Merge pull request #68 from schmrlng/pycall_api_update

Changes for PyCall API update getindex -> getproperty; fix #67

Author: jdlangs

.travis.yml

@@ -2,22 +2,26 @@ language: julia
 julia:
   - 0.7
   - 1.0
+  - 1.1
   - nightly
+matrix:
+  allow_failures:
+    - julia: nightly
 sudo: required
-dist: trusty
+dist: xenial
 env:
   global:
     - PYTHON=python
 before_install:
-  - sudo apt-add-repository -y "deb http://packages.ros.org/ros/ubuntu trusty main"
+  - sudo apt-add-repository -y "deb http://packages.ros.org/ros/ubuntu xenial main"
   - wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
   - sudo apt-get update
-  - sudo apt-get -y install ros-indigo-ros-base ros-indigo-common-msgs
+  - sudo apt-get -y install ros-kinetic-ros-base ros-kinetic-common-msgs
   - sudo rosdep init
   - rosdep update
 before_script:
   - export PATH=/usr/bin:$PATH
-  - source /opt/ros/indigo/setup.sh
+  - source /opt/ros/kinetic/setup.sh
   - roscore &
   - sleep 5
   - python test/echonode.py &

REQUIRE

@@ -1,2 +1,2 @@
 julia 0.7
-PyCall 1.17.1
+PyCall 1.90.0

docs/src/index.md

@@ -175,12 +175,12 @@ if `myproxy` is a `ServiceProxy` object, it can be called with
 in the `RobotOS` module with the same syntax as in rospy.
 
 ### Message Constants
-Message constants may be accessed using `getindex` syntax. For example for
+Message constants may be accessed using `getproperty` syntax. For example for
 [visualization_msgs/Marker.msg](http://docs.ros.org/api/visualization_msgs/html/msg/Marker.html)
 we have:
 
     import .visualization_msgs.msg: Marker
-    Marker[:SPHERE] == getindex(Marker, :SPHERE) == 2   # true
+    Marker.SPHERE == getproperty(Marker, :SPHERE) == 2   # true
 
 ## ROS Integration
 

src/RobotOS.jl

@@ -18,11 +18,11 @@ include("callbacks.jl")
 function __init__()
     #Put julia's ARGS into python's so remappings will work
     copy!(_py_sys, pyimport("sys"))
-    _py_sys["argv"] = ARGS
+    _py_sys."argv" = ARGS
 
     #Fill in empty PyObjects
-    if ! (dirname(@__FILE__) in _py_sys["path"])
-        pushfirst!(_py_sys["path"], dirname(@__FILE__))
+    if ! (dirname(@__FILE__) in _py_sys."path")
+        pushfirst!(_py_sys."path", dirname(@__FILE__))
     end
     copy!(_py_ros_callbacks, pyimport("ros_callbacks"))
 

src/callbacks.jl

@@ -18,18 +18,18 @@ function _callback_async_loop(rosobj, cond)
 end
 
 function _run_callbacks(sub::Subscriber{M}) where M
-    while pycall(sub.queue["size"], PyAny) > 0
-        msg = pycall(sub.queue["get"], PyObject)
+    while pycall(sub.queue."size", PyAny) > 0
+        msg = pycall(sub.queue."get", PyObject)
         sub.callback(convert(M, msg), sub.callback_args...)
     end
 end
 
 function _run_callbacks(srv::Service{T}) where T
     ReqType = _srv_reqtype(T)
 
-    req = pycall(srv.cb_interface["get_request"], PyObject)
+    req = pycall(srv.cb_interface."get_request", PyObject)
     response = srv.handler(convert(ReqType, req))
 
     #Python callback is blocking until the response is ready
-    pycall(srv.cb_interface["set_response"], PyAny, convert(PyObject, response))
+    pycall(srv.cb_interface."set_response", PyAny, convert(PyObject, response))
 end

src/gentypes.jl

@@ -183,7 +183,7 @@ function addtype!(mod::ROSMsgModule, typ::String)
         end
         pymod, pyobj = _pyvars(_fullname(mod), typ)
 
-        deptypes = pyobj[:_slot_types]
+        deptypes = pyobj._slot_types
         _importdeps!(mod, deptypes)
 
         push!(mod.members, typ)
@@ -199,15 +199,15 @@ function addtype!(mod::ROSSrvModule, typ::String)
         @debug("Service type import: ", _fullname(mod), ".", typ)
         pymod, pyobj = _pyvars(_fullname(mod), typ)
 
