ROS service type generation and API

Squashed merge commit from the 'srv' branch

Author: jdlangs

.travis.yml

@@ -2,6 +2,7 @@ language: julia
 julia:
   - release
   - nightly
+
 before_install:
   - sudo apt-add-repository -y "deb http://packages.ros.org/ros/ubuntu precise main"
   - wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
@@ -14,7 +15,7 @@ before_script:
   - source /opt/ros/hydro/setup.sh
   - roscore &
   - sleep 5
-  - python test/republish.py &
+  - python test/echonode.py &
   - sleep 5
 after_script:
   - killall roscore

README.md

@@ -7,9 +7,10 @@
 ### Description
 
 This package enables interfacing Julia code with a ROS ([Robot Operating
-System](http://wiki.ros.org)) system. It works by generating native Julia types for
-ROS messages, the same as in C++ or Python, and then wrapping rospy through the
-PyCall package to get communication through topics and parameters.
+System](http://wiki.ros.org)) system. It works by generating native Julia types
+for ROS types, the same as in C++ or Python, and then wrapping rospy through
+the PyCall package to get communication through topics, services, and
+parameters.
 
 ### Installation
 
@@ -28,18 +29,18 @@ directly to version 1.0.
 
 ## Usage: Type Generation
 
-ROS message types are brought into your program with the `@rosimport` macro
-which specifies a package and one or more types. The three valid forms can be
-seen here:
+ROS types are brought into your program with the `@rosimport` macro which
+specifies a package and one or more types. The three valid syntax forms can be
+seen in these examples:
 
     @rosimport std_msgs.msg.Header
-    @rosimport geometry_msgs.msg: PoseStamped
-    @rosimport sensor_msgs.msg: Imu, Image
+    @rosimport nav_msgs.srv: GetPlan
+    @rosimport geometry_msgs.msg: PoseStamped, Vector3
 
-`@rosimport` will bring in the python modules for the requested type and all
+`@rosimport` will import the python modules for the requested type and all
 its dependencies but the native Julia types are not created yet since any
 inter-module dependencies have to be resolved first. After the final
-`@rosimport` call, initiate the message generation with:
+`@rosimport` call, initiate the type generation with:
 
     rostypegen()
 
@@ -125,6 +126,20 @@ example:
     sub2 = Subscriber{Imu}("topic", cb2, queue_size = 10)
     spin()
 
+### Using services
+
+ROS services are fully supported, including automatic request and response type
+generation. For the `@rosimport` call, use the plain service type name. After
+`rostypegen()`, the generated `.srv` submodule will contain 3 types: the plain
+type, a request type, and a response type. For example `GetPlan`,
+`GetPlanRequest`, and `GetPlanResponse`. To provide the service to other nodes,
+you would create a `Service{GetPlan}` object. To call it, a
+`ServiceProxy{GetPlan}` object. The syntax exactly matches rospy to construct
+and use these objects. The only exception is in Julia v0.3, where the `call`
+method is not overloaded for objects. In that case, you must call the
+`ServiceProxy` via `call(myproxy, myreq)` instead of the rospy method of
+`myproxy(myreq)` which works in later versions of Julia.
+
 ### Parameter Server
 
 `get_param`, `set_param`, `has_param`, and `delete_param` are all implemented
@@ -165,19 +180,29 @@ republishes them as Points.
     rostypegen()
     using geometry_msgs.msg
 
-    callback(msg::Pose2D, pub_obj::Publisher{Point}) = begin
+    function callback(msg::Pose2D, pub_obj::Publisher{Point})
         pt_msg = Point(msg.x, msg.y, 0.0)
         publish(pub_obj, pt_msg)
     end
-    pub = Publisher{Point}("pts", queue_size=10)
-    sub = Subscriber{Pose2D}("pose", callback, (pub,), queue_size=10)
-
-    init_node("rosjl_example")
-    loop_rate = Rate(5.0)
-    while ! is_shutdown()
-        npt = Point(rand(), rand(), 0.0)
-        publish(pub, npt)
-        sleep(loop_rate)
+
+    function loop(pub_obj)
+        loop_rate = Rate(5.0)
+        while ! is_shutdown()
+            npt = Point(rand(), rand(), 0.0)
+            publish(pub_obj, npt)
+            sleep(loop_rate)
+        end
+    end
+
+    function main()
+        init_node("rosjl_example")
+        pub = Publisher{Point}("pts", queue_size=10)
+        sub = Subscriber{Pose2D}("pose", callback, (pub,), queue_size=10)
+        loop(pub)
+    end
+
+    if ! isinteractive()
+        main()
     end
 
 ## Versions

deps/build.jl

@@ -0,0 +1,2 @@
+#Temp hack because PyCall's current release doesn't work at all on v0.4
+Pkg.checkout("PyCall")

src/RobotOS.jl

@@ -1,12 +1,5 @@
 module RobotOS
 
-#Interior code can use this macro for debugging output
-macro debug(expr, other...)
-    :(if _debug_output println($expr,$(other...)) end)
-end
-_debug_output = false
-debug(d::Bool) = global _debug_output = d
-
 using PyCall
 const __rospy__ = try
     pywrap(pyimport("rospy"))
@@ -20,9 +13,11 @@ end
 py_sys = pyimport("sys")
 py_sys["argv"] = ARGS
 
+include("debug.jl")
 include("time.jl")
 include("gentypes.jl")
 include("rospy.jl")
 include("pubsub.jl")
+include("services.jl")
 
 end

src/debug.jl

@@ -0,0 +1,17 @@
+#Debugging helper utils
+_debug_output = false
+_debug_indent = 0
+debug(d::Bool) = global _debug_output = d
+macro debug(expr, other...)
+    :(if _debug_output
+        print(repeat("\t", _debug_indent))
+        println($expr,$(other...)) 
+      end)
+end
+macro debug_addindent()
+    :(global _debug_indent += 1)
+end
+macro debug_subindent()
+    :(global _debug_indent -= 1)
+end
+