Merge pull request #105 from jhu-cisst/rc-1.3.1

merge rc 1.3.1

CHANGELOG.md

@@ -1,6 +1,20 @@
 Change log
 ==========
 
+1.3.1 (2025-01-17)
+==================
+
+* API changes:
+  * cisstRobot robManipulator: `LoadRobot` parses file name to identify .rob or .json format
+* Deprecated features:
+  * None
+* New features
+  * None
+* Bug fixes:
+  * Missing includes for Ubuntu 24.04
+  * cisstCommon cmnPath: better handling absolute paths on Windows (#102)
+  * cisstMultiTask mtsManagerLocal: use PATH instead of LD_LIBRARY_PATH for dynamic loading on Windows
+  * cisstParameterTypes prmOperatingState: allow to enable in fault state
 
 1.3.0 (2024-08-30)
 ==================

CMakeLists.txt

@@ -1,7 +1,7 @@
 ## -*- Mode: CMAKE; tab-width: 2; indent-tabs-mode: nil; c-basic-offset: 2 -*-
 
 #
-# (C) Copyright 2005-2024 Johns Hopkins University (JHU), All Rights Reserved.
+# (C) Copyright 2005-2025 Johns Hopkins University (JHU), All Rights Reserved.
 #
 # --- begin cisst license - do not edit ---
 #
@@ -16,7 +16,7 @@
 cmake_minimum_required (VERSION 3.10)
 
 # cisst (Computer Integrated Surgical Systems and Technology)
-project (cisst VERSION 1.3.0)
+project (cisst VERSION 1.3.1)
 
 # cisst compiler settings
 include (cmake/cisstSettings.cmake)

cisstCommon/code/cmnPath.cpp

@@ -5,7 +5,7 @@
   Author(s):  Anton Deguet
   Created on: 2005-04-18
 
-  (C) Copyright 2005-2023 Johns Hopkins University (JHU), All Rights Reserved.
+  (C) Copyright 2005-2024 Johns Hopkins University (JHU), All Rights Reserved.
 
 --- begin cisst license - do not edit ---
 
@@ -139,9 +139,24 @@ std::string cmnPath::FindWithSubdirectory(const std::string & filename,
     std::string fullName("");
     const_iterator iter = Path.begin();
     const const_iterator end = Path.end();
+    if (filename.empty()) {
+        CMN_LOG_CLASS_RUN_WARNING << "FindWithSubdirectory called with empty filename" << std::endl;
+        return filename;
+    }
+    bool isAbsolute = false;
+#if (CISST_OS == CISST_WINDOWS)
+    size_t offset = 0;
+    // First, check for drive letter (e.g., "C:")
+    if ((filename.size() > 2) && (filename[1] == ':'))
+        offset = 2;
+    if ((filename[offset] == '/') || (filename[offset] == '\\'))
+        isAbsolute = true;
+#else
+    if (filename[0] == '/')
+        isAbsolute = true;
+#endif
     // first check if this file exists as absolute path
-    if ((filename.size() > 0)
-        && (filename[0] == '/')
+    if (isAbsolute
         && (access(filename.c_str(), mode) == 0)) {
         CMN_LOG_CLASS_RUN_VERBOSE << "Found \"" << filename << "\", it seems to be a valid absolute file name" << std::endl;
         return filename;

cisstMultiTask/code/mtsManagerLocal.cpp

@@ -5,7 +5,7 @@
   Author(s):  Min Yang Jung
   Created on: 2009-12-07
 
-  (C) Copyright 2009-2020 Johns Hopkins University (JHU), All Rights Reserved.
+  (C) Copyright 2009-2024 Johns Hopkins University (JHU), All Rights Reserved.
 
 --- begin cisst license - do not edit ---
 
@@ -20,6 +20,7 @@ no warranty.  The complete license can be found in license.txt and
 
 #include <cisstCommon/cmnThrow.h>
 #include <cisstCommon/cmnPath.h>
+#include <cisstCommon/cmnPortability.h>
 #include <cisstOSAbstraction/osaSleep.h>
 #include <cisstOSAbstraction/osaGetTime.h>
 #include <cisstOSAbstraction/osaSocket.h>
@@ -905,15 +906,19 @@ mtsComponent * mtsManagerLocal::CreateComponentDynamicallyJSON(const std::string
 {
     // -1- try to dynamically load the library if specified
     if (!sharedLibrary.empty()) {
-        // create load and path based on LD_LIBRARY_PATH
+        // create load and path based on LD_LIBRARY_PATH (or PATH on Windows)
         osaDynamicLoader loader;
         std::string fullPath;
         // check if the file already exists, i.e. use provided a full path
         if (cmnPath::Exists(sharedLibrary)) {
             fullPath = sharedLibrary;
         } else {
             cmnPath path;
+#if (CISST_OS == CISST_WINDOWS)
+            path.AddFromEnvironment("PATH");
+#else
             path.AddFromEnvironment("LD_LIBRARY_PATH");
+#endif
             fullPath = path.Find(cmnPath::SharedLibrary(sharedLibrary));
             if (fullPath.empty())  {
                 fullPath = sharedLibrary;

cisstOSAbstraction/osaThread.h

@@ -39,7 +39,8 @@ no warranty.  The complete license can be found in license.txt and
 #define SCHED_FIFO 0   /*! No Scheduling Policy available in Windows */
 #endif
 
