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4.0 11.0 35.0 4.71 MB

Code generator for components and type handling in Rock - the Robot Construction Kit - and the Orocos Toolchain

Home Page: http://rock-robotics.org

License: Other

CMake 9.32% Makefile 0.06% Ruby 75.31% C++ 15.20% C 0.01% Vim Script 0.11%

orogen's Introduction

oroGen: easy component building for Orocos/RTT

https://www.rock-robotics.org/documentation/orogen

What is oroGen ?

oroGen is a specification language and code generator for the Orocos Realtime Toolkit (RTT). The Orocos/Real Time Toolkit is a C++ library allowing to build component-based systems (http://www.orocos.org/rtt). The orogen tool allows to create new components easily.

In oroGen, one write a specification that describes the components you want to develop. Then, orogen generates the corresponding C++ code and CMake build system so that you -- the component developer -- has only to care about implementing the actual functionality.

The remaining of this readme is about oroGen installation. See the user's guide for more in-depth usage information:

oroGen documentation

Installation

oroGen is part of the Robot Construction Kit. Check out rock-robotics.org for installation instructions.

orogen's People

Contributors

Stargazers

Watchers

orogen's Issues

Orogen Internal error

Hey,
my students managed to create an internal error with the attached
files. I can not see anything wrong with it.
As a side node, this was actually a minimal test case to debug
a typelib issue. We have problems with typelib creating the
MemoryLayout for RegisterBit.

Orogen and Typelib are on master.
Bootstrapped using Ruby2.0 on Ubuntu 14.04.4

Any Ideas ?
Greetings
Janosch

Create base class for all plugins and document it

Internal Error instead of normal error message on wrong type

Hey,
if you give a wrong type on an Operation you will get :
scotch@Machowinski-Desktop:~/coyote/coyote/orogen/faster_scout_tcp_client/build$ make regen
Scanning dependencies of target regen
===== Internal error =======
Please report the following error to the orogen developers
/home/scotch/coyote/tools/orogen/lib/orogen/gen/typekit.rb:882:in build': cannot find /base/Vector3 in registry (Typelib::NotFound) from /home/scotch/coyote/tools/orogen/lib/orogen/gen/typekit.rb:882:inbuild'
from /home/scotch/coyote/tools/orogen/lib/orogen/gen/typekit.rb:882:in rescue in find_type' from /home/scotch/coyote/tools/orogen/lib/orogen/gen/typekit.rb:864:infind_type'
from /home/scotch/coyote/tools/orogen/lib/orogen/gen/project.rb:571:in rescue in find_type' from /home/scotch/coyote/tools/orogen/lib/orogen/gen/project.rb:566:infind_type'
from /home/scotch/coyote/tools/orogen/lib/orogen/gen/project.rb:529:in find_interface_type' from /home/scotch/coyote/tools/orogen/lib/orogen/spec/operation.rb:97:infind_interface_type'
from /home/scotch/coyote/tools/orogen/lib/orogen/spec/operation.rb:117:in argument' from faster_scout_tcp_client.orogen:117 from /home/scotch/coyote/tools/orogen/lib/orogen/gen/project.rb:1002:ininstance_eval'
from /home/scotch/coyote/tools/orogen/lib/orogen/gen/project.rb:1002:in block in task_context' from /home/scotch/coyote/tools/orogen/lib/orogen/gen/project.rb:1033:ininstance_eval'
from /home/scotch/coyote/tools/orogen/lib/orogen/gen/project.rb:1033:in external_task_context' from /home/scotch/coyote/tools/orogen/lib/orogen/gen/project.rb:1000:intask_context'
from faster_scout_tcp_client.orogen:78
from /home/scotch/coyote/tools/orogen/lib/orogen/gen/project.rb:1348:in load' from /home/scotch/coyote/tools/orogen/bin/orogen:164:inblock in

'
from /home/scotch/coyote/tools/orogen/lib/orogen/base.rb:472:in beautify_loading_errors' from /home/scotch/coyote/tools/orogen/bin/orogen:154:in'
make[3]: *** [CMakeFiles/regen] Error 1
make[2]: *** [CMakeFiles/regen.dir/all] Error 2
make[1]: *** [CMakeFiles/regen.dir/rule] Error 2
make: *** [regen] Error 2

