Updated time API to not conflict with Base

Author: jdlangs

README.md

@@ -69,11 +69,9 @@ regenerated, the first version will remain.
 
 ## Usage: ROS API
 
-In general, the ROS api functions directly match those provided in rospy, with
-few cosmetic differences. The API functions can reviewed here:
-[http://wiki.ros.org/rospy/Overview](http://wiki.ros.org/rospy/Overview) The
-only large differences are the current lack of services, and custom ROS
-exceptions.
+In general, the API functions provided directly match those provided in rospy,
+with few cosmetic differences. The rospy API functions can reviewed here:
+[http://wiki.ros.org/rospy/Overview](http://wiki.ros.org/rospy/Overview)
 
 ### General Functions
 
@@ -92,12 +90,13 @@ for the rospy Rate, which keeps loops running on a near fixed time interval. It
 can be constructed with a `Duration` object, or a floating-point value,
 specifying the loop rate in Hz. Other functions are:
 
-- `get_rostime()`, `now()` : Current time as `Time` object.
+- `get_rostime()`, `RobotOS.now()` : Current time as `Time` object.
 - `to_sec(time_obj)`, `convert(Float64, time_obj)` : Convert `Time` or
 `Duration` object to floating-point number of seconds.
 - `to_nsec(time_obj)` : Convert object to integral number of nanoseconds.
-- `sleep(t::Duration)`, `sleep(t::FloatingPoint)`, `sleep(t::Rate)` : Sleep the
-amount implied by type and value of the `t` parameter.
+- `rossleep(t)` with `t` of type `Duration`, `Rate`, `Real`. Also
+`sleep(t::Duration)` and `sleep(t::Rate)` : Sleep the amount implied by type
+and value of the `t` parameter.
 
 ### Publishing Messages
 

src/time.jl

@@ -1,7 +1,7 @@
 #All time related types and functions
 
-import Base: convert, isless
-export Time, Duration, Rate, to_sec, to_nsec, get_rostime
+import Base: convert, isless, sleep
+export Time, Duration, Rate, to_sec, to_nsec, get_rostime, rossleep
 
 #Time type definitions
 abstract TVal
@@ -59,8 +59,7 @@ convert(::Type{PyObject}, t::Duration) = __rospy__.Duration(t.secs,t.nsecs)
 #Real number conversions
 to_sec{T<:TVal}(t::T) = float64(t.secs) + 1e-9*float64(t.nsecs)
 to_nsec{T<:TVal}(t::T) = 1_000_000_000*t.secs + t.nsecs
-#seems to be broken
-#convert{T<:TVal}(::Type{Float64}, t::T) = to_sec(t)
+convert{T<:TVal}(::Type{Float64}, t::T) = to_sec(t)
 
 #Comparisons
 =={T<:TVal}(t1::T, t2::T)     = (t1.secs == t2.secs) && (t1.nsecs == t2.nsecs)
@@ -98,6 +97,8 @@ function get_rostime()
 end
 now() = get_rostime()
 
-sleep(t::Duration) = __rospy__.sleep(convert(PyObject, t))
-sleep(t::Real) = __rospy__.sleep(t)
-sleep(r::Rate) = pycall(r.o["sleep"], PyAny)
+rossleep(t::Real) = __rospy__.sleep(t)
+rossleep(t::Duration) = __rospy__.sleep(convert(PyObject, t))
+rossleep(r::Rate) = pycall(r.o["sleep"], PyAny)
+sleep(t::Duration) = rossleep(t)
+sleep(t::Rate) = rossleep(t)

test/pubsub.jl

@@ -30,14 +30,14 @@ const ros_sub = Subscriber{PoseStamped}("poses", pose_cb, (msgs,), queue_size =
 
 #First message doesn't go out for some reason
 publish(ros_pub, Vector3(1.1,2.2,3.3))
-RobotOS.sleep(1.0)
+rossleep(Duration(1.0))
 
 const r = Rate(20.0)
 for i=1:Nmsgs
     publish(ros_pub, refs[i])
-    RobotOS.sleep(r)
+    rossleep(r)
 end
-RobotOS.sleep(1.0)
+rossleep(Duration(1.0))
 println("Received ",length(msgs)," / ",Nmsgs)
 
 @test length(msgs) == Nmsgs

test/services.jl

@@ -36,14 +36,14 @@ call(srvcall, EmptyRequest())
 #Wait for call from echo
 println("Waiting for service call from echo..")
 while ! (flag[1] || is_shutdown())
-    RobotOS.sleep(Duration(0.1))
+    rossleep(Duration(0.1))
 end
 println("Response sent")
 
 #Listen for message replies caught by the geomety_msgs/PoseStamped subscriber
 #in pubsub.jl which populates the msgs global variable
 if flag[1]
-    RobotOS.sleep(Duration(2.0))
+    rossleep(Duration(2.0))
     @test length(msgs) == Nposes
     for i=1:Nposes
         @test_approx_eq(msgs[i].pose.position.z, i)

test/typegeneration.jl

@@ -6,7 +6,7 @@ using Compat
 @rosimport geometry_msgs.msg: PoseStamped, Vector3
 @rosimport std_srvs.srv.Empty
 @rosimport nav_msgs.srv.GetPlan
-@rosimport std_msgs.msg: Float64, String, Int8MultiArray
+@rosimport std_msgs.msg: Float64, String
 rostypegen()
 
 @test isdefined(:geometry_msgs)
@@ -67,5 +67,3 @@ emptymsg = std_msgs.msg.Empty()
 #Issue #7 - Renaming conflicting message types
 @test isdefined(std_msgs.msg, :Float64Msg)
 @test isdefined(std_msgs.msg, :StringMsg)
-intarr = std_msgs.msg.Int8MultiArray()
-@test typeof(intarr.data) == Vector{Int8}