-        if ! haskey(pyobj, "_request_class")
+        if ! PyCall.hasproperty(pyobj, "_request_class")
             error(string("Incorrect service name: ", typ))
         end
 
         #Immediately import dependencies from the Request/Response classes
         #Repeats are OK
-        req_obj = pymod[string(typ,"Request")]
-        resp_obj = pymod[string(typ,"Response")]
-        deptypes = [req_obj[:_slot_types]; resp_obj[:_slot_types]]
+        req_obj = getproperty(pymod, string(typ,"Request"))
+        resp_obj = getproperty(pymod, string(typ,"Response"))
+        deptypes = [req_obj._slot_types; resp_obj._slot_types]
         _importdeps!(mod, deptypes)
 
         push!(mod.members, typ)
@@ -222,7 +222,7 @@ end
 function _pyvars(modname::String, typ::String)
     pymod = _import_rospy_pkg(modname)
     pyobj =
-        try pymod[typ]
+        try getproperty(pymod, typ)
         catch ex
             isa(ex, KeyError) || rethrow(ex)
             error("Message type '$typ' not found in ROS package '$modname', ",
@@ -269,7 +269,7 @@ function _import_rospy_pkg(package::String)
             _rospy_modules[package] = pyimport(package)
         catch ex
             show(ex)
-            error("python import error: $(ex.val[:args][1])")
+            error("python import error: $(ex.val.args[1])")
         end
     end
     _rospy_modules[package]
@@ -324,7 +324,7 @@ function modulecode(mod::ROSModule, rosrootmod::Module)
     push!(modcode,
         quote
             using PyCall
-            import Base: convert, getindex
+            import Base: convert, getproperty
             import RobotOS
             import RobotOS.Time
             import RobotOS.Duration
@@ -390,8 +390,8 @@ function buildtype(mod::ROSMsgModule, typename::String)
     global _rospy_objects
     fulltypestr = _rostypestr(mod, typename)
     pyobj = _rospy_objects[fulltypestr]
-    memnames = pyobj[:__slots__]
-    memtypes = pyobj[:_slot_types]
+    memnames = pyobj.__slots__
+    memtypes = pyobj._slot_types
     members = collect(zip(memnames, memtypes))
 
     typecode(fulltypestr, :AbstractMsg, members)
@@ -404,16 +404,16 @@ function buildtype(mod::ROSSrvModule, typename::String)
 
     req_typestr = _rostypestr(mod, string(typename,"Request"))
     reqobj = _rospy_objects[req_typestr]
-    memnames = reqobj[:__slots__]
-    memtypes = reqobj[:_slot_types]
+    memnames = reqobj.__slots__
+    memtypes = reqobj._slot_types
     reqmems = collect(zip(memnames, memtypes))
     pyreq  = :(RobotOS._rospy_objects[$req_typestr])
     reqexprs  = typecode(req_typestr, :AbstractSrv, reqmems)
 
     resp_typestr = _rostypestr(mod, string(typename,"Response"))
     respobj = _rospy_objects[resp_typestr]
-    memnames = respobj[:__slots__]
-    memtypes = respobj[:_slot_types]
+    memnames = respobj.__slots__
+    memtypes = respobj._slot_types
     respmems = collect(zip(memnames, memtypes))
     pyresp = :(RobotOS._rospy_objects[$resp_typestr])
     respexprs = typecode(resp_typestr, :AbstractSrv, respmems)
@@ -436,7 +436,7 @@ end
 # (2) Default outer constructer with no arguments
 # (3) convert(PyObject, ...)
 # (4) convert(..., o::PyObject)
-# (5) getindex for accessing member constants
+# (5) getproperty for accessing member constants
 function typecode(rosname::String, super::Symbol, members::Vector)
     tname = _splittypestr(rosname)[2]
     @debug("Type: ", tname)
@@ -477,17 +477,27 @@ function typecode(rosname::String, super::Symbol, members::Vector)
     #(4) Convert from PyObject
     push!(exprs, :(
         function convert(jlt::Type{$jlsym}, o::PyObject)
-            if convert(String, o["_type"]) != _typerepr(jlt)
+            if convert(String, o."_type") != _typerepr(jlt)
                 throw(InexactError(:convert, $jlsym, o))
             end
             jl = $jlsym()
             #Generated code here
             jl
         end
     ))
-    #(5) Accessing member variables through getindex
+    #(5) Accessing member variables through getproperty
     push!(exprs, :(
-        getindex(::Type{$jlsym}, s::Symbol) = RobotOS._rospy_objects[$rosname][s]
+        function getproperty(::Type{$jlsym}, s::Symbol)
+            try getproperty(RobotOS._rospy_objects[$rosname], s)
+            catch ex
+                isa(ex, KeyError) || rethrow(ex)
+                try getfield($jlsym, s)
+                catch ex2
+                    startswith(ex2.msg, "type DataType has no field") || rethrow(ex2)
+                    error("Message type '" * $("$jlsym") * "' has no property '$s'.")
+                end
+            end
+        end
     ))
 