This should be a error message only pointing to the wrong line
in the orogen file.

generated main does not compile on OSX

I got the following compile error for an orogen generated project:

big_mockup/.orogen/main-orogen_default_big_mockup__Workaround.cpp:286:20: error:
no member named 'sa_restorer' in 'sigaction'
sigint_handler.sa_restorer = 0;
~~~~~~~~~~~~~~ ^
1 warning and 1 error generated.

The Linux manpage (http://man7.org/linux/man-pages/man2/sigaction.2.html) mentions the following:

The sa_restorer field is not intended for application use. (POSIX
does not specify a sa_restorer field.) Some further details of
purpose of this field can be found in sigreturn(2).

It's probable safe to remove this line?

kernel_require.rb:55:in `require': cannot load such file -- orogen (LoadError)

Hi,
i run "orocreate-pkg mycomponent", then make it. The terminal display like this：

/usr/lib/ruby/2.3.0/rubygems/core_ext/kernel_require.rb:55:in require': cannot load such file -- orogen (LoadError)
from /usr/lib/ruby/2.3.0/rubygems/core_ext/kernel_require.rb:55:in require' from /home/wangzheng/orocos_toolchain/install/bin/typegen:2:in

'
CMake Error at /home/wangzheng/orocos_toolchain/install/lib/cmake/orocos-rtt/UseOROCOS-RTT.cmake:611 (add_subdirectory):
add_subdirectory given source "/home/wangzheng/Robot/build/typekit" which
is not an existing directory.
Call Stack (most recent call first):
CMakeLists.txt:34 (orocos_typegen_headers)
`
What‘s the problem? Is there something wrong with ruby on my computer. And the system is Ubuntu16.04.

orogen should not create types that are ambigious to typelib

I had a header which contains this structures:

struct battery_data{
...
};
struct BatteryData{
...
};

In geeneral this works fine but later by using them in the typelib binding i hade no way to handle them anymore caused by this error:

10:10:58.644 (Roby) there is a type registered at Types::BatteryData that differs from the one we are trying to register
10:10:58.644 (Roby) registered type is
10:10:58.644 (Roby)   /BatteryData {
10:10:58.644 (Roby)     state </uint32_t>,
10:10:58.644 (Roby)     cell_voltage </uint32_t[8]>,
10:10:58.644 (Roby)     temperature </uint32_t>,
10:10:58.644 (Roby)     error_state </uint32_t>}
10:10:58.644 (Roby) new type is
10:10:58.644 (Roby)   /battery_data {
10:10:58.644 (Roby)     state </uint32_t>,
10:10:58.644 (Roby)     cell_voltage0 </uint32_t>,
10:10:58.644 (Roby)     cell_voltage1 </uint32_t>,
10:10:58.644 (Roby)     cell_voltage2 </uint32_t>,
10:10:58.644 (Roby)     cell_voltage3 </uint32_t>,
10:10:58.644 (Roby)     cell_voltage4 </uint32_t>,
10:10:58.644 (Roby)     cell_voltage5 </uint32_t>,
10:10:58.644 (Roby)     cell_voltage6 </uint32_t>,
10:10:58.644 (Roby)     cell_voltage7 </uint32_t>,
10:10:58.644 (Roby)     temperature </uint32_t>,
10:10:58.644 (Roby)     error_state </uint32_t>}

I put this issue to orogen because i see no way to handle this problem in the typelib binding, therefore i recomment that orogen should refuse the creation of such types then.

orogen_include for `/std/vector</base/JointLimitRange>` and friends

This time asking about orogen_include... Running make -C build regen in base/orogen/types generates a .orogen/typekit/base.tlb. Inside this file there is an entry

<container name="/std/vector&lt;/base/JointLimitRange&gt;" of="/base/JointLimitRange" size="24" kind="/std/vector">
    <metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>
    <metadata key="orogen_exporting_typekits"><![CDATA[base]]></metadata>
    <metadata key="orogen_include"><![CDATA[base:base/Temperature.hpp]]></metadata>
