changes between 1.12.14 and 1.14.7 for backporting

clients/roscpp/include/ros/node_handle.h

@@ -2150,7 +2150,7 @@ if (service)  // Enter if advertised service is valid
    * or is an otherwise invalid graph resource name.
    */
   template<typename T>
-  T param(const std::string& param_name, const T& default_val)
+  T param(const std::string& param_name, const T& default_val) const
   {
       T param_val;
       param(param_name, param_val, default_val);

clients/roscpp/include/ros/timer.h

@@ -71,8 +71,9 @@ class ROSCPP_DECL Timer
    */
   void setPeriod(const Duration& period, bool reset=true);
 
-  bool hasStarted() const { return impl_->hasStarted(); }
+  bool hasStarted() const { return impl_ && impl_->hasStarted(); }
   bool isValid() { return impl_ && impl_->isValid(); }
+  bool isValid() const { return impl_ && impl_->isValid(); }
   operator void*() { return isValid() ? (void*)1 : (void*)0; }
 
   bool operator<(const Timer& rhs)
@@ -101,6 +102,7 @@ class ROSCPP_DECL Timer
 
     bool hasStarted() const;
     bool isValid();
+    bool isValid() const;
     bool hasPending();
     void setPeriod(const Duration& period, bool reset=true);
 

clients/roscpp/src/libros/connection.cpp

@@ -337,8 +337,8 @@ void Connection::drop(DropReason reason)
 
   if (did_drop)
   {
-    drop_signal_(shared_from_this(), reason);
     transport_->close();
+    drop_signal_(shared_from_this(), reason);
   }
 }
 

clients/roscpp/src/libros/init.cpp

@@ -592,7 +592,8 @@ void shutdown()
   {
     g_internal_queue_thread.join();
   }
-
+  //ros::console::deregister_appender(g_rosout_appender);
+  delete g_rosout_appender;
   g_rosout_appender = 0;
 
   if (g_started)

clients/roscpp/src/libros/node_handle.cpp

@@ -68,6 +68,10 @@ class NodeHandleBackingCollection
   V_SrvCImpl srv_cs_;
 
   boost::mutex mutex_;
+
+  // keep shared_ptrs to these managers to avoid assertions. Fixes #838
+  TopicManagerPtr keep_alive_topic_manager = TopicManager::instance();
+  ServiceManagerPtr keep_alive_service_manager = ServiceManager::instance();
 };
 
 NodeHandle::NodeHandle(const std::string& ns, const M_string& remappings)

clients/roscpp/src/libros/poll_set.cpp

@@ -191,7 +191,10 @@ void PollSet::update(int poll_timeout)
   boost::shared_ptr<std::vector<socket_pollfd> > ofds = poll_sockets(epfd_, &ufds_.front(), ufds_.size(), poll_timeout);
   if (!ofds)
   {
-    ROS_ERROR_STREAM("poll failed with error " << last_socket_error_string());
+    if (last_socket_error() != EINTR)
+    {
+      ROS_ERROR_STREAM("poll failed with error " << last_socket_error_string());
+    }
   }
   else
   {

clients/roscpp/src/libros/publication.cpp

@@ -324,6 +324,8 @@ void Publication::dropAllConnections()
 
 void Publication::peerConnect(const SubscriberLinkPtr& sub_link)
 {
+  boost::mutex::scoped_lock lock(callbacks_mutex_);
+
   V_Callback::iterator it = callbacks_.begin();
   V_Callback::iterator end = callbacks_.end();
   for (; it != end; ++it)
@@ -339,6 +341,8 @@ void Publication::peerConnect(const SubscriberLinkPtr& sub_link)
 
 void Publication::peerDisconnect(const SubscriberLinkPtr& sub_link)
 {
+  boost::mutex::scoped_lock lock(callbacks_mutex_);
+
   V_Callback::iterator it = callbacks_.begin();
   V_Callback::iterator end = callbacks_.end();
   for (; it != end; ++it)

clients/roscpp/src/libros/service.cpp

@@ -88,7 +88,8 @@ bool service::waitForService(const std::string& service_name, ros::Duration time
 {
   std::string mapped_name = names::resolve(service_name);
 
