Merge pull request #60 from jhu-lcsr-forks/hydro-devel-merged

Fixes minus ldeployer

Author: jbohren

rtt_dynamic_reconfigure/CMakeLists.txt

@@ -9,8 +9,9 @@ catkin_package(
 )
 
 include_directories(
-  include/orocos
+  BEFORE
   ${catkin_INCLUDE_DIRS}
+  include/orocos
 )
 
 orocos_library(rtt_dynamic_reconfigure src/auto_config.cpp)

rtt_dynamic_reconfigure/include/orocos/rtt_dynamic_reconfigure/auto_config.h

@@ -100,8 +100,8 @@ namespace rtt_dynamic_reconfigure {
 
 template <>
 struct Updater<AutoConfig> {
-    static bool propertiesFromConfig(AutoConfig &config, uint32_t, RTT::PropertyBag &bag) { RTT::refreshProperties(bag, config); }
-    static bool configFromProperties(AutoConfig &config, const RTT::PropertyBag &bag)     { RTT::updateProperties(config, bag); }
+    static bool propertiesFromConfig(AutoConfig &config, uint32_t, RTT::PropertyBag &bag) { return RTT::refreshProperties(bag, config); }
+    static bool configFromProperties(AutoConfig &config, const RTT::PropertyBag &bag)     { return RTT::updateProperties(config, bag); }
 };
 
 template <>

rtt_dynamic_reconfigure/include/orocos/rtt_dynamic_reconfigure/server.h

@@ -44,6 +44,7 @@
 #include <rtt/OperationCaller.hpp>
 
 #include <rtt/internal/DataSources.hpp>
+#include <rtt/internal/GlobalEngine.hpp>
 
 #include <ros/ros.h>
 
@@ -530,6 +531,10 @@ class Server : public RTT::Service
             notify_callback_ = getOwner()->provides()->getLocalOperation("notifyPropertiesUpdate");
         }
 
+        // update_callback_ and notify_callback_ are called from the ROS spinner thread -> set GlobalEngine as caller engine
+        update_callback_.setCaller(RTT::internal::GlobalEngine::Instance());
+        notify_callback_.setCaller(RTT::internal::GlobalEngine::Instance());
+
         // refresh once
         refresh();
     }
@@ -636,10 +641,6 @@ bool getProperty(const std::string &name, const RTT::PropertyBag &bag, ValueType
 
 } // namespace rtt_dynamic_reconfigure
 
-#include <rtt/plugin/ServicePlugin.hpp>
-//#define RTT_DYNAMIC_RECONFIGURE_SERVICE_PLUGIN(CONFIG, NAME) \
-//    ORO_SERVICE_NAMED_PLUGIN(rtt_dynamic_reconfigure::Server<CONFIG>, NAME)
-
 #define RTT_DYNAMIC_RECONFIGURE_SERVICE_PLUGIN(CONFIG, NAME) \
     extern "C" {\
         RTT_EXPORT bool loadRTTPlugin(RTT::TaskContext* tc);  \

rtt_ros/CMakeLists.txt

@@ -60,17 +60,8 @@ orocos_generate_package(
   DEPENDS rostime
 )
 
-install(PROGRAMS 
-  scripts/rtt-upgrade-2.5
-  # Wrapper scripts
-  scripts/deployer
-  scripts/orocreate-pkg
-  scripts/orogen
-  scripts/orogen-unregister
-  scripts/rttlua
-  scripts/rttlua-tlsf
-  scripts/rttscript
-  scripts/typegen
+install(DIRECTORY scripts/
+  USE_SOURCE_PERMISSIONS
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
 install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} )

rtt_ros_msgs/CMakeLists.txt

@@ -37,6 +37,7 @@ find_package(catkin REQUIRED COMPONENTS message_generation std_msgs)
 ## Generate services in the 'srv' folder
 add_service_files(
   FILES
+  Eval.srv
   RunScript.srv
   GetPeerList.srv
   )

rtt_ros_msgs/srv/Eval.srv

@@ -0,0 +1,3 @@
+string code
+---
+bool success

rtt_roscomm/rtt_roscomm_pkg_template/package.xml

@@ -18,7 +18,6 @@
 
   </description>
   <maintainer email="orocos-dev@lists.mech.kuleuven.be">Orocos Developers</maintainer>
-  <author>create_rtt_msgs</author>
   <license>BSD</license>
 
