Merge pull request #48 from schmrlng/0.7

Updates for Julia 0.7, dropping 0.6 support

.travis.yml

@@ -1,9 +1,13 @@
 language: julia
 julia:
-  - 0.6
+  - 0.7
+  - 1.0
   - nightly
 sudo: required
 dist: trusty
+env:
+  global:
+    - PYTHON=python
 before_install:
   - sudo apt-add-repository -y "deb http://packages.ros.org/ros/ubuntu trusty main"
   - wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
@@ -19,10 +23,18 @@ before_script:
   - python test/echonode.py &
   - sleep 5
 after_success:
-  - julia -e 'cd(Pkg.dir("RobotOS")); Pkg.add("Coverage"); using Coverage; Coveralls.submit(Coveralls.process_folder())'
-  - julia -e 'Pkg.add("Documenter");'
-  - julia -e 'cd(Pkg.dir("RobotOS")); ENV["DOCUMENTER_DEBUG"]="true"; include(joinpath("docs", "make.jl"))'
+  - julia --project -e 'import Pkg; Pkg.add("Coverage"); using Coverage; Coveralls.submit(Coveralls.process_folder())'
 after_script:
   - killall roscore
   - killall python
   - sleep 5
+jobs:
+  include:
+    - stage: "Documentation"
+      julia: 1.0
+      os: linux
+      script:
+        - julia --project=docs/ -e 'using Pkg; Pkg.instantiate();
+                                    Pkg.add(PackageSpec(path=pwd()))'
+        - julia --project=docs/ docs/make.jl
+      after_success: skip

REQUIRE

@@ -1,3 +1,2 @@
-julia 0.6
-PyCall 1.11.0
-Compat 0.34.0
+julia 0.7
+PyCall 1.17.1

docs/Project.toml

@@ -0,0 +1,5 @@
+[deps]
+Documenter = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
+
+[compat]
+Documenter = "~0.19"

docs/make.jl

@@ -11,6 +11,6 @@ deploydocs(
     branch = "gh-pages",
     latest = "master",
     osname="linux",
-    julia="0.6",
+    julia="1.0",
     deps=Deps.pip("mkdocs"),
     )

docs/src/index.md

@@ -77,13 +77,12 @@ load-time latency (useful for real-life applications!) by generating the ROS typ
 modules inside your package module using an approach similar to the example below:
 
     # MyROSPackage.jl
-    __precompile__()
     module MyROSPackage
 
     using RobotOS
 
     @rosimport geometry_msgs.msg: Pose
-    rostypegen(current_module())
+    rostypegen(@__MODULE__)
     import .geometry_msgs.msg: Pose
     # ...
 

src/RobotOS.jl

@@ -1,5 +1,3 @@
-isdefined(Base, :__precompile__) && __precompile__()
-
 module RobotOS
 
 using PyCall
@@ -9,14 +7,22 @@ const _py_sys = PyCall.PyNULL()
 const _py_ros_callbacks = PyCall.PyNULL()
 const __rospy__ = PyCall.PyNULL()
 
+include("debug.jl")
+include("time.jl")
+include("gentypes.jl")
+include("rospy.jl")
+include("pubsub.jl")
+include("services.jl")
+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
 
     #Fill in empty PyObjects
     if ! (dirname(@__FILE__) in _py_sys["path"])
-        unshift!(_py_sys["path"], dirname(@__FILE__))
+        pushfirst!(_py_sys["path"], dirname(@__FILE__))
     end
     copy!(_py_ros_callbacks, pyimport("ros_callbacks"))
 
@@ -32,15 +38,7 @@ function __init__()
     end
 
     #Compile the callback notify function, see callbacks.jl
-    CB_NOTIFY_PTR[] = cfunction(_callback_notify, Cint, Tuple{Ptr{Void}})
+    CB_NOTIFY_PTR[] = @cfunction(_callback_notify, Cint, (Ptr{Cvoid},))
 end
 
-include("debug.jl")
-include("time.jl")
-include("gentypes.jl")
-include("rospy.jl")
-include("pubsub.jl")
-include("services.jl")
-include("callbacks.jl")
-
 end

src/callbacks.jl

@@ -1,12 +1,12 @@
 #This function will run in a new python thread created by rospy.
 #No julia allocation allowed.
-function _callback_notify(handle::Ptr{Void})
-    ccall(:uv_async_send, Cint, (Ptr{Void},), handle)
+function _callback_notify(handle::Ptr{Cvoid})
+    ccall(:uv_async_send, Cint, (Ptr{Cvoid},), handle)
 end
 