-  Time start_time = Time::now();
+  const WallTime start_time = WallTime::now();
+  const WallDuration wall_timeout{timeout.toSec()};
 
   bool printed = false;
   bool result = false;
@@ -103,17 +104,17 @@ bool service::waitForService(const std::string& service_name, ros::Duration time
     {
       printed = true;
 
-      if (timeout >= Duration(0))
+      if (wall_timeout >= WallDuration(0))
       {
-        Time current_time = Time::now();
+        const WallTime current_time = WallTime::now();
 
-        if ((current_time - start_time) >= timeout)
+        if ((current_time - start_time) >= wall_timeout)
         {
           return false;
         }
       }
 
-      Duration(0.02).sleep();
+      WallDuration(0.02).sleep();
     }
   }
 

clients/roscpp/src/libros/service_manager.cpp

@@ -200,9 +200,7 @@ bool ServiceManager::unregisterService(const std::string& service)
            network::getHost().c_str(), connection_manager_->getTCPPort());
   args[2] = string(uri_buf);
 
-  master::execute("unregisterService", args, result, payload, false);
-
-  return true;
+  return master::execute("unregisterService", args, result, payload, false);
 }
 
 bool ServiceManager::isServiceAdvertised(const string& serv_name)

clients/roscpp/src/libros/statistics.cpp

@@ -113,7 +113,7 @@ void StatisticsLogger::callback(const boost::shared_ptr<M_string>& connection_he
   }
 
   // should publish new statistics?
-  if (stats.last_publish + ros::Duration(pub_frequency_) < received_time)
+  if (stats.last_publish + ros::Duration(1 / pub_frequency_) < received_time)
   {
     ros::Time window_start = stats.last_publish;
     stats.last_publish = received_time;
@@ -132,21 +132,21 @@ void StatisticsLogger::callback(const boost::shared_ptr<M_string>& connection_he
     // not all message types have this
     if (stats.age_list.size() > 0)
     {
-      msg.stamp_age_mean = ros::Duration(0);
+      double stamp_age_sum = 0.0;
       msg.stamp_age_max = ros::Duration(0);
 
       for(std::list<ros::Duration>::iterator it = stats.age_list.begin(); it != stats.age_list.end(); it++)
       {
         ros::Duration age = *it;
-        msg.stamp_age_mean += age;
+        stamp_age_sum += age.toSec();
 
         if (age > msg.stamp_age_max)
         {
             msg.stamp_age_max = age;
         }
       }
 
-      msg.stamp_age_mean *= 1.0 / stats.age_list.size();
+      msg.stamp_age_mean = ros::Duration(stamp_age_sum / stats.age_list.size());
 
       double stamp_age_variance = 0.0;
       for(std::list<ros::Duration>::iterator it = stats.age_list.begin(); it != stats.age_list.end(); it++)

clients/roscpp/src/libros/timer.cpp

@@ -52,6 +52,11 @@ bool Timer::Impl::isValid()
   return !period_.isZero();
 }
 
+bool Timer::Impl::isValid() const
+{
+  return !period_.isZero();
+}
+
 void Timer::Impl::start()
 {
   if (!started_)

clients/roscpp/src/libros/topic_manager.cpp

@@ -97,9 +97,10 @@ void TopicManager::shutdown()
   }
 
   {
-    boost::recursive_mutex::scoped_lock lock1(advertised_topics_mutex_);
-    boost::mutex::scoped_lock lock2(subs_mutex_);
+    boost::lock(subs_mutex_, advertised_topics_mutex_);
     shutting_down_ = true;
+    subs_mutex_.unlock();
+    advertised_topics_mutex_.unlock();
   }
 
