git clone https://github.com/orocos/ros_ci_tools /tmp/ros_ci_tools && export PATH=/tmp/ros_ci_tools:$PATH
-  - ros_ci_bootstrap
-  - source /opt/ros/$ROS_DISTRO/setup.bash
-  # Clone https://github.com/orocos/rtt_common_msgs.git (default branch)
-  - git clone https://github.com/orocos/rtt_common_msgs.git
-  # Create non-isolated workspace
-  - mkdir -p ~/ws/src
-  - pushd ~/ws/src
-  - ln -s $CI_SOURCE_PATH
-  - popd
-  - rosdep install -r --from-paths ~/ws/src --ignore-src --rosdistro $ROS_DISTRO -y > /dev/null
-  # Source the ROS setup script again due to eventually updated env-hooks
-  - source /opt/ros/$ROS_DISTRO/setup.bash
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
 
-install:
-  # build the normal catkin workspace
-  - pushd ~/ws
-  - catkin_make -j2
+language: generic # optional, just removes the language badge
+
+services:
+  - docker
+
+# include the following block if the C/C++ build artifacts should get cached by Travis,
+# CCACHE_DIR needs to get set as well to actually fill the cache
+cache:
+  directories:
+    - $HOME/.ccache
+
+git:
+  quiet: true # optional, silences the cloning of the target repository
 
+# limit automatic builds to certain branches (and pull requests)
+branches:
+  only:
+  - master
+  - /^toolchain-[\d\.]+[\d]$/
+
+# configure the build environment(s)
+# https://github.com/ros-industrial/industrial_ci/blob/master/doc/index.rst#variables-you-can-configure
+env:
+  global: # global settings for all jobs
+    - ROS_REPO=ros
+    - CCACHE_DIR=$HOME/.ccache # enables C/C++ caching in industrial_ci
+  matrix: # each line is a job
+    - ROS_DISTRO="kinetic"
+    #- ROS_DISTRO="melodic"
+
+# allow failures, e.g. for unsupported distros
+#matrix:
+#  allow_failures:
+#    - env: ROS_DISTRO="lunar" ROS_REPO=ros-shadow-fixed
+
+# clone and run industrial_ci
+install:
+  - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .industrial_ci
 script:
-  # Run tests
-  - source devel/setup.bash
-  - catkin_make run_tests
-  - catkin_test_results
-  #- catkin_make install
+  - .industrial_ci/travis.sh

LICENSE

@@ -0,0 +1,26 @@
+Copyright (c) 2010, KU Leuven, Intermodalics BVBA and contributors
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors
+   may be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

README.md

@@ -326,3 +326,40 @@ respectively. See [rtt_roscomm](rtt_roscomm) for more information.
 The `rtt_actionlib` package provides a C++ API and an RTT service for
 implementing [actionlib](http://www.ros.org/wiki/actionlib) actions with Orocos
 RTT components. See [rtt_actionlib](rtt_actionlib) for more information.
+
+## Acknowledgement
+
+Many thanks to [all the contributors](https://github.com/orocos/rtt_ros_integration/graphs/contributors) to this repository.
+
+- Peter Soetens
+- Ruben Smits
+- Jonathan Bohren
+- Johannes Meyer
+- Antoine Hoarau
+- Steven Bellens
+- ...and [others](https://github.com/orocos/rtt_ros_integration/graphs/contributors).
+
+This work has been funded with support from
+
+<a href="https://www.houstonmechatronics.com/">
+  <img src="https://s27934.pcdn.co/wp-content/uploads/2020/03/HMI_LOGO_OLD_Black_01-1.png"
+       alt="Houston Mechatronics Logo" height="60">
+
+  Houston Mechatronics
+</a>
+
+and
+
+<a href="http://rosin-project.eu">
+  <img src="http://rosin-project.eu/wp-content/uploads/rosin_ack_logo_wide.png" 
+       alt="rosin_logo" height="60" >
+</a>
+
+Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.  
+More information: <a href="http://rosin-project.eu">rosin-project.eu</a>
+
+<img src="http://rosin-project.eu/wp-content/uploads/rosin_eu_flag.jpg" 
+     alt="eu_flag" height="45" align="left" >  
+
+This project has received funding from the European Union’s Horizon 2020  
+research and innovation programme under grant agreement no. 732287.

