Merge Request #3 - August 2014 bis¶

Overview¶

This release is again about bugfixes, test fixes and documentation improvement, with some small features.

Small Changes¶

AnyFunction was documented and a call method was added for easier use.
Some static initialization races were fixed in the type system, it should fix a lot of Choregraphe crashes on Windows.
Session::loadService now accepts extra arguments to give to the factory (if, in addition to all of the arguments, the factory accepts a qi::Session as a first argument, it will be given to it).
qi/qi.hpp is now deprecated. The only function it contained was qi::unicodeFacet which was useful when used with boost::path. If you really need it, this function was moved to qi/path.hpp. You should also consider using qi::Path instead.
qi::Atomic is now implemented as a wrapper over boost::atomic and thus supports other types than int.
qi::ScopedThreadName allow to set the current thread name in a RAII fashion
qi::Session::waitForService now returns a cancellable future.
Python signals can now have an onSubscribers callback (as in C++). See documentation.
Python properties have been improved. addCallback() now returns a link that you can use with disconnect().

SDK Path¶

The SDK paths returned by libqi (in all qi::path methods, like qi::path::findLib) are no longer deduced from the running executable (/proc/self/exe on Linux) but from argv[0]. This change should not break existing code since usually the executable is the same as argv[0].

However, this implies changes for Python in case of deploys. Currently, the returned paths were always taken from /usr since the executable was /usr/bin/python2.7. They will now be deduced relatively to the python script if it is located in a SDK, with a fallback to the old behavior. This is useful for dynamic module loading.

LogManager¶

The LogManager now holds a ring buffer that allows to get past logs coming before you register your LogListener to it.

There is a ring buffer of 500 messages.
You can get it by subscribing to onLogMessagesWithBacklog.

void onLogMessages(std::vector<qi::LogMessage> msgs)
{
  for (unsigned int i = 0; i < msgs.size(); ++i)
  {
    qi::LogMessage msg = msgs.at(i);
    std::stringstream ss;
    ss << msg.level
       << " " << msg.category
       << " " << msg.message
       << std::endl;
    std::cout << ss.str() << std::endl;
  }
}

int main(int argc, char** argv)
{
  qi::ApplicationSession app(argc, argv);
  app.start();

  app.loadModule("qicore");

  qi::LogListenerPtr listener = logger->getListener();

  listener->onLogMessagesWithBacklog.connect(&onLogMessages);
  app.run();
}

Bug fixes¶

Python object registration error¶

The errors:

[E] 6298 qipy.object: Error while registering function '__str__': TypeError: <method-wrapper '__str__' of MenuCook object at 0xb588f5ac> is not a Python function

are now fixed.

Signal connection bug¶

In the following code:

qi::AnyObject obj = ...;
obj.connect("signal", &myCallback);

myCallback would be called synchronously by the signal handler. It will now be called asynchronously as the user would expect.

Redmine issues¶

FIX #16461 Service Bonjour is not working correctly on Windows (No robot found)
FIX #17970 NAO appears red in the robot browser while naoqi is not dead
FIX #15310 AL::BonjourDiscovery - SegFault using avahi
FIX #20594 The logger service should hold a ring buffer of past logs
FIX #24281 APP DEADLOCK - RANDOM - Dead lock in python interpreter
FIX #24333 loadModuleFactory regex causes 8 pop-ups at naoqi startup

qi SDK Documentation platform-2016-12-08 documentation