Merge pull request ros-industrial#47 from shaun-edwards/hydro-devel

Merged changes from groovy-devel into hydro-devel.
OrebroUniversity · Dec 27, 2013 · c6cd08e · c6cd08e
2 parents 8c5e107 + 2d193d3
commit c6cd08e
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Showing 14 changed files with 372 additions and 176 deletions.
diff --git a/.gitignore b/.gitignore
@@ -16,4 +16,4 @@
 *.svn
 
 # Temp files
-.*~
+*~
diff --git a/README.md b/README.md
@@ -1,4 +1,11 @@
-industrial_core
-===============
+# Industrial Core
 
-ROS-Industrial core meta-package.  http://ros.org/wiki/industrial_core.  This repo holds source code for all versions > groovy. For those versions <= groovy see: http://swri-ros-pkg.googlecode.com/svn/trunk/
+[ROS-Industrial][] core meta-package.  See the [ROS wiki][] page for more information.  
+
+## Contents
+
+This repo holds source code for all versions > groovy. For those versions <= groovy see: [SVN repo][]
+
+[ROS-Industrial]: http://www.ros.org/wiki/Industrial
+[ROS wiki]: http://ros.org/wiki/industrial_core
+[SVN repo]: https://code.google.com/p/swri-ros-pkg/source/browse
diff --git a/industrial_deprecated/package.xml b/industrial_deprecated/package.xml
@@ -17,8 +17,4 @@
   <build_depend>rospy</build_depend>
   <run_depend>rosgraph_msgs</run_depend>
   <run_depend>rospy</run_depend>
-
-  <export>
-
-  </export>
 </package>
diff --git a/industrial_msgs/package.xml b/industrial_msgs/package.xml
@@ -19,8 +19,4 @@
   <run_depend>trajectory_msgs</run_depend>
   <run_depend>genmsg</run_depend>
   <run_depend>message_runtime</run_depend>
-
-  <export>
-
-  </export>
 </package>
diff --git a/industrial_robot_client/CMakeLists.txt b/industrial_robot_client/CMakeLists.txt
@@ -52,10 +52,16 @@ set(SRC_FILES src/joint_relay_handler.cpp
 ## LIBRARIES: libraries you create in this project that dependent projects also need
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
+
+# NOTE: The libraries generated this package are not included in the catkin_package
+# macro because libraries must be explicitly linked in projects that depend on this
+# package.  If this is not done (and these libraries were exported), then multiple
+# library definitions (normal - industrial_robot_client and byteswapped - 
+# industrial_robot_client_bswap) are both included (this is bad).
+
 catkin_package(
     CATKIN_DEPENDS roscpp std_msgs sensor_msgs control_msgs trajectory_msgs simple_message actionlib_msgs actionlib urdf industrial_msgs industrial_utils
     INCLUDE_DIRS include
-    LIBRARIES industrial_robot_client industrial_robot_client_bswap
 )                
 
 
@@ -96,31 +102,49 @@ target_link_libraries(industrial_robot_client_bswap simple_message_bswap)
 
 add_executable(robot_state
   src/generic_robot_state_node.cpp)
-target_link_libraries(robot_state industrial_robot_client ${catkin_LIBRARIES})
+target_link_libraries(robot_state 
+  industrial_robot_client
+  simple_message
+  ${catkin_LIBRARIES})
 
 add_executable(motion_streaming_interface
   src/generic_joint_streamer_node.cpp)
-target_link_libraries(motion_streaming_interface industrial_robot_client ${catkin_LIBRARIES})
+target_link_libraries(motion_streaming_interface 
+  industrial_robot_client 
+  simple_message
+  ${catkin_LIBRARIES})
 
 add_executable(motion_download_interface
   src/generic_joint_downloader_node.cpp)
-target_link_libraries(motion_download_interface industrial_robot_client ${catkin_LIBRARIES})
+target_link_libraries(motion_download_interface 
+  industrial_robot_client 
+  simple_message
+  ${catkin_LIBRARIES})
 