     #Now add the meat to the empty expressions above
@@ -534,25 +544,25 @@ function _addtypemember!(exprs, namestr, typestr)
     if arraylen >= 0
         memexpr = :($namesym::Array{$j_typ,1})
         defexpr = :([$j_def for i = 1:$arraylen])
-        jlconexpr = :(jl.$namesym = convert(Array{$j_typ,1}, o[$namestr]))
+        jlconexpr = :(jl.$namesym = convert(Array{$j_typ,1}, o.$namestr))
 
         #uint8[] is string in rospy and PyCall's conversion to bytearray is
         #rejected by ROS
         if j_typ == :UInt8
-            pyconexpr = :(py[$namestr] =
+            pyconexpr = :(py.$namestr =
                 pycall(pybuiltin("str"), PyObject, PyObject(o.$namesym))
             )
         elseif _isrostype(typestr)
-            pyconexpr = :(py[$namestr] =
+            pyconexpr = :(py.$namestr =
                 convert(Array{PyObject,1}, o.$namesym))
         else
-            pyconexpr = :(py[$namestr] = o.$namesym)
+            pyconexpr = :(py.$namestr = o.$namesym)
         end
     else
         memexpr = :($namesym::$j_typ)
         defexpr = j_def
-        jlconexpr = :(jl.$namesym = convert($j_typ, o[$namestr]))
-        pyconexpr = :(py[$namestr] = convert(PyObject, o.$namesym))
+        jlconexpr = :(jl.$namesym = convert($j_typ, o.$namestr))
+        pyconexpr = :(py.$namestr = convert(PyObject, o.$namesym))
     end
     push!(typeargs, memexpr)
     insert!(jlconargs, length(jlconargs), jlconexpr)

src/pubsub.jl

@@ -14,7 +14,7 @@ struct Publisher{MsgType<:AbstractMsg}
     function Publisher{MT}(topic::AbstractString; kwargs...) where MT <: AbstractMsg
         @debug("Creating <$(string(MT))> publisher on topic: '$topic'")
         rospycls = _get_rospy_class(MT)
-        return new{MT}(__rospy__[:Publisher](ascii(topic), rospycls; kwargs...))
+        return new{MT}(__rospy__.Publisher(ascii(topic), rospycls; kwargs...))
     end
 end
 
@@ -27,7 +27,7 @@ Publisher(topic::AbstractString, ::Type{MT}; kwargs...) where {MT <: AbstractMsg
 Publish `msg` on `p`, a `Publisher` with matching message type.
 """
 function publish(p::Publisher{MT}, msg::MT) where MT <: AbstractMsg
-    pycall(p.o["publish"], PyAny, convert(PyObject, msg))
+    pycall(p.o."publish", PyAny, convert(PyObject, msg))
 end
 
 """
@@ -52,8 +52,8 @@ mutable struct Subscriber{MsgType<:AbstractMsg}
         rospycls = _get_rospy_class(MT)
 
         cond = Base.AsyncCondition()
-        mqueue = _py_ros_callbacks["MessageQueue"](CB_NOTIFY_PTR[], cond.handle)
-        subobj = __rospy__[:Subscriber](ascii(topic), rospycls, mqueue["storemsg"]; kwargs...)
+        mqueue = _py_ros_callbacks."MessageQueue"(CB_NOTIFY_PTR[], cond.handle)
+        subobj = __rospy__.Subscriber(ascii(topic), rospycls, mqueue."storemsg"; kwargs...)
 
         rosobj = new{MT}(cb, cb_args, subobj, mqueue)
         cbloop = Task(() -> _callback_async_loop(rosobj, cond))

src/rospy.jl

@@ -10,17 +10,17 @@ Initialize this node, registering it with the ROS master. All arguments are pass
 the rospy init_node function.
 """
 init_node(name::AbstractString; args...) =
-    __rospy__[:init_node](ascii(name); args...)
+    __rospy__.init_node(ascii(name); args...)
 
