Support for commands in parallel

.gitignore

@@ -1,4 +1,4 @@
 # build folders
-**/build
-**/install
-**/logs
+build/*
+install/*
+logs/*

.ycm_extra_conf.py

@@ -0,0 +1,206 @@
+# This file is NOT licensed under the GPLv3, which is the license for the rest
+# of YouCompleteMe.
+#
+# Here's the license text for this file:
+#
+# This is free and unencumbered software released into the public domain.
+#
+# Anyone is free to copy, modify, publish, use, compile, sell, or
+# distribute this software, either in source code form or as a compiled
+# binary, for any purpose, commercial or non-commercial, and by any
+# means.
+#
+# In jurisdictions that recognize copyright laws, the author or authors
+# of this software dedicate any and all copyright interest in the
+# software to the public domain. We make this dedication for the benefit
+# of the public at large and to the detriment of our heirs and
+# successors. We intend this dedication to be an overt act of
+# relinquishment in perpetuity of all present and future rights to this
+# software under copyright law.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+# IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
+# OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+# OTHER DEALINGS IN THE SOFTWARE.
+#
+# For more information, please refer to <http://unlicense.org/>
+
+import os
+import ycm_core
+
+# These are the compilation flags that will be used in case there's no
+# compilation database set (by default, one is not set).
+# CHANGE THIS LIST OF FLAGS. YES, THIS IS THE DROID YOU HAVE BEEN LOOKING FOR.
+flags = [
+'-Wall',
+'-Wextra',
+'-Werror',
+'-fno-exceptions',
+'-Wshadow',
+'-Wno-strict-aliasing',
+# You 100% do NOT need -DUSE_CLANG_COMPLETER in your flags; only the YCM
+# source code needs it.
+'-DUSE_CLANG_COMPLETER',
+# THIS IS IMPORTANT! Without a "-std=<something>" flag, clang won't know which
+# language to use when compiling headers. So it will guess. Badly. So C++
+# headers will be compiled as C headers. You don't want that so ALWAYS specify
+# a "-std=<something>".
+# For a C project, you would set this to something like 'c99' instead of
+# 'c++11'.
+'-std=c++11',
+# ...and the same thing goes for the magic -x option which specifies the
+# language that the files to be compiled are written in. This is mostly
+# relevant for c++ headers.
+# For a C project, you would set this to 'c' instead of 'c++'.
+'-x',
+'c++',
+'-isystem',
+# This path will only work on OS X, but extra paths that don't exist are not
+# harmful
+'/System/Library/Frameworks/Python.framework/Headers',
+'-isystem',
+'../llvm/include',
+'-isystem',
+'../llvm/tools/clang/include',
+'-I',
+'.',
+'-I',
+'core',
+'-I',
+'include',
+'-I',
+'libs/include',
+'-I',
+'build/default/include',
+'-I',
+'build/default/core',
+'-I',
+'plugins/action',
+'-I',
+'plugins/info',
+'-I',
+'plugins/logging',
+'-I',
+'plugins/mission',
+'-I',
+'plugins/offboard',
+'-I',
+'plugins/telemetry',
+'-I',
+'./ClangCompleter',
+'-isystem',
+'./tests/gmock/gtest',
+'-isystem',
+'./tests/gmock/gtest/include',
+'-isystem',
+'./tests/gmock',
+'-isystem',
+'./tests/gmock/include',
+]
+
+
+# Set this to the absolute path to the folder (NOT the file!) containing the
+# compile_commands.json file to use that instead of 'flags'. See here for
+# more details: http://clang.llvm.org/docs/JSONCompilationDatabase.html
+#
+# You can get CMake to generate this file for you by adding:
+#   set( CMAKE_EXPORT_COMPILE_COMMANDS 1 )
+# to your CMakeLists.txt file.
+#
+# Most projects will NOT need to set this to anything; you can just change the
+# 'flags' list of compilation flags. Notice that YCM itself uses that approach.
+compilation_database_folder = ''
+
+if os.path.exists( compilation_database_folder ):
+  database = ycm_core.CompilationDatabase( compilation_database_folder )
+else:
+  database = None
+
+SOURCE_EXTENSIONS = [ '.cpp', '.cxx', '.cc', '.c', '.m', '.mm' ]
+
+def DirectoryOfThisScript():
+  return os.path.dirname( os.path.abspath( __file__ ) )
+
+
+def MakeRelativePathsInFlagsAbsolute( flags, working_directory ):
+  if not working_directory:
+    return list( flags )
+  new_flags = []
+  make_next_absolute = False
+  path_flags = [ '-isystem', '-I', '-iquote', '--sysroot=' ]
+  for flag in flags:
+    new_flag = flag
+
+    if make_next_absolute:
+      make_next_absolute = False
+      if not flag.startswith( '/' ):
+        new_flag = os.path.join( working_directory, flag )
+
+    for path_flag in path_flags:
+      if flag == path_flag:
+        make_next_absolute = True
+        break
+
+      if flag.startswith( path_flag ):
+        path = flag[ len( path_flag ): ]
+        new_flag = path_flag + os.path.join( working_directory, path )
+        break
+
+    if new_flag:
+      new_flags.append( new_flag )
+  return new_flags
+
+
+def IsHeaderFile( filename ):
+  extension = os.path.splitext( filename )[ 1 ]
+  return extension in [ '.h', '.hxx', '.hpp', '.hh' ]
+
+
+def GetCompilationInfoForFile( filename ):
+  # The compilation_commands.json file generated by CMake does not have entries
+  # for header files. So we do our best by asking the db for flags for a
+  # corresponding source file, if any. If one exists, the flags for that file
+  # should be good enough.
+  if IsHeaderFile( filename ):
+    basename = os.path.splitext( filename )[ 0 ]
+    for extension in SOURCE_EXTENSIONS:
+      replacement_file = basename + extension
+      if os.path.exists( replacement_file ):
+        compilation_info = database.GetCompilationInfoForFile(
+          replacement_file )
+        if compilation_info.compiler_flags_:
+          return compilation_info
+    return None
+  return database.GetCompilationInfoForFile( filename )
+
+
+def FlagsForFile( filename, **kwargs ):
+  if database:
+    # Bear in mind that compilation_info.compiler_flags_ does NOT return a
+    # python list, but a "list-like" StringVec object
+    compilation_info = GetCompilationInfoForFile( filename )
+    if not compilation_info:
+      return None
+
+    final_flags = MakeRelativePathsInFlagsAbsolute(
+      compilation_info.compiler_flags_,
+      compilation_info.compiler_working_dir_ )
+
+    # NOTE: This is just for YouCompleteMe; it's highly likely that your project
+    # does NOT need to remove the stdlib flag. DO NOT USE THIS IN YOUR
+    # ycm_extra_conf IF YOU'RE NOT 100% SURE YOU NEED IT.
+    try:
+      final_flags.remove( '-stdlib=libc++' )
+    except ValueError:
+      pass
+  else:
+    relative_to = DirectoryOfThisScript()
+    final_flags = MakeRelativePathsInFlagsAbsolute( flags, relative_to )
+
+  return {
+    'flags': final_flags,
+    'do_cache': True
+  }