    <metadata key="source_file_line"><![CDATA[/usr/include/c++/4.9/bits/stl_vector.h:214]]></metadata>
</container>

So, it contains an orogen_include for Temperature.hpp despite transporting a JointLimitRange -- not as expected. This is the same for all the "vector" related types. Tried to track it down, currently I would opt for something in to go wrong during parsing of the preprocessed gccxml output?

This is no issue for me, just stumpled upon it trying to integrate the clang-thingy. And now I use this to introduce my actual problem: Why is this arcane orogen_include needed at all? Every well-behaved type has a source_file_line which is exactly what is to be included (raise an error if is not a header). For containers recurse for the type in of, for opaques the one in marshal_as?

metaruby dependency not found

In manifest.xml, should it be tools/metaruby ?

Overwritten TypeInfo for standard types?

Some standard types from the RTT typekit (bool, int, float, double etc.) do not print anymore in the TaskBrowser after a typekit generated by typegen has been imported.

Example:

Deployer [S]> var bool b1
 = false               

Deployer [S]> var int i1
 = 0                   

Deployer [S]> import("foo")
4.473 [ Info   ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=1, CPU affinity=0, with name='GlobalEngine'
4.473 [ Debug  ][Thread] Setting CPU affinity to 0
4.473 [ Info   ][GlobalEngine] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0 (PID= 29398 ).
4.474 [ Info   ][ComponentLoader::import(path_list)] Importing directory foo ...
4.474 [ Debug  ][ComponentLoader::import(path_list)] Scanning file foo/include ...not a regular file: ignored.
4.474 [ Debug  ][ComponentLoader::import(path_list)] Scanning file foo/src ...not a regular file: ignored.
4.474 [ Debug  ][ComponentLoader::import(path_list)] Scanning file foo/package.xml ...not a .so library: ignored.
4.474 [ Debug  ][ComponentLoader::import(path_list)] Scanning file foo/CMakeLists.txt ...not a .so library: ignored.
4.474 [ Debug  ][ComponentLoader::import(path_list)] Looking for plugins or typekits in directory foo ...
4.474 [ Debug  ][ComponentLoader::import(path_list)] No such directory: "foo/types"
4.474 [ Debug  ][ComponentLoader::import(path_list)] No such directory: "foo/plugins"
4.474 [ Debug  ][ComponentLoader::import(path_list)] No such directory: "foo/gnulinux"
4.474 [ Info   ][ComponentLoader::import(path_list)] Importing directory /opt/orocos/indigo/tmp/install/lib/orocos/gnulinux/foo ...
4.474 [ Debug  ][ComponentLoader::import(path_list)] Scanning file /opt/orocos/indigo/tmp/install/lib/orocos/gnulinux/foo/plugins ...not a regular file: ignored.
4.475 [ Debug  ][ComponentLoader::import(path_list)] Scanning file /opt/orocos/indigo/tmp/install/lib/orocos/gnulinux/foo/libfoo-gnulinux.so ...Succesfully loaded foo
4.475 [ Info   ][ComponentLoader::import(path_list)] Loaded component type 'Foo'
4.475 [ Debug  ][ComponentLoader::import(path_list)] Scanning file /opt/orocos/indigo/tmp/install/lib/orocos/gnulinux/foo/types ...not a regular file: ignored.
4.475 [ Debug  ][ComponentLoader::import(path_list)] Looking for plugins or typekits in directory /opt/orocos/indigo/tmp/install/lib/orocos/gnulinux/foo ...
4.475 [ Info   ][ComponentLoader::import(path_list)] Loading typekit libraries from directory /opt/orocos/indigo/tmp/install/lib/orocos/gnulinux/foo/types ...
4.483 [ Debug  ][ComponentLoader::import(path_list)] Scanning file /opt/orocos/indigo/tmp/install/lib/orocos/gnulinux/foo/types/libfoo-transport-mqueue-gnulinux.so ...Found library libfoo-transport-mqueue-gnulinux.so
