Merge pull request #40 from jdlangs/rm_0.6_deprecations

Remove deprecations from julia v0.6, drop v0.5 support

.travis.yml

@@ -1,6 +1,5 @@
 language: julia
 julia:
-  - 0.5
   - 0.6
   - nightly
 sudo: required

REQUIRE

@@ -1,3 +1,3 @@
-julia 0.5
+julia 0.6
 PyCall 1.11.0
-Compat 0.17.0
+Compat 0.34.0

src/callbacks.jl

@@ -4,7 +4,7 @@ function _callback_notify(handle::Ptr{Void})
     ccall(:uv_async_send, Cint, (Ptr{Void},), handle)
 end
 
-const CB_NOTIFY_PTR = cfunction(_callback_notify, Cint, (Ptr{Void},))
+const CB_NOTIFY_PTR = cfunction(_callback_notify, Cint, Tuple{Ptr{Void}})
 
 function _callback_async_loop(rosobj, cond)
     @debug("Spinning up callback loop...")
@@ -15,14 +15,14 @@ function _callback_async_loop(rosobj, cond)
     @debug("Exiting callback loop")
 end
 
-function _run_callbacks{M}(sub::Subscriber{M})
+function _run_callbacks(sub::Subscriber{M}) where M
     while pycall(sub.queue["size"], PyAny) > 0
         msg = pycall(sub.queue["get"], PyObject)
         sub.callback(convert(M, msg), sub.callback_args...)
     end
 end
 
-function _run_callbacks{T}(srv::Service{T})
+function _run_callbacks(srv::Service{T}) where T
     ReqType = _srv_reqtype(T)
 
     req = pycall(srv.cb_interface["get_request"], PyObject)

src/gentypes.jl

@@ -1,16 +1,14 @@
 #Generate Julia composite types for ROS messages
 
-using Compat
-import Compat: String, Symbol
 using PyCall
 
 export @rosimport, rostypegen, rostypereset
 
 #Type definitions
 #Composite types for internal use. Keeps track of the imported types and helps
 #keep code generation orderly.
-@compat abstract type ROSModule end
-type ROSPackage
+abstract type ROSModule end
+mutable struct ROSPackage
     name::String
     msg::ROSModule
     srv::ROSModule
@@ -21,13 +19,13 @@ type ROSPackage
         pkg
     end
 end
-type ROSMsgModule <: ROSModule
+struct ROSMsgModule <: ROSModule
     pkg::ROSPackage
     members::Vector{String}
     deps::Set{String}
     ROSMsgModule(pkg) = new(pkg, String[], Set{String}())
 end
-type ROSSrvModule <: ROSModule
+struct ROSSrvModule <: ROSModule
     pkg::ROSPackage
     members::Vector{String}
     deps::Set{String}
@@ -62,9 +60,9 @@ const _ros_builtin_types = Dict{String, Symbol}(
     )
 
 #Abstract supertypes of all generated types
-@compat abstract type AbstractMsg end
-@compat abstract type AbstractSrv end
-@compat abstract type AbstractService end
+abstract type AbstractMsg end
+abstract type AbstractSrv end
+abstract type AbstractService end
 
 """
     @rosimport
@@ -103,6 +101,7 @@ 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)
@@ -316,8 +315,6 @@ function modulecode(mod::ROSModule)
     #Common imports
     push!(modcode,
         quote
-            using Compat
-            import Compat: String, Symbol
             using PyCall
             import Base: convert, getindex
             import RobotOS
@@ -417,7 +414,7 @@ function buildtype(mod::ROSSrvModule, typename::String)
     reqsym = Symbol(string(typename,"Request"))
     respsym = Symbol(string(typename,"Response"))
     srvexprs = Expr[
-        :(immutable $defsym <: AbstractService end),
+        :(struct $defsym <: AbstractService end),
         :(_typerepr(::Type{$defsym}) = $(_rostypestr(mod,typename))),
         :(_srv_reqtype(::Type{$defsym}) = $reqsym),
         :(_srv_resptype(::Type{$defsym}) = $respsym),
@@ -447,7 +444,7 @@ function typecode(rosname::String, super::Symbol, members::Vector)
     #First the empty expressions
     #(1) Type declaration
     push!(exprs, :(
-        type $jlsym <: $super
+        mutable struct $jlsym <: $super
             #Generated code here
         end
     ))
@@ -473,7 +470,7 @@ function typecode(rosname::String, super::Symbol, members::Vector)
     push!(exprs, :(
         function convert(jlt::Type{$jlsym}, o::PyObject)
             if convert(String, o["_type"]) != _typerepr(jlt)
-                throw(InexactError())
+                throw(InexactError(:convert, $jlsym, o))
             end
             jl = $jlsym()
             #Generated code here
@@ -557,7 +554,7 @@ end
 