-#if (CISST_OS == CISST_DARWIN) // SCHED_FIFO is not defined otherwise
+// SCHED_FIFO is not defined otherwise
+#if (CISST_OS == CISST_LINUX) || (CISST_OS == CISST_DARWIN)
 #include <pthread.h>
 #endif
 

cisstParameterTypes/code/prmOperatingState.cpp

@@ -80,6 +80,9 @@ bool prmOperatingState::ValidCommand(const prmOperatingState::CommandType & comm
         break;
     case FAULT:
         switch (command) {
+        case enable:
+            newOperatingState = ENABLED;
+            return true;
         case disable:
             newOperatingState = DISABLED;
             return true;

cisstRobot/code/robManipulator.cpp

@@ -185,23 +185,62 @@ void robManipulator::DeleteTools()
   tools.clear();
 }
 
-robManipulator::Errno robManipulator::LoadRobot( const std::string& filename ){
-
-  if( filename.empty() ){
+robManipulator::Errno robManipulator::LoadRobot(const std::string & filename)
+{
+  if (filename.empty()) {
     mLastError = "robManipulator::LoadRobot: no configuration file";
     CMN_LOG_RUN_ERROR << mLastError << std::endl;
     return robManipulator::EFAILURE;
   }
 
   std::ifstream ifs;
-  ifs.open( filename.data() );
-  if(!ifs){
+  ifs.open(filename.data());
+  if (!ifs) {
     mLastError = "robManipulator::LoadRobot: couldn't open configuration file "
       + filename;
     CMN_LOG_RUN_ERROR << mLastError << std::endl;
     return robManipulator::EFAILURE;
   }
 
+  // find extension, search for json
+  size_t dot = filename.find_last_of(".");
+  std::string extension = "";
+  if (dot != std::string::npos) {
+        extension = filename.substr(dot, filename.size() - dot);
+  }
+
+  if (extension != ".json") {
+    return LoadRobot(ifs);
+  }
+
+  // otherwise json
+#if CISST_HAS_JSON
+  Json::Reader jsonReader;
+  Json::Value jsonConfig;
+  if (!jsonReader.parse(ifs, jsonConfig)) {
+    mLastError = "robManipulator::LoadRobot: syntax error while parsing json file "
+      + filename + "\n" + jsonReader.getFormattedErrorMessages();
+    CMN_LOG_RUN_ERROR << mLastError << std::endl;
+    return robManipulator::EFAILURE;
+  } else {
+    // dVRK files have a DH field
+    Json::Value jsonDH = jsonConfig["DH"];
+    if (jsonDH.isNull()) {
+      return LoadRobot(jsonConfig);
+    } else {
+      return LoadRobot(jsonDH);
+    }
+  }
+#else
+  mLastError = "robManipulator::LoadRobot: cisst was compiled without JSON support, can't load "
+    + filename;
+  CMN_LOG_RUN_ERROR << mLastError << std::endl;
+  return robManipulator::EFAILURE;
+#endif
+}
+
+robManipulator::Errno robManipulator::LoadRobot(std::istream & ifs)
+{
   size_t N;       // the number of links
   {
     std::string line;

cisstRobot/robManipulator.h

@@ -69,7 +69,13 @@ class CISST_EXPORT robManipulator{
 
 
   //! Load the kinematics and the dynamics of the robot
-  virtual robManipulator::Errno LoadRobot( const std::string& linkfile );
+  /** If the file name ends with .json it will open the file
+      and then call the overloaded method LoadRobot for Json::Value.
+      Otherwise, assumes it's the .rob format and calls the overloaded
+      method LoadRobot for istream. */
+  virtual robManipulator::Errno LoadRobot(const std::string & linkfile);
+
+  virtual robManipulator::Errno LoadRobot(std::istream & ifs);
 
 #if CISST_HAS_JSON
   //! Load the kinematics and the dynamtics of the robot from a JSON file

package.xml

@@ -1,6 +1,6 @@
 <package>
   <name>cisst</name>
-  <version>1.3.0</version>
+  <version>1.3.1</version>
   <description>
   This package provides the cisst libraries
   </description>