changes between 1.11.20 and 1.12.7 for backporting

clients/roscpp/src/libros/callback_queue.cpp

@@ -34,6 +34,7 @@
 
 #include "ros/callback_queue.h"
 #include "ros/assert.h"
+#include <boost/scope_exit.hpp>
 
 namespace ros
 {
@@ -371,7 +372,17 @@ CallbackQueue::CallOneResult CallbackQueue::callOneCB(TLS* tls)
     tls->calling_in_this_thread = id_info->id;
 
     CallbackInterface::CallResult result = CallbackInterface::Invalid;
-    try {
+
+    {
+      // Ensure that thread id gets restored, even if callback throws.
+      // This is done with RAII rather than try-catch so that the source
+      // of the original exception is not masked in a crash report.
+      BOOST_SCOPE_EXIT(&tls, &last_calling)
+      {
+        tls->calling_in_this_thread = last_calling;
+      }
+      BOOST_SCOPE_EXIT_END
+
       if (info.marked_for_removal)
       {
         tls->cb_it = tls->callbacks.erase(tls->cb_it);
@@ -382,14 +393,6 @@ CallbackQueue::CallOneResult CallbackQueue::callOneCB(TLS* tls)
         result = cb->call();
       }
     }
-    catch (std::exception&)
-    {
-      // ensure that thread id gets restored, even in case of an exception
-      tls->calling_in_this_thread = last_calling;
-      throw;
-    }
-
-    tls->calling_in_this_thread = last_calling;
 
     // Push TryAgain callbacks to the back of the shared queue
     if (result == CallbackInterface::TryAgain && !info.marked_for_removal)

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

@@ -590,6 +590,7 @@ int32_t TransportUDP::write(uint8_t* buffer, uint32_t size)
       else
       {
         num_bytes = 0;
+        --this_block;
       }
     }
     else if (num_bytes < (unsigned) sizeof(header))

clients/rospy/src/rospy/__init__.py

@@ -57,6 +57,7 @@
 from .core import is_shutdown, signal_shutdown, \
     get_node_uri, get_ros_root, \
     logdebug, logwarn, loginfo, logout, logerr, logfatal, \
+    logdebug_throttle, logwarn_throttle, loginfo_throttle, logerr_throttle, logfatal_throttle, \
     parse_rosrpc_uri
 from .exceptions import *
 from .msg import AnyMsg
@@ -101,6 +102,9 @@
     'logdebug',
     'logwarn', 'loginfo',
     'logout', 'logerr', 'logfatal',
+    'logdebug_throttle',
+    'logwarn_throttle', 'loginfo_throttle',
+    'logerr_throttle', 'logfatal_throttle',
     'parse_rosrpc_uri',
     'MasterProxy',
     'NodeProxy',    

clients/rospy/src/rospy/core.py

@@ -37,6 +37,11 @@
 
 
 import atexit
+try:
+    import cPickle as pickle
+except ImportError:
+    import pickle
+import inspect
 import logging
 import os
 import signal
@@ -149,6 +154,67 @@ def rospywarn(msg, *args):
 logerror = logerr # alias logerr
 