 #Build a String => Iterable{String} object from the individual package
 #dependencies.
-function _collectdeps{S<:AbstractString}(pkgs::Dict{S, ROSPackage})
+function _collectdeps(pkgs::Dict{S, ROSPackage}) where S <: AbstractString
     deps = Dict{S, Set{S}}()
     for pname in keys(pkgs)
         if ! haskey(deps, pname)
@@ -654,18 +651,18 @@ _jl_safe_name(name::AbstractString, suffix) = _nameconflicts(name) ?
 _nameconflicts(typename::String) = isdefined(Base, Symbol(typename))
 
 #Get a default value for any builtin ROS type
-_typedefault{T<:Real}(::Type{T}) = zero(T)
+_typedefault(::Type{T}) where {T <: Real} = zero(T)
 _typedefault(::Type{String}) = ""
 _typedefault(::Type{Time}) = Time(0,0)
 _typedefault(::Type{Duration}) = Duration(0,0)
 
 #Default method to get the "pkg/type" string from a generated DataType.
 #Extended by the generated modules.
-_typerepr{T}(::Type{T}) = error("Not a ROS type")
+_typerepr(::Type{T}) where {T} = error("Not a ROS type")
 
 #Default method to get the request/response datatypes for a generated service
-_srv_reqtype{T}( ::Type{T}) = error("Not a ROS Service type")
-_srv_resptype{T}(::Type{T}) = error("Not a ROS Service type")
+_srv_reqtype( ::Type{T}) where {T} = error("Not a ROS Service type")
+_srv_resptype(::Type{T}) where {T} = error("Not a ROS Service type")
 
 #Accessors for the package name
 _name(p::ROSPackage) = p.name

src/pubsub.jl

@@ -1,34 +1,32 @@
 #API for publishing and subscribing to message topics
 export Publisher, Subscriber, publish
 
-using Compat
-
 """
     Publisher{T}(topic; kwargs...)
     Publisher(topic, T; kwargs...)
 
 Create an object to publish messages of type `T` on a topic. Keyword arguments are directly passed
 to rospy.
 """
-type Publisher{MsgType<:AbstractMsg}
+struct Publisher{MsgType<:AbstractMsg}
     o::PyObject
 
-    @compat function (::Type{Publisher{MT}}){MT <: AbstractMsg}(topic::AbstractString; kwargs...)
+    function Publisher{MT}(topic::AbstractString; kwargs...) where MT <: AbstractMsg
         @debug("Creating <$(string(MT))> publisher on topic: '$topic'")
         rospycls = _get_rospy_class(MT)
         return new{MT}(__rospy__[:Publisher](ascii(topic), rospycls; kwargs...))
     end
 end
 
-Publisher{MT<:AbstractMsg}(topic::AbstractString, ::Type{MT}; kwargs...) =
+Publisher(topic::AbstractString, ::Type{MT}; kwargs...) where {MT <: AbstractMsg} =
     Publisher{MT}(ascii(topic); kwargs...)
 