4.486 [ Info   ][TypekitRepository::Import] Loading Transport MQueue:///orogen/foo.
4.486 [ Debug  ][TypekitRepository::Import] Transport MQueue did not install a fallback handler for 'unknown_t'.
4.486 [ Info   ][ComponentLoader::import(path_list)] Loaded RTT TypeKit/Transport '/orogen/foo/MQueue' from 'foo-transport-mqueue'
4.486 [ Debug  ][ComponentLoader::import(path_list)] Scanning file /opt/orocos/indigo/tmp/install/lib/orocos/gnulinux/foo/types/libfoo-transport-typelib-gnulinux.so ...Found library libfoo-transport-typelib-gnulinux.so
4.486 [ Info   ][TypekitRepository::Import] Loading Transport Typelib:///orogen/foo.
4.487 [ Debug  ][TypekitRepository::Import] Transport Typelib did not install a fallback handler for 'unknown_t'.
4.488 [ Info   ][ComponentLoader::import(path_list)] Loaded RTT TypeKit/Transport '/orogen/foo/TYPELIB' from 'foo-transport-typelib'
4.490 [ Debug  ][ComponentLoader::import(path_list)] Scanning file /opt/orocos/indigo/tmp/install/lib/orocos/gnulinux/foo/types/libfoo-transport-corba-gnulinux.so ...Found library libfoo-transport-corba-gnulinux.so
4.490 [ Info   ][TypekitRepository::Import] Loading Transport CORBA:///orogen/foo.
4.490 [ Debug  ][TypekitRepository::Import] Transport CORBA did not install a fallback handler for 'unknown_t'.
4.490 [ Info   ][ComponentLoader::import(path_list)] Loaded RTT TypeKit/Transport '/orogen/foo/CORBA' from 'foo-transport-corba'
4.517 [ Debug  ][ComponentLoader::import(path_list)] Scanning file /opt/orocos/indigo/tmp/install/lib/orocos/gnulinux/foo/types/libfoo-typekit-gnulinux.so ...Found library libfoo-typekit-gnulinux.so
4.517 [ Info   ][TypekitRepository::Import] Loading Typekit /orogen/foo.
4.517 [ Debug  ][TypekitRepository::Import] Registered Type '/FooData' to the Orocos Type System.
4.517 [ Info   ][TypekitRepository::Import] Registered new 'MQueue' transport for /FooData
4.518 [ Info   ][TypekitRepository::Import] Registered new 'Typelib' transport for /FooData
4.518 [ Info   ][TypekitRepository::Import] Registered new 'CORBA' transport for /FooData
4.518 [ Debug  ][TypekitRepository::Import] Registered Type '/bool' to the Orocos Type System.
4.518 [ Debug  ][TypekitRepository::Import] A protocol with id 2 was already added for type bool
4.518 [ Info   ][TypekitRepository::Import] Registered new 'MQueue' transport for /bool
4.518 [ Info   ][TypekitRepository::Import] Registered new 'Typelib' transport for /bool
4.518 [ Debug  ][TypekitRepository::Import] Registered Type '/double' to the Orocos Type System.
4.518 [ Debug  ][TypekitRepository::Import] A protocol with id 2 was already added for type double
4.518 [ Info   ][TypekitRepository::Import] Registered new 'MQueue' transport for /double
4.518 [ Info   ][TypekitRepository::Import] Registered new 'Typelib' transport for /double
4.518 [ Debug  ][TypekitRepository::Import] Registered Type '/float' to the Orocos Type System.
4.518 [ Debug  ][TypekitRepository::Import] A protocol with id 2 was already added for type float
4.518 [ Info   ][TypekitRepository::Import] Registered new 'MQueue' transport for /float
4.518 [ Info   ][TypekitRepository::Import] Registered new 'Typelib' transport for /float
4.518 [ Debug  ][TypekitRepository::Import] Registered Type '/int16_t' to the Orocos Type System.
4.518 [ Info   ][TypekitRepository::Import] Registered new 'MQueue' transport for /int16_t
4.518 [ Info   ][TypekitRepository::Import] Registered new 'Typelib' transport for /int16_t
4.518 [ Info   ][TypekitRepository::Import] Registered new 'CORBA' transport for /int16_t
4.518 [ Debug  ][TypekitRepository::Import] Registered Type '/int32_t' to the Orocos Type System.