 logfatal = logging.getLogger('rosout').critical
+
+
+class LoggingThrottle(object):
+
+    last_logging_time_table = {}
+
+    def __call__(self, caller_id, logging_func, period, msg):
+        """Do logging specified message periodically.
+
+        - caller_id (str): Id to identify the caller
+        - logging_func (function): Function to do logging.
+        - period (float): Period to do logging in second unit.
+        - msg (object): Message to do logging.
+        """
+        now = rospy.Time.now()
+
+        last_logging_time = self.last_logging_time_table.get(caller_id)
+
+        if (last_logging_time is None or
+              (now - last_logging_time) > rospy.Duration(period)):
+            logging_func(msg)
+            self.last_logging_time_table[caller_id] = now
+
+
+_logging_throttle = LoggingThrottle()
+
+
+def _frame_record_to_caller_id(frame_record):
+    frame, _, lineno, _, code, _ = frame_record
+    caller_id = (
+        inspect.getabsfile(frame),
+        lineno,
+        frame.f_lasti,
+    )
+    return pickle.dumps(caller_id)
+
+
+def logdebug_throttle(period, msg):
+    caller_id = _frame_record_to_caller_id(inspect.stack()[1])
+    _logging_throttle(caller_id, logdebug, period, msg)
+
+
+def loginfo_throttle(period, msg):
+    caller_id = _frame_record_to_caller_id(inspect.stack()[1])
+    _logging_throttle(caller_id, loginfo, period, msg)
+
+
+def logwarn_throttle(period, msg):
+    caller_id = _frame_record_to_caller_id(inspect.stack()[1])
+    _logging_throttle(caller_id, logwarn, period, msg)
+
+
+def logerr_throttle(period, msg):
+    caller_id = _frame_record_to_caller_id(inspect.stack()[1])
+    _logging_throttle(caller_id, logerr, period, msg)
+
+
+def logfatal_throttle(period, msg):
+    caller_id = _frame_record_to_caller_id(inspect.stack()[1])
+    _logging_throttle(caller_id, logfatal, period, msg)
+
 
 #########################################################
 # CONSTANTS

clients/rospy/src/rospy/msproxy.py

@@ -90,8 +90,6 @@ def __init__(self, uri):
         self._lock = Lock()
 
     def __getattr__(self, key): #forward api calls to target
-        with self._lock:
-            f = getattr(self.target, key)
         if key in _master_arg_remap:
             remappings = _master_arg_remap[key]
         else:
@@ -103,7 +101,9 @@ def wrappedF(*args, **kwds):
                 i = i + 1 #callerId does not count
                 #print "Remap %s => %s"%(args[i], rospy.names.resolve_name(args[i]))
                 args[i] = rospy.names.resolve_name(args[i])
-            return f(*args, **kwds)
+            with self._lock:
+                f = getattr(self.target, key)
+                return f(*args, **kwds)
         return wrappedF
 
     def __getitem__(self, key):

clients/rospy/src/rospy/timer.py

@@ -185,7 +185,7 @@ def __init__(self, period, callback, oneshot=False):
         """
         Constructor.
         @param period: desired period between callbacks
-        @type  period: rospy.Time
+        @type  period: rospy.Duration
         @param callback: callback to be called
         @type  callback: function taking rospy.TimerEvent
         @param oneshot: if True, fire only once, otherwise fire continuously until shutdown is called [default: False]

test/test_rosbag/CMakeLists.txt

@@ -54,7 +54,7 @@ if(CATKIN_ENABLE_TESTING)
   include_directories(${GTEST_INCLUDE_DIRS})
   add_executable(double_pub EXCLUDE_FROM_ALL test/double_pub.cpp)
   target_link_libraries(double_pub ${GTEST_LIBRARIES} ${catkin_LIBRARIES})
-  add_dependencies(double_pub rosgraph_msgs_genpy)
+  add_dependencies(double_pub ${rosgraph_msgs_EXPORTED_TARGETS})
   if(TARGET tests)
     add_dependencies(tests double_pub)
   endif()

test/test_roscpp/CMakeLists.txt

@@ -85,7 +85,6 @@ endif()
 
 catkin_package(
   CATKIN_DEPENDS message_runtime rosconsole rosgraph_msgs std_msgs xmlrpcpp
-  DEPENDS Boost
 )
 
 if(CATKIN_ENABLE_TESTING)

test/test_roscpp/test/src/latching_publisher.cpp

@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2NULLNULL8, Willow Garage, Inc.
+ * Copyright (c) 2008, Willow Garage, Inc.
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without

test/test_roscpp/test/src/timer_callbacks.cpp

@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2NULLNULL8, Willow Garage, Inc.
+ * Copyright (c) 2008, Willow Garage, Inc.
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without