rtt_actionlib/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package rtt_actionlib
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.9.2 (2019-05-15)
+------------------
+
 2.9.1 (2017-11-16)
 ------------------
 

rtt_actionlib/README.md

@@ -138,14 +138,102 @@ some_component_name.actionlib.connectSub(
 
 ```
 
+### RTTSimpleActionServer 
+
+`RTTSimpleActionServer` is simple version of action server which able to pursue only one goal at one time.
+It depends on EventPort callbacks so unable to function if component is not Running or callbacks behavior is changed by redefining `dataOnPortHook()`.
+
+`RTTSimpleActionServer` implements following goal policy:
+* New goals gets PENDING status and stored in buffer. It cancels old pending goal if it presents.
+    After receiving new goal `newGoalHook` callback is called, also `isPending()` and `getPendingGoal()` methods can be used to poll pending goal.
+* Pending goal can be accepted (`acceptPending()`) or rejected (`rejectPending()`). If accepted pending goal preempts current active goal if it presents. So only one goal can be active at time.
+* State of active goal can be checked with `isActive()`, `getActiveGoal()` and `isPreemting()` calls.
+* Cancel request causes pending goal to be canceled immediately. Active goal changes state to PREEMTING and `cancelGoalHook` is called. Preemting state can be checked by `isPreemting()` call.
+* State of active goal can be changed by `succeedActive()`, `cancelActive()`, `abortActive()` calls.
+
+```cpp
+class Component : public TaskContext
+{
+    protected:
+        // Goal, Feedback, Result typedefs
+        ACTION_DEFINITION(ActionSpec);    
+
+    protected:
+        RTTSimpleActionServer<ActionSpec> action_server;
+        // Current goal cache
+        Goal goal;
+
+        // new pending goal is received
+        void newGoalHook(const Goal& pending_goal) {
+            // check if goal is valid
+            if (!isOk(pending_goal)) action_server.rejectPending(result);
+            else { 
+                goal = pending_goal;
+                action_server.acceptPending(result);
+            }
+        }
+
+        // active goal is being cancelled.
+        void cancelGoalHook() {
+            // cancel goal
+            action_server.cancelActive(result);
+        }
+
+
+    public:
+        Component(std::string const& name) : 
+            action_server(this->provides())
+        {
+            // action server hook registration
+            action_server.setGoalHook(boost::bind(&SomeComponent::newGoalHook, this, _1));
+            action_server.setCancelHook(boost::bind(&SomeComponent::cancelGoalHook, this));
+        }
+
+        bool updateHook() {
+            if (action_server.isActive()) {
+                // pursue goal
+            }
+        }
+
+        void stopHook() {
+            action_server.abortActive(result);
+            action_server.rejectPending(Result());
+        }
+};
+```
+
+Alternatively goal state changes can be monitored in `updateHook()`:
+
+```cpp
+        bool updateHook() {
+            if (action_server.isPending()) {
+                if (! isOk(getPendingGoal())) rejectPending(Result());
+                else {
+                    Result active_goal_result;
+                    // make preparation
+                    goal = *getPendingGoal();
+                    acceptPending(active_goal_result);
+                }
+
+            }
+            if (action_server.isActive()) {
+                // pursue goal
+            }
+            else if (action_server.isPreemting()) {
+               Result active_goal_result;
+               // cancel goal
+               action_server.cancelActive(active_goal_result);
+            }
+        }
+```
+
 Future Work
 -----------
 
 * Add operation to actionlib service which connects goal/cancel callbacks to
   given RTT operations so that any RTT component with operations with the right
   types can be bound to an actionlib service
 * Add action client support.
-* Add a "simple" mode which implememnts a policy like SimpleActionServer
 
 
 

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,