4.518 [ Debug  ][TypekitRepository::Import] A protocol with id 2 was already added for type int
4.518 [ Info   ][TypekitRepository::Import] Registered new 'MQueue' transport for /int32_t
4.518 [ Info   ][TypekitRepository::Import] Registered new 'Typelib' transport for /int32_t
4.518 [ Debug  ][TypekitRepository::Import] Registered Type '/std/string' to the Orocos Type System.
4.518 [ Info   ][TypekitRepository::Import] Registered new 'MQueue' transport for /std/string
4.518 [ Info   ][TypekitRepository::Import] Registered new 'Typelib' transport for /std/string
4.518 [ Debug  ][TypekitRepository::Import] Registered Type '/std/vector</double>' to the Orocos Type System.
4.518 [ Debug  ][TypekitRepository::Import] A protocol with id 2 was already added for type array
4.518 [ Info   ][TypekitRepository::Import] Registered new 'MQueue' transport for /std/vector</double>
4.518 [ Info   ][TypekitRepository::Import] Registered new 'Typelib' transport for /std/vector</double>
4.518 [ Debug  ][TypekitRepository::Import] Registered Type '/uint16_t' to the Orocos Type System.
4.518 [ Info   ][TypekitRepository::Import] Registered new 'MQueue' transport for /uint16_t
4.518 [ Info   ][TypekitRepository::Import] Registered new 'Typelib' transport for /uint16_t
4.518 [ Info   ][TypekitRepository::Import] Registered new 'CORBA' transport for /uint16_t
4.518 [ Debug  ][TypekitRepository::Import] Registered Type '/uint32_t' to the Orocos Type System.
4.518 [ Debug  ][TypekitRepository::Import] A protocol with id 2 was already added for type uint
4.518 [ Info   ][TypekitRepository::Import] Registered new 'MQueue' transport for /uint32_t
4.518 [ Info   ][TypekitRepository::Import] Registered new 'Typelib' transport for /uint32_t
4.518 [ Debug  ][TypekitRepository::Import] Registered Type '/uint8_t' to the Orocos Type System.
4.519 [ Info   ][TypekitRepository::Import] Registered new 'MQueue' transport for /uint8_t
4.519 [ Info   ][TypekitRepository::Import] Registered new 'Typelib' transport for /uint8_t
4.519 [ Info   ][TypekitRepository::Import] Registered new 'CORBA' transport for /uint8_t
4.519 [ Info   ][ComponentLoader::import(path_list)] Loaded RTT TypeKit/Transport '/orogen/foo' from 'foo-typekit'
4.519 [ Info   ][ComponentLoader::import(path_list)] Loading plugin libraries from directory /opt/orocos/indigo/tmp/install/lib/orocos/gnulinux/foo/plugins ...
4.519 [ Debug  ][ComponentLoader::import(path_list)] Scanning file /opt/orocos/indigo/tmp/install/lib/orocos/gnulinux/foo/plugins/libfoo-plugin-gnulinux.so ...Found library libfoo-plugin-gnulinux.so
Plugin of foo loaded in process.
4.519 [ Info   ][ComponentLoader::import(path_list)] Loaded RTT Plugin 'foo-example-plugin' from 'foo-plugin'
4.520 [ Debug  ][ComponentLoader::import(path_list)] Scanning file /opt/orocos/indigo/tmp/install/lib/orocos/gnulinux/foo/plugins/libfoo-service-gnulinux.so ...Found library libfoo-service-gnulinux.so
4.520 [ Info   ][ComponentLoader::import(path_list)] Loaded RTT Service 'myservice' from 'foo-service'
4.520 [ Info   ][ComponentLoader::import(path_list)] Importing directory ./foo ...
4.520 [ Debug  ][ComponentLoader::import(path_list)] Scanning file ./foo/include ...not a regular file: ignored.
4.520 [ Debug  ][ComponentLoader::import(path_list)] Scanning file ./foo/src ...not a regular file: ignored.
4.520 [ Debug  ][ComponentLoader::import(path_list)] Scanning file ./foo/package.xml ...not a .so library: ignored.
4.520 [ Debug  ][ComponentLoader::import(path_list)] Scanning file ./foo/CMakeLists.txt ...not a .so library: ignored.
4.520 [ Debug  ][ComponentLoader::import(path_list)] Looking for plugins or typekits in directory ./foo ...