 #The pointer to the compiled notify function. This can't be precompiled so it gets initialized in
 #the module __init__ function.
-const CB_NOTIFY_PTR = Ref{Ptr{Void}}()
+const CB_NOTIFY_PTR = Ref{Ptr{Cvoid}}()
 
 function _callback_async_loop(rosobj, cond)
     @debug("Spinning up callback loop...")

src/gentypes.jl

@@ -64,6 +64,10 @@ abstract type AbstractMsg end
 abstract type AbstractSrv end
 abstract type AbstractService end
 
+_is_tuple_expr(input) = input isa Expr && input.head == :tuple
+_is_colon_expr(input) = input isa Expr && input.head == :call && input.args[1] == :(:)
+_is_dot_expr(input) = input isa Expr && input.head == :(.)
+
 """
     @rosimport
 
@@ -81,13 +85,11 @@ macro rosimport(input)
     #Rearranges the expression into a RobotOS._rosimport call. Input comes in as a single package
     #qualified expression, or as a tuple expression where the first element is the same as the
     #single expression case. Most of the code is just error checking that the input takes that form.
-    @assert input.head in [:tuple, :(.), :(:)] "Improper @rosimport input"
-    if input.head == :tuple
-        @assert isa(input.args[1], Expr) "Improper @rosimport input"
-        @assert input.args[1].head == :(:) "First argument needs ':' following"
-        types = String[]
+    @assert _is_tuple_expr(input) || _is_colon_expr(input) || _is_dot_expr(input) "Improper @rosimport input"
+    if _is_tuple_expr(input)
+        @assert _is_colon_expr(input.args[1]) "Improper @rosimport input, first argument needs ':' following"
         pkg, ismsg, typ = _pkgtype_import(input.args[1])
-        push!(types, typ)
+        types = String[typ]
         for t in input.args[2:end]
             @assert isa(t, Symbol) "Type name ($(string(t))) not a symbol"
             push!(types, string(t))
@@ -98,32 +100,29 @@ macro rosimport(input)
         return :(_rosimport($pkg, $ismsg, $typ))
     end
 end
-
-_get_quote_value(input::QuoteNode) = input.value
-_get_quote_value(input::Expr) = (@assert input.head == :quote; input.args[1])
-
 #Return the pkg and types strings for a single expression of form:
 #  pkg.[msg|srv].type or pkg.[msg|srv]:type
 function _pkgtype_import(input::Expr)
-    @assert input.head in (:(.), :(:)) "Improper @rosimport input"
-    @assert isa(input.args[1], Expr) "Improper @rosimport input"
-    @assert input.args[1].head == :(.) "Improper @rosimport input"
-    p = input.args[1].args[1]
+    @assert _is_colon_expr(input) || _is_dot_expr(input) "Improper @rosimport input"
+    p_ms, t = _is_colon_expr(input) ? (input.args[2], input.args[3]) : (input.args[1], input.args[2])
+    @assert _is_dot_expr(p_ms) "Improper @rosimport input"
+    p = p_ms.args[1]
     @assert isa(p, Symbol) "Package name ($(string(p))) not a symbol"
-    m_or_s = _get_quote_value(input.args[1].args[2])
+    @assert isa(p_ms.args[2], QuoteNode) "Improper @rosimport input"
+    m_or_s = p_ms.args[2].value
     @assert m_or_s in (:msg,:srv) "Improper @rosimport input"
     ps = string(p)
     msb = m_or_s == :msg
     ts = ""
-    if isa(input.args[2], Symbol)
-        ts = string(input.args[2])
-    elseif isa(input.args[2], Expr)
-        @assert length(input.args[2].args) == 1 "Type name not a symbol"
-        tsym = input.args[2].args[1]
+    if isa(t, Symbol)
+        ts = string(t)
+    elseif isa(t, Expr)
+        @assert length(t.args) == 1 "Type name ($(t)) not a symbol"
+        tsym = t.args[1]
         @assert isa(tsym, Symbol) "Type name ($(string(tsym))) not a symbol"
         ts = string(tsym)
-    elseif isa(input.args[2], QuoteNode)
-        tsym = input.args[2].value
+    elseif isa(t, QuoteNode)
+        tsym = t.value
         @assert isa(tsym, Symbol) "Type name ($(string(tsym))) not a symbol"
         ts = string(tsym)
     end
@@ -179,8 +178,8 @@ function addtype!(mod::ROSMsgModule, typ::String)
     if !(typ in mod.members)
         @debug("Message type import: ", _fullname(mod), ".", typ)
         if _nameconflicts(typ)
-            warn("Message type '$typ' conflicts with Julia builtin, ",
-                 "will be imported as '$(_jl_safe_name(typ,"Msg"))'")
+            @warn("Message type '$typ' conflicts with Julia builtin, " *
+                  "will be imported as '$(_jl_safe_name(typ,"Msg"))'")
         end
         pymod, pyobj = _pyvars(_fullname(mod), typ)
 