   <buildtool_depend>catkin</buildtool_depend>

rtt_rosdeployment/CMakeLists.txt

@@ -8,7 +8,7 @@ include_directories(${catkin_INCLUDE_DIRS})
 orocos_use_package(ocl-deployment)
 
 orocos_plugin(rtt_rosdeployment src/rtt_rosdeployment_service.cpp)
-target_link_libraries(rtt_rosdeployment ${catkin_LIBRARIES})
+target_link_libraries(rtt_rosdeployment ${catkin_LIBRARIES} ${OROCOS-RTT_RTT-SCRIPTING_LIBRARY})
 
 orocos_generate_package(
   DEPENDS rtt_ros_msgs

rtt_rosdeployment/package.xml

@@ -25,7 +25,10 @@
   <export>
     <rtt_ros>
       <plugin_depend>rtt_rosnode</plugin_depend>
-      <plugin_depend>rtt_ros_msgs</plugin_depend>
+      <!--
+        rtt_ros_msgs is not an RTT plugin
+        <plugin_depend>rtt_ros_msgs</plugin_depend>
+      -->
     </rtt_ros>
   </export>
 </package>

rtt_rosdeployment/src/rtt_rosdeployment_service.cpp

@@ -3,7 +3,9 @@
 #include <rtt/plugin/Plugin.hpp>
 #include <rtt/plugin/ServicePlugin.hpp>
 #include <rtt/internal/GlobalService.hpp>
+#include <rtt/scripting/Scripting.hpp>
 
+#include <rtt_ros_msgs/Eval.h>
 #include <rtt_ros_msgs/RunScript.h>
 #include <rtt_ros_msgs/GetPeerList.h>
 
@@ -24,16 +26,23 @@ class ROSDeploymentService : public RTT::Service
 
   ros::NodeHandle nh_;
 
+  ros::ServiceServer eval_service_;
   ros::ServiceServer run_script_service_;
   ros::ServiceServer get_peer_list_service_;
 
+  bool eval_cb(
+      rtt_ros_msgs::Eval::Request& request,
+      rtt_ros_msgs::Eval::Response& response);
+
   bool run_script_cb(
       rtt_ros_msgs::RunScript::Request& request,
       rtt_ros_msgs::RunScript::Response& response);
 
   bool get_peer_list_cb(
       rtt_ros_msgs::GetPeerList::Request& request,
       rtt_ros_msgs::GetPeerList::Response& response);
+
+  RTT::OperationCaller<bool(std::string const&)> eval_;
 };
 
 
@@ -44,13 +53,25 @@ ROSDeploymentService::ROSDeploymentService(OCL::DeploymentComponent* deployer) :
 {
   if(deployer_) {
     // Create services
+    eval_service_ = nh_.advertiseService("eval",&ROSDeploymentService::eval_cb,this);
     run_script_service_ = nh_.advertiseService("run_script",&ROSDeploymentService::run_script_cb,this);
     get_peer_list_service_ = nh_.advertiseService("get_peer_list",&ROSDeploymentService::get_peer_list_cb,this);
+
+    eval_ = deployer_->getProvider<RTT::Scripting>("scripting")->eval;
   } else {
     RTT::log(RTT::Error) << "Attempted to load the rosdeployment service on a TaskContext which is not an OCL::DeploymentComponent. No ROS services will be advertised." << RTT::endlog();
   }
 }
 
+bool ROSDeploymentService::eval_cb(
+    rtt_ros_msgs::Eval::Request& request,
+    rtt_ros_msgs::Eval::Response& response)
+{
+  if (!eval_.ready()) return false;
+  response.success = eval_(request.code);
+  return true;
+}
+
 bool ROSDeploymentService::run_script_cb(
     rtt_ros_msgs::RunScript::Request& request,
     rtt_ros_msgs::RunScript::Response& response)