   // actually one should call poll_manager_->removePollThreadListener(), but the connection is not stored above

clients/roscpp/src/libros/transport/transport_tcp.cpp

@@ -138,6 +138,10 @@ bool TransportTCP::initializeSocket()
   {
     ROS_DEBUG("Adding tcp socket [%d] to pollset", sock_);
     poll_set_->addSocket(sock_, boost::bind(&TransportTCP::socketUpdate, this, _1), shared_from_this());
+#if defined(POLLRDHUP) // POLLRDHUP is not part of POSIX!
+    // This is needed to detect dead connections. #1704
+    poll_set_->addEvents(sock_, POLLRDHUP);
+#endif
   }
 
   if (!(flags_ & SYNCHRONOUS))
@@ -270,7 +274,7 @@ bool TransportTCP::connect(const std::string& host, int port)
 
     bool found = false;
     struct addrinfo* it = addr;
-    char namebuf[128];
+    char namebuf[128] = {};
     for (; it; it = it->ai_next)
     {
       if (!s_use_ipv6_ && it->ai_family == AF_INET)
@@ -282,7 +286,7 @@ bool TransportTCP::connect(const std::string& host, int port)
         address->sin_family = it->ai_family;
         address->sin_port = htons(port);
 
-        strcpy(namebuf, inet_ntoa(address->sin_addr));
+        strncpy(namebuf, inet_ntoa(address->sin_addr), sizeof(namebuf)-1);
         found = true;
         break;
       }
@@ -383,7 +387,7 @@ bool TransportTCP::listen(int port, int backlog, const AcceptCallback& accept_cb
     sa_len_ = sizeof(sockaddr_in);
   }
 
-  if (sock_ <= 0)
+  if (sock_ == ROS_INVALID_SOCKET)
   {
     ROS_ERROR("socket() failed with error [%s]", last_socket_error_string());
     return false;
@@ -690,6 +694,9 @@ void TransportTCP::socketUpdate(int events)
 
   if((events & POLLERR) ||
      (events & POLLHUP) ||
+#if defined(POLLRDHUP) // POLLRDHUP is not part of POSIX!
+     (events & POLLRDHUP) ||
+#endif
      (events & POLLNVAL))
   {
     uint32_t error = -1;
@@ -728,14 +735,14 @@ std::string TransportTCP::getClientURI()
   sockaddr_in *sin = (sockaddr_in *)&sas;
   sockaddr_in6 *sin6 = (sockaddr_in6 *)&sas;
 
-  char namebuf[128];
+  char namebuf[128] = {};
   int port;
 
   switch (sas.ss_family)
   {
     case AF_INET:
       port = ntohs(sin->sin_port);
-      strcpy(namebuf, inet_ntoa(sin->sin_addr));
+      strncpy(namebuf, inet_ntoa(sin->sin_addr), sizeof(namebuf)-1);
       break;
     case AF_INET6:
       port = ntohs(sin6->sin6_port);

clients/roscpp/src/libros/transport/transport_udp.cpp

@@ -240,7 +240,7 @@ bool TransportUDP::createIncoming(int port, bool is_server)
 
   sock_ = socket(AF_INET, SOCK_DGRAM, 0);
 
-  if (sock_ <= 0)
+  if (sock_ == ROS_INVALID_SOCKET)
   {
     ROS_ERROR("socket() failed with error [%s]", last_socket_error_string());
     return false;
@@ -710,9 +710,9 @@ std::string TransportUDP::getClientURI()
 
   sockaddr_in *sin = (sockaddr_in *)&sas;
 
-  char namebuf[128];
+  char namebuf[128] = {};
   int port = ntohs(sin->sin_port);
-  strcpy(namebuf, inet_ntoa(sin->sin_addr));
+  strncpy(namebuf, inet_ntoa(sin->sin_addr), sizeof(namebuf)-1);
 
   std::string ip = namebuf;
   std::stringstream uri;

clients/roscpp/src/libros/transport_subscriber_link.cpp

@@ -198,7 +198,7 @@ void TransportSubscriberLink::enqueueMessage(const SerializedMessage& m, bool se
       if (!queue_full_)
       {
         ROS_DEBUG("Outgoing queue full for topic [%s].  "
-               "Discarding oldest message\n",
+               "Discarding oldest message",
                topic_.c_str());
       }
 

clients/rospy/src/rospy/__init__.py

@@ -94,7 +94,7 @@
     'INFO',
     'WARN',
     'ERROR',
-    'FATAL'
+    'FATAL',
     'is_shutdown',
     'signal_shutdown',
     'get_node_uri',
@@ -107,7 +107,6 @@
     'logerr_throttle', 'logfatal_throttle',
     'parse_rosrpc_uri',
     'MasterProxy',
-    'NodeProxy',    
     'ROSException',
     'ROSSerializationException',
     'ROSInitException',