4.520 [ Debug  ][ComponentLoader::import(path_list)] No such directory: "./foo/types"
4.520 [ Debug  ][ComponentLoader::import(path_list)] No such directory: "./foo/plugins"
 = (bool)              

Deployer [S]> .types
Available data types:  FooData bool double float int16_t int32_t std.string std.vector<double> uint16_t uint32_t uint8_t ConnPolicy FlowStatus PropertyBag SendHandle SendStatus TaskContext array bool char double float int ints rt_string string strings uint void
Deployer [S]> var bool b2
 = (bool)              

Deployer [S]> var int i2
 = (int)               

Deployer [S]> var string s2
 =                     

Deployer [S]> var std.string s3
 =                     

Deployer [S]>

The typekit is the default typekit generated with orocreate-pkg, where the struct FooData only contains a vector of doubles. I am testing with the current toolchain-2.8 branches of all toolchain repositories.

Get task names from an orogen project

I am trying to get the task names defined in an orogen file and this is as far as could get:

class OrogenProject
    attr_reader :loader, :target
    def initialize(file)
        @loader = OroGen::Loaders::RTT.new
        @target = OroGen::Spec::Project.new(loader)
        target.define_default_deployments = false
        load file
    end

    def load(file)
        OroGen::Loaders::Project.new(target).__load__(file)
    end

    def tasks
        target.self_tasks.keys
    end
end

This only works if the tasks defined in the file do not have any external dependencies. How do I make it find whatever it needs or, even better, is there an easy way to ignore missing typekits/base tasks/deployments? I only want the task names, I don't care if there are stuff missing. Thanks!

oroconf extract error

After this commit when I try to use

oroconf extract auv_control::AccelerationController --save=.

I get the following error message:

/home/rafaelsaback/flatfish/bir_rock/tools/orogen/lib/orogen/loaders/aggregate.rb:76:in `find_task_library_from_task_model_name': NotImplementedError (NotImplementedError)
    from /home/rafaelsaback/flatfish/bir_rock/tools/orocos.rb/bin/oroconf:101:in `<main>'

default extensions are enabled twice in imported projects

See discussion: rock-core/drivers-orogen-iodrivers_base#18 (comment)

orogen cannot handle "C style" typedef'ed structs correctly

I'm almost sure this is a regression because I (we? :P) used this before and I don't remember having to work around it...

Given the definition:

typedef struct _Foobar {
    int dummy_field;
} Foobar;

It seems Typelib does not generate definitions for _Foobar but still creates convertion methods for it:

.orogen/typekit/transports/corba/Convertions.cpp:17:34: error: ‘_Foobar’ is not a member of ‘orogen::Corba’
bool toCORBA( orogen::Corba::_Foobar& corba, _Foobar const& value );
^~~~~~~
.orogen/typekit/transports/corba/Convertions.cpp:17:34: note: suggested alternative: ‘Foobar’
bool toCORBA( orogen::Corba::_Foobar& corba, _Foobar const& value );
^~~~~~~
Foobar
.orogen/typekit/transports/corba/Convertions.cpp:17:43: error: ‘corba’ was not declared in this scope
bool toCORBA( orogen::Corba::_Foobar& corba, _Foobar const& value );
^~~~~

Possible regression? I think I have used this before..

Updated doc for new plugin system naming

Problem with base/samples/frame/Frame in orogen

Hi,

on master, whenever I add the above mentioned data type as an output port in an orogen component, I get the following build error:

/home/dfki.uni-bremen.de/dmronga/rock_hybrit/drivers/orogen/test/.orogen/tasks/TaskBase.cpp: In member function 'void test::TaskBase::setupComponentInterface()':
