[Rock-dev] Non blocking task inspector

[Alexander Duda]

Currently the task inspector blocks if there is a bad network connection 
to the remote task. I pushes a non blocking version to the branch proxy. 
If you want to try it out add the following lines to autoproj/overrides.yml:

overrides:
     - tools/orocos.rb
       branch: proxy
     - gui/vizkit
       branch: proxy*
*
This push required some heavy changes in orocos.rb (see git log) and 
uses boost threads (double buffering) to synchronize the
remote task with the local TaskContextProxy. All unit test are passed 
but I am not planing to push the changes to master before the end of 
this month. Nevertheless this branch will be the default branch for the 
project I am working on and any other project is welcome to use it. In 
the long run this will replace the orogen task port_proxy, 
Vizkit::TaskProxy, Vizkit::PortProxy and Vizkit::ReaderWriterProxy.

Key Features:
* base for nearly non blocking GUIs which automatically reconnect
* non blocking access to remote task interfaces
-- reading properties, attributes, model name, rtt state
-- iterating over ports, properties, attributes
* non blocking auto reconnect
* non blocking corba name service client
* non blocking creation of Orocos::TaskContext, Orocos::OutputPort, 
Orocos::InputPort

Missing Features:
* no support for avahi
* connect_to, starting, stopping a task and writing properties are still 
blocking
* requires to load all models at start-up to be able to load the right 
transport plugins from the c++ thread

Alex

-- 
Dipl.-Ing. Alexander Duda
Unterwasserrobotik

DFKI Bremen
Robotics Innovation Center
Robert-Hooke-Straße 5
28359 Bremen, Germany

Phone: +49 (0)421 178-456620
Fax:   +49 (0)421 178-454150
E-Mail: alexander.duda at dfki.de

Weitere Informationen: http://www.dfki.de/robotik
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