CMakeLists.txt

@@ -152,6 +152,7 @@ if(NOT IOS AND NOT ANDROID)
         core/unittests_main.cpp
         core/http_loader_test.cpp
         core/timeout_handler_test.cpp
+        core/locked_list_test.cpp
         ${plugin_unittest_source_files}
         ${unit_tests_src}
     )

core/device_impl.cpp

@@ -79,6 +79,11 @@ void DeviceImpl::refresh_timeout_handler(const void *cookie)
     _timeout_handler.refresh(cookie);
 }
 
+void DeviceImpl::update_timeout_handler(double new_duration_s, const void *cookie)
+{
+    _timeout_handler.update(new_duration_s, cookie);
+}
+
 void DeviceImpl::unregister_timeout_handler(const void *cookie)
 {
     _timeout_handler.remove(cookie);

core/device_impl.h

@@ -40,6 +40,8 @@ class DeviceImpl
 
     void refresh_timeout_handler(const void *cookie);
 
+    void update_timeout_handler(double new_duration_s, const void *cookie);
+
     void unregister_timeout_handler(const void *cookie);
 
     bool send_message(const mavlink_message_t &message);

core/dronecore_impl.cpp

@@ -62,6 +62,8 @@ void DroneCoreImpl::receive_message(const mavlink_message_t &message)
         return;
     }
 
+    // LogDebug() << "Received " << (int)message.msgid;
+
     std::lock_guard<std::recursive_mutex> lock(_devices_mutex);
 
     // Change system id of null device

core/locked_list.h

@@ -0,0 +1,88 @@
+#pragma once
+
+#include <list>
+#include <mutex>
+
+namespace dronecore {
+
+// Note: this wrapper around list was developed for `MavlinkCommands` but was not used
+// eventually. Instead, `std::list` was used directly and protected with a `std::mutex`.
+
+template <class T>
+class LockedList
+{
+public:
+    LockedList() :
+        _list(),
+        _mutex()
+    {};
+
+    class iterator: public std::list<T>::iterator
+    {
+    public:
+        iterator(typename std::list<T>::iterator iter, std::mutex &mutex) :
+            std::list<T>::iterator(iter),
+            _mutex(&mutex)
+        {}
+
+        T &operator*()
+        {
+            std::lock_guard<std::mutex> lock(*_mutex);
+            return std::list<T>::iterator::operator *();
+        }
+    private:
+        std::mutex *_mutex;
+    };
+
+    iterator begin()
+    {
+        std::lock_guard<std::mutex> lock(_mutex);
+        return iterator(_list.begin(), _mutex);
+    }
+
+    iterator end()
+    {
+        std::lock_guard<std::mutex> lock(_mutex);
+        return iterator(_list.end(), _mutex);
+    }
+
+    iterator erase(iterator it)
+    {
+        std::lock_guard<std::mutex> lock(_mutex);
+        return iterator(_list.erase(it), _mutex);
+    }
+
+    void push_back(T item)
+    {
+        std::lock_guard<std::mutex> lock(_mutex);
+
+        _list.push_back(item);
+    }
+
+    T &front()
+    {
+        std::lock_guard<std::mutex> lock(_mutex);
+
+        return _list.front();
+    }
+
+    void pop_front()
+    {
+        std::lock_guard<std::mutex> lock(_mutex);
+
+        _list.pop_front();
+    }
+
+    size_t size()
+    {
+        std::lock_guard<std::mutex> lock(_mutex);
+
+        return _list.size();
+    }
+
+private:
+    std::list<T> _list;
+    std::mutex _mutex;
+};
+
+} // namespace dronecore