/home/dfki.uni-bremen.de/dmronga/rock_hybrit/drivers/orogen/test/.orogen/tasks/TaskBase.cpp:51:27: error: 'ReadOnlyPointer' is not a member of 'RTT::extras'
/home/dfki.uni-bremen.de/dmronga/rock_hybrit/drivers/orogen/test/.orogen/tasks/TaskBase.cpp:51:89: error: expected primary-expression before '>' token

The problem seems to be related to c37f00c, because with the preceding commit the orogen component compiles.

Best,
Dennis

Orogen does not include inherited ports when port_driven

Given Task A and Task B as follows:

task_context "TaskA" do
    input_port "portA"
end

task_context "TaskB", subclasses: "TaskA" do
    input_port "portB"
    port_driven
end

then the updateHook of TaskB will only be triggered for portB, NOT for interited port portA!
In TaskBase::setupComponentInterface(), orogen did not add portA.

orogen generate invalid typlib files (includes are resolved wrongly)

On rc-build the base/orogen/types cannot be compiled if ocl build is active.

Orogen tries to export all types because it get called with:

orogen --corba --import=std --parallel-build=4 --transports=corba,mqueue,typelib --type-export-policy=all base.orogen

unfourtnalty this causes wrong include for some new files, instead of JointLimitRange the Joint Header get catched which is not related to the JointLimitRange

It seems a problem with these function https://github.com/orocos-toolchain/orogen/blob/master/lib/orogen/gen/typekit.rb#L1321

Error:

/home/goldhoorn/bootstraps/release-nativ/base/orogen/types/.orogen/typekit/transports/corba/__base__NamedVector____base__JointLimitRange__.cpp:59:76: error: 'JointLimitRange' is not a member of 'base'

Header snip:

  1 /* Generated from orogen/lib/orogen/templates/typekit/typelib/Type.cpp */
  2 
  3 #include <base/samples/Joints.hpp>
  4 #include <rtt/typelib/TypelibMarshaller.hpp>
  5 #include "transports/typelib/Registration.hpp"
  6 
  7 orogen_transports::TypelibMarshallerBase* orogen_typekits::base_NamedVector__base_JointLimitRange__TypelibMarshaller(Typelib::Registry const& registry)
  8 {
  9     return new orogen_transports::TypelibMarshaller< ::base::NamedVector< ::base::JointLimitRange > >("/base/NamedVector</base/JointLimitRange>", registry);
 10 }

orogen fails to build with Ruby 1.9.1 or 1.9.3 on Ubuntu 12.04

==> Processing plain cmake package: 'orogen'
==> Building with env: '/home/jbohren/ws/groovy/underlay_isolated/install_isolated/env.sh'
==> cmake /home/jbohren/ws/groovy/underlay_isolated/src/orocos/orocos_toolchain/orogen -DCMAKE_INSTALL_PREFIX=/home/jbohren/ws/groovy/underlay_isolated/install_isolated in '/home/jbohren/ws/groovy/underlay_isolated/build_isolated/orogen'
-e:1: Use RbConfig instead of obsolete and deprecated Config.
-e:1: Use RbConfig instead of obsolete and deprecated Config.
-e:1: Use RbConfig instead of obsolete and deprecated Config.
-e:1: Use RbConfig instead of obsolete and deprecated Config.
-e:1: Use RbConfig instead of obsolete and deprecated Config.
-e:1: Use RbConfig instead of obsolete and deprecated Config.
-e:1: Use RbConfig instead of obsolete and deprecated Config.
-e:1: Use RbConfig instead of obsolete and deprecated Config.
-e:1: Use RbConfig instead of obsolete and deprecated Config.
-e:1: Use RbConfig instead of obsolete and deprecated Config.
CMake Error at /usr/share/cmake-2.8/Modules/FindPackageHandleStandardArgs.cmake:91 (MESSAGE):
  Could NOT find Ruby (missing: RUBY_LIBRARY) (found version "1.9.1")
Call Stack (most recent call first):
  /usr/share/cmake-2.8/Modules/FindPackageHandleStandardArgs.cmake:252 (_FPHSA_FAILURE_MESSAGE)