 """
     publish(p::Publisher{T}, msg::T)
 
 Publish `msg` on `p`, a `Publisher` with matching message type.
 """
-function publish{MT<:AbstractMsg}(p::Publisher{MT}, msg::MT)
+function publish(p::Publisher{MT}, msg::MT) where MT <: AbstractMsg
     pycall(p.o["publish"], PyAny, convert(PyObject, msg))
 end
 
@@ -40,16 +38,16 @@ Create a subscription to a topic with message type `T` with a callback to use wh
 received, which can be any callable type. Extra arguments provided to the callback when invoked
 can be provided in the `cb_args` tuple. Keyword arguments are directly passed to rospy.
 """
-type Subscriber{MsgType<:AbstractMsg}
+mutable struct Subscriber{MsgType<:AbstractMsg}
     callback
     callback_args::Tuple
     sub_obj::PyObject
     queue::PyObject
     async_loop::Task
 
-    @compat function (::Type{Subscriber{MT}}){MT <: AbstractMsg}(
+    function Subscriber{MT}(
         topic::AbstractString, cb, cb_args::Tuple=(); kwargs...
-    )
+    ) where MT <: AbstractMsg
         @debug("Creating <$(string(MT))> subscriber on topic: '$topic'")
         rospycls = _get_rospy_class(MT)
 
@@ -66,6 +64,6 @@ type Subscriber{MsgType<:AbstractMsg}
     end
 end
 
-function Subscriber{MT<:AbstractMsg}(topic, ::Type{MT}, cb, cb_args::Tuple=(); kwargs...)
+function Subscriber(topic, ::Type{MT}, cb, cb_args::Tuple=(); kwargs...) where MT <: AbstractMsg
     Subscriber{MT}(topic, cb, cb_args; kwargs...)
 end

src/services.jl

@@ -1,34 +1,28 @@
 #API for calling/creating services. Syntax is practically identical to rospy.
 export Service, ServiceProxy, wait_for_service
 
-using Compat
-
 """
     ServiceProxy{T}(name; kwargs...)
     ServiceProxy(name, T; kwargs...)
 
 Create a proxy object used to invoke a remote service. Use `srv_proxy(msg_request)` with the object
 to invoke the service call. Keyword arguments are directly passed to rospy.
 """
-type ServiceProxy{SrvType <: AbstractService}
+struct ServiceProxy{SrvType <: AbstractService}
     o::PyObject
 
-    @compat function (::Type{ServiceProxy{ST}}){ST <: AbstractService}(
-        name::AbstractString; kwargs...
-    )
+    function ServiceProxy{ST}(name::AbstractString; kwargs...) where ST <: AbstractService
         @debug("Creating <$ST> service proxy for '$name'")
         rospycls = _get_rospy_class(ST)
         new{ST}(__rospy__[:ServiceProxy](ascii(name), rospycls; kwargs...))
     end
 end
 
-function ServiceProxy{ST<:AbstractService}(name::AbstractString, srv::Type{ST}; kwargs...)
+function ServiceProxy(name::AbstractString, srv::Type{ST}; kwargs...) where ST <: AbstractService
     ServiceProxy{ST}(ascii(name); kwargs...)
 end
 
-@compat function (srv::ServiceProxy{ST}){ST <: AbstractService}(
-    req::AbstractSrv
-)
+function (srv::ServiceProxy{ST})(req::AbstractSrv) where ST <: AbstractService
     if ! isa(req, _srv_reqtype(ST))
         throw(ArgumentError(
             string("Incorrect service request type: ", typeof(req),
@@ -46,15 +40,13 @@ end
 Create a service object that can receive requests and provide responses. The callback can be of
 any callable type. Keyword arguments are directly passed to rospy.
 """
-type Service{SrvType <: AbstractService}
+mutable struct Service{SrvType <: AbstractService}
     handler
     srv_obj::PyObject
     cb_interface::PyObject
     async_loop::Task
 
-    @compat function (::Type{Service{ST}}){ST <: AbstractService}(
-        name::AbstractString, handler; kwargs...
-    )
+    function Service{ST}(name::AbstractString, handler; kwargs...) where ST <: AbstractService
         @debug("Providing <$ST> service at '$name'")
         rospycls = _get_rospy_class(ST)
 
@@ -81,7 +73,7 @@ type Service{SrvType <: AbstractService}
     end
 end
 
-function Service{ST<:AbstractService}(name::AbstractString, srv::Type{ST}, handler; kwargs...)
+function Service(name::AbstractString, srv::Type{ST}, handler; kwargs...) where ST <: AbstractService
     Service{ST}(ascii(name), handler; kwargs...)
 end
 

src/time.jl

@@ -1,12 +1,10 @@
 #All time related types and functions
 
-using Compat
-
 import Base: convert, isless, sleep, +, -, *, ==
 export Time, Duration, Rate, to_sec, to_nsec, get_rostime, rossleep
 