test/test_roscpp/test/src/wait_for_message.cpp

@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2NULLNULL8, Willow Garage, Inc.
+ * Copyright (c) 2008, Willow Garage, Inc.
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without

test/test_rospy/test/rostest/test_rospy_client_online.py

@@ -100,6 +100,55 @@ def test_log(self):
             rospy.logfatal("test 4")            
             self.assert_("[FATAL]" in sys.stderr.getvalue())            
             self.assert_("test 4" in sys.stderr.getvalue())            
+
+            # logXXX_throttle
+            for i in range(3):
+                sys.stdout = StringIO()
+                rospy.loginfo_throttle(3, "test 1")
+                if i == 0:
+                    self.assert_("test 1" in sys.stdout.getvalue())
+                    rospy.sleep(rospy.Duration(1))
+                elif i == 1:
+                    self.assert_("" == sys.stdout.getvalue())
+                    rospy.sleep(rospy.Duration(2))
+                else:
+                    self.assert_("test 1" in sys.stdout.getvalue())
+
+            for i in range(3):
+                sys.stderr = StringIO()
+                rospy.logwarn_throttle(3, "test 2")
+                if i == 0:
+                    self.assert_("test 2" in sys.stderr.getvalue())
+                    rospy.sleep(rospy.Duration(1))
+                elif i == 1:
+                    self.assert_("" == sys.stderr.getvalue())
+                    rospy.sleep(rospy.Duration(2))
+                else:
+                    self.assert_("test 2" in sys.stderr.getvalue())
+
+            for i in range(3):
+                sys.stderr = StringIO()
+                rospy.logerr_throttle(3, "test 3")
+                if i == 0:
+                    self.assert_("test 3" in sys.stderr.getvalue())
+                    rospy.sleep(rospy.Duration(1))
+                elif i == 1:
+                    self.assert_("" == sys.stderr.getvalue())
+                    rospy.sleep(rospy.Duration(2))
+                else:
+                    self.assert_("test 3" in sys.stderr.getvalue())
+
+            for i in range(3):
+                sys.stderr = StringIO()
+                rospy.logfatal_throttle(3, "test 4")
+                if i == 0:
+                    self.assert_("test 4" in sys.stderr.getvalue())
+                    rospy.sleep(rospy.Duration(1))
+                elif i == 1:
+                    self.assert_("" == sys.stderr.getvalue())
+                    rospy.sleep(rospy.Duration(2))
+                else:
+                    self.assert_("test 4" in sys.stderr.getvalue())
         finally:
             sys.stdout = real_stdout
             sys.stderr = real_stderr

test/test_rospy/test/unit/test_rospy_api.py

@@ -118,6 +118,11 @@ def test_rospy_api(self):
         rospy.loginfo        
         rospy.logout #deprecated
         rospy.logwarn
+        rospy.logdebug_throttle
+        rospy.logerr_throttle
+        rospy.logfatal_throttle
+        rospy.loginfo_throttle
+        rospy.logwarn_throttle
         rospy.myargv
         rospy.on_shutdown
         rospy.parse_rosrpc_uri

tools/rosbag/src/recorder.cpp

@@ -109,7 +109,9 @@ RecorderOptions::RecorderOptions() :
     split(false),
     max_size(0),
     max_duration(-1.0),
-    node("")
+    node(""),
+    min_space(1024 * 1024 * 1024),
+    min_space_str("1G")
 {
 }
 
@@ -346,6 +348,11 @@ void Recorder::updateFilenames() {
     if (options_.split)
         parts.push_back(boost::lexical_cast<string>(split_count_));
 