  /usr/share/cmake-2.8/Modules/FindRuby.cmake:230 (FIND_PACKAGE_HANDLE_STANDARD_ARGS)
  CMakeLists.txt:4 (FIND_PACKAGE)


-- Configuring incomplete, errors occurred!
<== Failed to process package 'orogen': 
  Command '/home/jbohren/ws/groovy/underlay_isolated/install_isolated/env.sh cmake /home/jbohren/ws/groovy/underlay_isolated/src/orocos/orocos_toolchain/orogen -DCMAKE_INSTALL_PREFIX=/home/jbohren/ws/groovy/underlay_isolated/install_isolated' returned non-zero exit status 1

Reproduce this error by running:
==> cd /home/jbohren/ws/groovy/underlay_isolated/build_isolated && /home/jbohren/ws/groovy/underlay_isolated/install_isolated/env.sh cmake /home/jbohren/ws/groovy/underlay_isolated/src/orocos/orocos_toolchain/orogen -DCMAKE_INSTALL_PREFIX=/home/jbohren/ws/groovy/underlay_isolated/install_isolated

Command failed, exiting.

clang: missing header in second pass of orogen typelib call for base/orogen/types

Hey,
not sure if this is really an orogen bug, or more one for base/orogen/types.
This is related to the clang integration work.
If using clang to generate the tlb files, the first pass runs through.
Meaning, that the tlbs for all headers from base/types get generated.
Then a second pass happens, were tlbs for the just generated wrappers
are generated.
During this call a opaque RTT/extra/ReadOnlyPointer<base/samples/Frame> is
given. But there is no header given, that contains a defintion of either
RTT/extra/ReadOnlyPointer nor base/samples/Frame.

Apart from this problem, what is the expected result ? My guess would
be, that in orogen_includes the header to the definition of
RTT/extra/ReadOnlyPointer and base/samples/Frame should be
registered, seperated by a collonn.

orogen missing catkin build tool dep

I tried to build orocos with ros industrial-ci and I get this error when running rosdep :

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
orogen: Missing resource catkin
ROS path [0]=/root/catkin_ws

I think it is just missing <buildtool_depend>catkin</buildtool_depend> here as in rtt :

https://github.com/orocos-toolchain/rtt/blob/master/package.xml#L14

Error if ro_ptr is passed as argument of operation

Hi,
if one passes a ro_ptr e.g (ro_ptr('std/vector</envire/BinaryEvent>')) as argument of
an operation, this results in the following error :
===== Internal error =======
Please report the following error to the orogen developers
/home/scotch/coyote/tools/orogen/lib/orogen/base.rb:294:in unqualified_cxx_type': undefined methodgsub' for #Class:0x00000003e88020 (NoMethodError)
from /home/scotch/coyote/tools/orogen/lib/orogen/base.rb:294:in unqualified_cxx_type' from /home/scotch/coyote/tools/orogen/lib/orogen/spec/operation.rb:96:infind_interface_type'
from /home/scotch/coyote/tools/orogen/lib/orogen/spec/operation.rb:117:in argument' from local_mapper.orogen:36 from /home/scotch/coyote/tools/orogen/lib/orogen/gen/project.rb:1002:ininstance_eval'
from /home/scotch/coyote/tools/orogen/lib/orogen/gen/project.rb:1002:in block in task_context' from /home/scotch/coyote/tools/orogen/lib/orogen/gen/project.rb:1033:ininstance_eval'
from /home/scotch/coyote/tools/orogen/lib/orogen/gen/project.rb:1033:in external_task_context' from /home/scotch/coyote/tools/orogen/lib/orogen/gen/project.rb:1000:intask_context'
from local_mapper.orogen:10
from /home/scotch/coyote/tools/orogen/lib/orogen/gen/project.rb:1348:in load' from /home/scotch/coyote/tools/orogen/bin/orogen:164:inblock in

'
from /home/scotch/coyote/tools/orogen/lib/orogen/base.rb:472:in beautify_loading_errors' from /home/scotch/coyote/tools/orogen/bin/orogen:154:in'
make[3]: *** [CMakeFiles/regen] Error 1