 # The following executables(nodes) are for applications where the robot
 # controller and pc have different same byte order (i.e. byte swapping IS
 # required)
 
 add_executable(robot_state_bswap
   src/generic_robot_state_node.cpp)
-target_link_libraries(robot_state_bswap industrial_robot_client_bswap ${catkin_LIBRARIES})
+target_link_libraries(robot_state_bswap 
+  industrial_robot_client_bswap 
+  simple_message_bswap
+  ${catkin_LIBRARIES})
 
 add_executable(motion_streaming_interface_bswap
   src/generic_joint_streamer_node.cpp)
-target_link_libraries(motion_streaming_interface_bswap industrial_robot_client_bswap ${catkin_LIBRARIES})
+target_link_libraries(motion_streaming_interface_bswap 
+  industrial_robot_client_bswap  
+  simple_message_bswap
+  ${catkin_LIBRARIES})
 
 add_executable(motion_download_interface_bswap
   src/generic_joint_downloader_node.cpp)
-target_link_libraries(motion_download_interface_bswap industrial_robot_client_bswap ${catkin_LIBRARIES})
+target_link_libraries(motion_download_interface_bswap 
+  industrial_robot_client_bswap  
+  simple_message_bswap
+  ${catkin_LIBRARIES})
 
 # The following executables(nodes) interface with the robot controller
 # at a higher level so there is no need to create two versions (one with
@@ -129,12 +153,15 @@ target_link_libraries(motion_download_interface_bswap industrial_robot_client_bs
 add_executable(joint_trajectory_action 
   src/generic_joint_trajectory_action_node.cpp
   src/joint_trajectory_action.cpp)
-target_link_libraries(joint_trajectory_action industrial_robot_client ${catkin_LIBRARIES})
+target_link_libraries(joint_trajectory_action 
+  industrial_robot_client ${catkin_LIBRARIES})
 add_dependencies(joint_trajectory_action industrial_robot_client_gencpp)
 
 # Testing - Only performed on normal (non byte swapped library)
 catkin_add_gtest(utest_robot_client test/utest.cpp)
-target_link_libraries(utest_robot_client industrial_robot_client ${catkin_LIBRARIES})
+target_link_libraries(utest_robot_client 
+  industrial_robot_client 
+  ${catkin_LIBRARIES})
 
 
 #############

diff --git a/industrial_robot_client/package.xml b/industrial_robot_client/package.xml
@@ -34,8 +34,4 @@
   <run_depend>urdf</run_depend>
   <run_depend>industrial_msgs</run_depend>
   <run_depend>industrial_utils</run_depend>
-
-  <export>
-    <cpp lflags="-L${prefix}/lib" cflags="-I${prefix}/include/"/>
-  </export>
 </package>
diff --git a/industrial_robot_simulator/CMakeLists.txt b/industrial_robot_simulator/CMakeLists.txt
@@ -27,3 +27,5 @@ catkin_package(
 # See http://ros.org/doc/groovy/api/catkin/html/adv_user_guide/variables.html
 
 install(PROGRAMS industrial_robot_simulator DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
diff --git a/industrial_robot_simulator/package.xml b/industrial_robot_simulator/package.xml
@@ -21,8 +21,4 @@
   <run_depend>control_msgs</run_depend>
   <run_depend>trajectory_msgs</run_depend>
   <run_depend>industrial_robot_client</run_depend>
-
-  <export>
-    <cpp cflags="-I${prefix}/include/"/>
-  </export>
 </package>
diff --git a/industrial_utils/package.xml b/industrial_utils/package.xml
@@ -13,8 +13,4 @@
   <build_depend>urdf</build_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>urdf</run_depend>
-
-  <export>
-    <cpp lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -lindustrial_utils" cflags="-I${prefix}/include"/>
-  </export>
 </package>
diff --git a/simple_message/CMakeLists.txt b/simple_message/CMakeLists.txt
@@ -69,10 +69,16 @@ set(UTEST_SRC_FILES test/utest.cpp test/utest_message.cpp)
 ## LIBRARIES: libraries you create in this project that dependent projects also need
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
+
+# NOTE: The libraries generated this package are not included in the catkin_package
+# macro because libraries must be explicitly linked in projects that depend on this
+# package.  If this is not done (and these libraries were exported), then multiple
+# library definitions (normal - simple_message and byteswapped - simple_message_bswap)
+# are both included (this is bad).
+
 catkin_package(
     CATKIN_DEPENDS roscpp industrial_msgs
     INCLUDE_DIRS include 
-    LIBRARIES simple_message_bswap simple_message
 )
 
 ###########
@@ -85,13 +91,16 @@ include_directories(include
   ${catkin_INCLUDE_DIRS}
 )
 
+# NOTE: All test files require TEST_PORT_BASE to be defined.  Defining different
+# ports for each test executable allows them to run in parallel.
 