@@ -350,19 +349,19 @@ end
 
 #The imports specific to each module, including dependant packages
 function _importexprs(mod::ROSMsgModule, rosrootmod::Module)
-    imports = Expr[Expr(:import, :RobotOS, :AbstractMsg)]
+    imports = Expr[:(import RobotOS.AbstractMsg)]
     othermods = filter(d -> d != _name(mod), mod.deps)
-    append!(imports, [Expr(:using,fullname(rosrootmod)...,Symbol(m),:msg) for m in othermods])
+    append!(imports, [Expr(:using, Expr(:., fullname(rosrootmod)..., Symbol(m), :msg)) for m in othermods])
     imports
 end
 function _importexprs(mod::ROSSrvModule, rosrootmod::Module)
     imports = Expr[
-        Expr(:import, :RobotOS, :AbstractSrv),
-        Expr(:import, :RobotOS, :AbstractService),
-        Expr(:import, :RobotOS, :_srv_reqtype),
-        Expr(:import, :RobotOS, :_srv_resptype),
+        :(import RobotOS.AbstractSrv),
+        :(import RobotOS.AbstractService),
+        :(import RobotOS._srv_reqtype),
+        :(import RobotOS._srv_resptype)
     ]
-    append!(imports, [Expr(:using,fullname(rosrootmod)...,Symbol(m),:msg) for m in mod.deps])
+    append!(imports, [Expr(:using, Expr(:., fullname(rosrootmod)..., Symbol(m), :msg)) for m in mod.deps])
     imports
 end
 
@@ -513,8 +512,8 @@ function _addtypemember!(exprs, namestr, typestr)
     jlconargs = exprs[4].args[2].args
 
     if typestr == "char" || typestr == "byte"
-        warn("Use of type '$typestr' is deprecated in message definitions, ",
-        "use '$(lowercase(string(_ros_builtin_types[typestr])))' instead.")
+        @warn("Use of type '$typestr' is deprecated in message definitions, " *
+              "use '$(lowercase(string(_ros_builtin_types[typestr])))' instead.")
     end
 
     typestr, arraylen = _check_array_type(typestr)
@@ -609,7 +608,7 @@ function _splittypestr(typestr::String)
 end
 #Valid ROS type string is all word chars split by a single forward slash, with
 #optional square brackets for array types
-_isrostype(s::String) = ismatch(r"^\w+/\w+(?:\[\d*\])?$", s)
+_isrostype(s::String) = occursin(r"^\w+/\w+(?:\[\d*\])?$", s)
 
 #Sanitize a string by checking for and removing brackets if they are present
 #Return the sanitized type and the number inside the brackets if it is a fixed

test/pubsub.jl

@@ -7,7 +7,7 @@ using .geometry_msgs.msg
 const Nmsgs = 10
 const rate = 20. #Hz
 const msgs = PoseStamped[]
-const refs = Array{Vector3}(Nmsgs)
+const refs = Array{Vector3}(undef, Nmsgs)
 const t0 = to_nsec(get_rostime())
 
 for i=1:Nmsgs

test/runtests.jl

@@ -1,4 +1,4 @@
-using Compat.Test
+using Test
 using PyCall
 using RobotOS
 RobotOS.debug(true)

test/typegeneration.jl

@@ -32,7 +32,7 @@ rostypegen()
 module TestModule
     using RobotOS
     @rosimport std_msgs.msg: Float32
-    rostypegen(current_module())
+    rostypegen(@__MODULE__)
 end
 @test !isdefined(std_msgs.msg, :Float32Msg)
 @test isdefined(TestModule, :std_msgs)
@@ -84,7 +84,7 @@ path2 = convert(nav_msgs.msg.Path, pypath)
 
 #Issue #6 - Empty message
 emptymsg = std_msgs.msg.Empty()
-@test length(fieldnames(emptymsg)) == 0
+@test length(fieldnames(typeof(emptymsg))) == 0
 
 #Issue #7/8 - Renaming conflicting message types
 @test isdefined(std_msgs.msg, :Float64Msg)