 #Time type definitions
-@compat abstract type TVal end
+abstract type AbstractTime end
 
 """
     Time(secs, nsecs), Time(), Time(t::Real)
@@ -17,7 +15,7 @@ Basic arithmetic can be performed on combinations of `Time` and `Duration` objec
 For example, if `t::Time` and `d::Duration`, `t+d` will be a `Time`, `d+d` a `Duration`, `t-d` a
 `Time`, `d-d` a `Duration`, and `t-t` a `Duration`.
 """
-immutable Time <: TVal
+struct Time <: AbstractTime
     secs::Int32
     nsecs::Int32
     function Time(s::Real,n::Real)
@@ -37,7 +35,7 @@ Basic arithmetic can be performed on combinations of `Time` and `Duration` objec
 For example, if `t::Time` and `d::Duration`, `t+d` will be a `Time`, `d+d` a `Duration`, `t-d` a
 `Time`, `d-d` a `Duration`, and `t-t` a `Duration`.
 """
-immutable Duration <: TVal
+struct Duration <: AbstractTime
     secs::Int32
     nsecs::Int32
     function Duration(s::Real,n::Real)
@@ -84,19 +82,19 @@ convert(::Type{PyObject}, t::Duration) = __rospy__[:Duration](t.secs,t.nsecs)
 
 Return the value of a ROS time object in absolute seconds (with nanosecond precision)
 """
-to_sec{T<:TVal}(t::T) = t.secs + 1e-9*t.nsecs
+to_sec(t::T) where {T <: AbstractTime} = t.secs + 1e-9*t.nsecs
 
 """
     to_nsec(t)
 
 Return the value of a ROS time object in nanoseconds as an integer.
 """
-to_nsec{T<:TVal}(t::T) = 1_000_000_000*t.secs + t.nsecs
-convert{T<:TVal}(::Type{Float64}, t::T) = to_sec(t)
+to_nsec(t::T) where {T <: AbstractTime} = 1_000_000_000*t.secs + t.nsecs
+convert(::Type{Float64}, t::T) where {T <: AbstractTime} = to_sec(t)
 
 #Comparisons
-=={T<:TVal}(t1::T, t2::T) = (t1.secs == t2.secs) && (t1.nsecs == t2.nsecs)
-isless{T<:TVal}(t1::T, t2::T) = to_nsec(t1) < to_nsec(t2)
+==(t1::T, t2::T) where {T <: AbstractTime} = (t1.secs == t2.secs) && (t1.nsecs == t2.nsecs)
+isless(t1::T, t2::T) where {T <: AbstractTime} = to_nsec(t1) < to_nsec(t2)
 
 """
     Rate(hz::Real), Rate(d::Duration)
@@ -105,7 +103,7 @@ Used to allow a loop to run at a fixed rate. Construct with a frequency or `Dura
 `rossleep` or `sleep`. The rate object will record execution time of other work in the loop and
 modify the sleep time to compensate, keeping the loop rate as consistent as possible.
 """
-type Rate
+mutable struct Rate
     duration::Duration
     last_time::Time
 end

test/pubsub.jl

@@ -18,7 +18,7 @@ const ros_pub = Publisher("vectors", Vector3, queue_size = 10)
 rossleep(Duration(3.0))
 
 function publish_messages(pubobj, msgs, rate_hz)
-    const r = Rate(rate_hz)
+    r = Rate(rate_hz)
     for msg in msgs
         publish(pubobj, msg)
         rossleep(r)

test/runtests.jl

@@ -1,11 +1,9 @@
-using Base.Test
+using Compat.Test
 using PyCall
 using RobotOS
-using Compat
 RobotOS.debug(true)
 
-#Generally, later tests rely on things defined in previous tests, so the order
-#is important
+#Generally, later tests rely on things defined in previous tests, so the order is important
 include("rospy.jl")
 include("time.jl")
 include("typegeneration.jl")