 # DEFAULT LIBRARY (SAME ENDIAN)
 add_library(simple_message ${SRC_FILES})
 target_link_libraries(simple_message ${catkin_LIBRARIES})
 add_dependencies(simple_message ${industrial_msgs_EXPORTED_TARGETS})
 
 catkin_add_gtest(utest ${UTEST_SRC_FILES})
+set_target_properties(utest PROPERTIES COMPILE_DEFINITIONS "TEST_PORT_BASE=11000")
 target_link_libraries(utest simple_message)
 
 # ALTERNATIVE LIBRARY (DIFFERENT ENDIAN)
@@ -101,6 +110,7 @@ target_link_libraries(simple_message_bswap ${catkin_LIBRARIES})
 add_dependencies(simple_message_bswap ${industrial_msgs_EXPORTED_TARGETS})
 
 catkin_add_gtest(utest_byte_swapping ${UTEST_SRC_FILES})
+set_target_properties(utest_byte_swapping PROPERTIES COMPILE_DEFINITIONS "TEST_PORT_BASE=12000")
 target_link_libraries(utest_byte_swapping simple_message_bswap)
 
 # ALTERNATIVE LIBRARY (64-bit floats)
@@ -110,7 +120,7 @@ target_link_libraries(simple_message_float64 ${catkin_LIBRARIES})
 add_dependencies(simple_message_float64 ${industrial_msgs_EXPORTED_TARGETS})
 
 catkin_add_gtest(utest_float64 ${UTEST_SRC_FILES})
-set_target_properties(utest_float64 PROPERTIES COMPILE_DEFINITIONS "FLOAT64")
+set_target_properties(utest_float64 PROPERTIES COMPILE_DEFINITIONS "TEST_PORT_BASE=13000;FLOAT64")
 target_link_libraries(utest_float64 simple_message_float64)
 
 

diff --git a/simple_message/include/simple_message/socket/simple_socket.h b/simple_message/include/simple_message/socket/simple_socket.h
@@ -161,7 +161,11 @@ class SimpleSocket : public industrial::smpl_msg_connection::SmplMsgConnection
    *
    * \return true if data is ready to recieve
    */
-  bool isReadyReceive(int timeout);
+  bool isReadyReceive(int timeout)
+  {
+    bool r, e;
+    return poll(timeout, r, e);
+  }
 
 protected:
 
@@ -190,6 +194,12 @@ class SimpleSocket : public industrial::smpl_msg_connection::SmplMsgConnection
    * in order to avoid dynamic memory allocation)
    */
   static const int MAX_BUFFER_SIZE = 1024;
+
+  /**
+   * \brief socket ready polling timeout (ms)
+   */
+  static const int SOCKET_POLL_TO = 1000;
+
   /**
    * \brief internal data buffer for receiving
    */
@@ -212,9 +222,20 @@ class SimpleSocket : public industrial::smpl_msg_connection::SmplMsgConnection
 
   void logSocketError(const char* msg, int rc)
   {
-    LOG_ERROR("%s, rc: %d, errno: %d", msg, rc, errno);
+    int errno_ = errno;
+    LOG_ERROR("%s, rc: %d. Error: '%s' (errno: %d)", msg, rc, strerror(errno_), errno_);
   }
-
+
+  /**
+   * \brief polls socket for data or error
+   *
+   * \param timeout (ms) negative or zero values result in blocking
+   * \param ready true if ready
+   * \param except true if exception
+   *
+   * \return true if function DID NOT timeout (must check flags)
+   */
+  bool poll(int timeout, bool & ready, bool & error);
 
   // Send/Receive functions (inherited classes should override raw methods
   // Virtual

diff --git a/simple_message/package.xml b/simple_message/package.xml
@@ -17,8 +17,4 @@
   <build_depend>industrial_msgs</build_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>industrial_msgs</run_depend>
-
-  <export>
-    <cpp lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib" cflags="-I${prefix}/include -DROS=1"/>
-  </export>
 </package>
-Original file line number
+Diff line change
@@ Expand Up / @@ -16,4 +16,4 @@ @@
     *.svn
     # Temp files
-    .*~
+    *~
Original file line number	Diff line number	Diff line change
Expand Up		@@ -27,3 +27,5 @@ catkin_package(
		# See http://ros.org/doc/groovy/api/catkin/html/adv_user_guide/variables.html

		install(PROGRAMS industrial_robot_simulator DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

		install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)