clients/rospy/src/rospy/impl/tcpros_base.py

@@ -157,7 +157,8 @@ def run(self):
                 (errno, msg) = e.args
                 if errno == 4: #interrupted system call
                     continue
-                raise
+                if not self.is_shutdown:
+                    raise
             if self.is_shutdown:
                 break
             try:

clients/rospy/src/rospy/topics.py

@@ -1173,7 +1173,7 @@ def check_all(self):
         Check all registered publication and subscriptions.
         """
         with self.lock:
-            for t in chain(iter(self.pubs.values()), iter(self.subs.values())):
+            for t in chain(list(self.pubs.values()), list(self.subs.values())):
                 t.check()
 
     def _add(self, ps, rmap, reg_type):
@@ -1264,7 +1264,7 @@ def acquire_impl(self, reg_type, resolved_name, data_class):
             rmap = self.subs
             impl_class = _SubscriberImpl
         else:
-            raise TypeError("invalid reg_type: %s"%s)
+            raise TypeError("invalid reg_type: %s"%reg_type)
         with self.lock:
             impl = rmap.get(resolved_name, None)            
             if not impl:

test/test_roscpp/test/src/params.cpp

@@ -566,12 +566,23 @@ TEST(Params, getParamNames) {
   EXPECT_LT(10, test_params.size());
 }
 
+TEST(Params, getParamCachedSetParamLoop) {
+  NodeHandle nh;
+  const std::string name = "changeable_int";
+  for (int i = 0; i < 100; i++) {
+    nh.setParam(name, i);
+    int v = 0;
+    ASSERT_TRUE(nh.getParamCached(name, v));
+    ASSERT_EQ(i, v);
+  }
+}
+
 int
 main(int argc, char** argv)
 {
   testing::InitGoogleTest(&argc, argv);
-  ros::init( argc, argv, "params" );
-//  ros::NodeHandle nh;
+  ros::init(argc, argv, "params");
+  ros::NodeHandle nh;
 
   return RUN_ALL_TESTS();
 }

test/test_rospy/test/rostest/sub_to_multiple_pubs.test

@@ -1,4 +1,5 @@
 <launch>
+  <node name="listener" pkg="test_rospy" type="listener.py" />
   <node name="talker1" pkg="test_rospy" type="talker.py" />
   <node name="talker2" pkg="test_rospy" type="talker.py" />
   <node name="talker3" pkg="test_rospy" type="talker.py" />
@@ -98,6 +99,5 @@
   <node name="talker97" pkg="test_rospy" type="talker.py" />
   <node name="talker98" pkg="test_rospy" type="talker.py" />
   <node name="talker99" pkg="test_rospy" type="talker.py" />
-  <node name="listener" pkg="test_rospy" type="listener.py" />
   <test test-name="sub_to_multiple_pubs" pkg="test_rospy" type="test_sub_to_multiple_pubs.py" />
 </launch>

tools/rosbag/scripts/fix_msg_defs.py

@@ -35,6 +35,7 @@
 
 import sys
 import rosbag.migration
+import roslib.message
 
 if __name__ == '__main__':
     if len(sys.argv) != 3:

tools/rosbag/src/player.cpp

@@ -405,7 +405,7 @@ void Player::waitForSubscribers() const
         foreach(const PublisherMap::value_type& pub, publishers_) {
             all_topics_subscribed &= pub.second.getNumSubscribers() > 0;
         }
-        ros::Duration(0.1).sleep();
+        ros::WallDuration(0.1).sleep();
     }
     std::cout << "Finished waiting for subscribers." << std::endl;
 }

tools/rosbag/src/record.cpp

@@ -123,7 +123,7 @@ rosbag::RecorderOptions parseOptions(int argc, char** argv) {
         ROS_WARN("Use of \"--split <MAX_SIZE>\" has been deprecated.  Please use --split --size <MAX_SIZE> or --split --duration <MAX_DURATION>");
         if (S < 0)
           throw ros::Exception("Split size must be 0 or positive");
-        opts.max_size = 1048576 * S;
+        opts.max_size = 1048576 * static_cast<uint64_t>(S);
       }
     }
     if(vm.count("max-splits"))