 """
     is_shutdown()
 
 Return the shutdown status of the node.
 """
-is_shutdown()          = __rospy__[:is_shutdown]()
+is_shutdown()          = __rospy__.is_shutdown()
 
-get_published_topics() = __rospy__[:get_published_topics]()
-get_ros_root()         = __rospy__[:get_ros_root]()
+get_published_topics() = __rospy__.get_published_topics()
+get_ros_root()         = __rospy__.get_ros_root()
 
 """
     spin()
@@ -45,9 +45,9 @@ default is given, throws a `KeyError` if the parameter cannot be found.
 function get_param(param_name::AbstractString, def=nothing)
     try
         if def == nothing
-            __rospy__[:get_param](ascii(param_name))
+            __rospy__.get_param(ascii(param_name))
         else
-            __rospy__[:get_param](ascii(param_name), def)
+            __rospy__.get_param(ascii(param_name), def)
         end
     catch ex
         throw(KeyError(pycall(pybuiltin("str"), PyAny, ex.val)[2:end-1]))
@@ -60,15 +60,15 @@ end
 Set the value of a parameter on the parameter server.
 """
 set_param(param_name::AbstractString, val) =
-    __rospy__[:set_param](ascii(param_name), val)
+    __rospy__.set_param(ascii(param_name), val)
 
 """
     has_param(param_name)
 
 Return a boolean specifying if a parameter exists on the parameter server.
 """
 has_param(param_name::AbstractString) =
-    __rospy__[:has_param](ascii(param_name))
+    __rospy__.has_param(ascii(param_name))
 
 """
     delete_param(param_name)
@@ -77,23 +77,23 @@ Delete a parameter from the parameter server. Throws a `KeyError` if no such par
 """
 function delete_param(param_name::AbstractString)
     try
-        __rospy__[:delete_param](ascii(param_name))
+        __rospy__.delete_param(ascii(param_name))
     catch ex
         throw(KeyError(pycall(pybuiltin("str"), PyAny, ex.val)[2:end-1]))
     end
 end
 
 #Doesn't work for some reason
 #rospy_search_param(param_name::AbstractString) =
-#    __rospy__[:rospy_search_param](ascii(param_name))
-get_param_names() = __rospy__[:get_param_names]()
+#    __rospy__.rospy_search_param(ascii(param_name))
+get_param_names() = __rospy__.get_param_names()
 
 #Logging API
-logdebug(msg, args...) = __rospy__[:logdebug](msg, args...)
-loginfo(msg, args...)  = __rospy__[:loginfo](msg, args...)
-logwarn(msg, args...)  = __rospy__[:logwarn](msg, args...)
-logerr(msg, args...)   = __rospy__[:logerr](msg, args...)
-logfatal(msg, args...) = __rospy__[:logfatal](msg, args...)
+logdebug(msg, args...) = __rospy__.logdebug(msg, args...)
+loginfo(msg, args...)  = __rospy__.loginfo(msg, args...)
+logwarn(msg, args...)  = __rospy__.logwarn(msg, args...)
+logerr(msg, args...)   = __rospy__.logerr(msg, args...)
+logfatal(msg, args...) = __rospy__.logfatal(msg, args...)
 
 """
     logdebug, loginfo, logwarn, logerr, logfatal
@@ -104,7 +104,7 @@ arguments directly.
 logdebug, loginfo, logwarn, logerr, logfatal
 
 #Node information
-get_name()             = __rospy__[:get_name]()
-get_namespace()        = __rospy__[:get_namespace]()
-get_node_uri()         = __rospy__[:get_node_uri]()
-get_caller_id()        = __rospy__[:get_caller_id]()
+get_name()             = __rospy__.get_name()
+get_namespace()        = __rospy__.get_namespace()
+get_node_uri()         = __rospy__.get_node_uri()
+get_caller_id()        = __rospy__.get_caller_id()