+    if (parts.size() == 0)
+    {
+      throw BagException("Bag filename is empty (neither of these was specified: prefix, append_date, split)");
+    }
+
     target_filename_ = parts[0];
     for (unsigned int i = 1; i < parts.size(); i++)
         target_filename_ += string("_") + parts[i];

tools/rosbag/src/rosbag/migration.py

@@ -1039,7 +1039,7 @@ def migrate_raw(self, msg_from, msg_to):
         path = self.find_path(msg_from[4], msg_to[4])
 
         if False in [sn.rule.valid for sn in path]:
-            raise BagMigrationException("Migrate called, but no valid migration path from [%s] to [%s]"%(msg_from._type, msg_to._type))
+            raise BagMigrationException("Migrate called, but no valid migration path from [%s] to [%s]"%(msg_from[0], msg_to[0]))
 
         # Short cut to speed up case of matching md5sum:
         if path == [] or msg_from[2] == msg_to[2]:

tools/rosbag/src/rosbag/rosbag_main.py

@@ -65,6 +65,13 @@ def handle_split(option, opt_str, value, parser):
         print("Use of \"--split <MAX_SIZE>\" has been deprecated.  Please use --split --size <MAX_SIZE> or --split --duration <MAX_DURATION>", file=sys.stderr)
         parser.values.size = int(parser.rargs.pop(0))
 
+
+def _stop_process(signum, frame, old_handler, process):
+    process.terminate()
+    if old_handler:
+        old_handler(signum, frame)
+
+
 def record_cmd(argv):
     parser = optparse.OptionParser(usage="rosbag record TOPIC1 [TOPIC2 TOPIC3 ...]",
                                    description="Record a bag file with the contents of specified topics.",
@@ -121,9 +128,15 @@ def record_cmd(argv):
 
     cmd.extend(args)
 
+    old_handler = signal.signal(
+        signal.SIGTERM,
+        lambda signum, frame: _stop_process(signum, frame, old_handler, process)
+    )
     # Better way of handling it than os.execv
     # This makes sure stdin handles are passed to the process.
-    subprocess.call(cmd)
+    process = subprocess.Popen(cmd)
+    process.wait()
+
 
 def info_cmd(argv):
     parser = optparse.OptionParser(usage='rosbag info [options] BAGFILE1 [BAGFILE2 BAGFILE3 ...]',
@@ -252,9 +265,16 @@ def play_cmd(argv):
         cmd.extend(['--bags'])
 
     cmd.extend(args)
+
+    old_handler = signal.signal(
+        signal.SIGTERM,
+        lambda signum, frame: _stop_process(signum, frame, old_handler, process)
+    )
     # Better way of handling it than os.execv
     # This makes sure stdin handles are passed to the process.
-    subprocess.call(cmd)
+    process = subprocess.Popen(cmd)
+    process.wait()
+
 
 def filter_cmd(argv):
     def expr_eval(expr):
@@ -304,7 +324,7 @@ def eval_fn(topic, m, t):
         return
 
     try:
-        meter = ProgressMeter(outbag_filename, inbag.size)
+        meter = ProgressMeter(outbag_filename, inbag._uncompressed_size)
         total_bytes = 0
 
         if options.verbose_pattern:

tools/rosconsole/include/ros/console.h

@@ -40,6 +40,7 @@
 #include <cstdarg>
 #include <ros/macros.h>
 #include <map>
+#include <vector>
 
 #ifdef ROSCONSOLE_BACKEND_LOG4CXX
 #include "log4cxx/level.h"

tools/rosgraph/src/rosgraph/xmlrpc.py

@@ -93,6 +93,9 @@ def __init__(self, addr, log_requests=1):
         # to True to allow quick restart on the same port.  This is equivalent 
         # to calling setsockopt(SOL_SOCKET,SO_REUSEADDR,1)
         self.allow_reuse_address = True
+        # Increase request_queue_size to handle issues with many simultaneous
+        # connections in OSX 10.11
+        self.request_queue_size = min(socket.SOMAXCONN, 128)
         if rosgraph.network.use_ipv6():
             logger = logging.getLogger('xmlrpc')
             # The XMLRPC library does not support IPv6 out of the box