Robotics Service Bus

Added event transform mechanism in src/event-processing/*.lisp

fixes #1425

The change basically adds the `rsb.event-processing:transform!'
protocol, support in all participant classes, functions and macros and
unit tests.

• src/event-processing/conditions.lisp: new file; contains conditions
  used by the event-processing module
• src/event-processing/protocol.lisp (header): updated copyright
  (transform!): new generic function; destructively transform an event
  (transform! :around t t): new method; translate conditions and
  establish restarts
  (transform! t t): new method; signal an error
  (transform! function t): new method; call the provided function
  (transform! sequence t): new method; apply all transforms in the
  sequence
• src/event-processing/processor-mixins.lisp: new file; contains
  processor mixins; `transform-mixin' for now
• src/event-processing/configurator.lisp (header): updated copyright
  (configurator::transform): new slot; stores the transform which
  should be applied to events
  (shared-initialize :after configurator t): pass transform to
  `make-processor' if necessary
  (collect-processor-mixins append configurator): add
  `transform-mixin' if necessary
• src/event-processing/package.lisp (header): updated copyright
  (package rsb.event-processing): added exported symbols
  transform-error, transform-error-transform, transform-error-object,
  transform!, configurator-transform, transform-mixin and
  processor-transform
• src/protocol.lisp (make-listener): added transform keyword
  parameter; extended documentation string accordingly
  (make-reader): likewise
  (make-informer): likewise
• src/participant.lisp (header): updated copyright
  (participant::transform): new slot; stores the transform which
  should be applied to processed events
  (make-participant): added transform parameter; updated documentation
  string accordingly
  (define-participant-creation-uri-methods): likewise
• src/informer.lisp (make-informer t t): likewise
• src/listener.lisp (header): updated copyright
  (make-listener scope): added transform parameter
• src/reader.lisp (header): updated copyright
  (make-reader scope): added transform parameter
• src/macros.lisp (header): updated copyright
  (define-with-participant-macro): added transform parameter
• src/package.lisp (header): updated copyright
  (package rsb): added exported symbol participant-transform
• src/patterns/types.lisp (header): updated copyright
  (transform-specification): new type; transform specification syntax
  for servers
• src/patterns/protocol.lisp (header): updated copyright
  (make-remote-server): added transform keyword parameter; extended
  documentation string accordingly
  (make-local-server): likewise
• src/patterns/server.lisp (header): updated copyright
  (define-lazy-creation-method): added transform parameter; controls
  which transform should be installed into the created participant;
  adapted documentation string accordingly
  (server::transform): restrict type to `transform-specification'
  (shared-initialize :before server t): check type of transform
  parameter
• src/patterns/local-server.lisp (header): updated copyright
  (define-lazy-creation-method local-method listener): added transform
  specification
  (define-lazy-creation-method local-method informer): likewise
  (make-local-server): added transform keyword parameter
• src/patterns/remote-server.lisp (header): updated copyright
  (define-lazy-creation-method remote-method listener): added transform
  specification
  (define-lazy-creation-method remote-method informer): likewise
  (make-remote-server): added transform keyword parameter
• test/event-processing/protocol.lisp: new file; contains unit tests
  for function of the event-processing protocol; `transform!' for now
• test/event-processing/processor-mixins.lisp: new file; contains unit
  tests for processor mixin classes; only `transform-mixin' for now
• test/event-processing/package.lisp (header): updated copyright
  (package rsb.event-processing.test): added used packages alexandria
  and let-plus
  (mock-processor): new class; mock class for processor mixin tests
  (handle mock-processor t): new method; record function calls
• test/informer.lisp (header): updated copyright
  (define-basic-participant-test-cases :informer): added a case which
  specifies a transform
• test/listener.lisp (define-basic-participant-test-cases :listener):
  likewise
• test/reader.lisp (header): updated copyright
  (define-basic-participant-test-cases :reader): added a case which
  specifies a transform
• test/patterns/server.lisp (test server-root::construction): new
  test; test constructing `server' instances with valid and invalid
  initargs
• test/patterns/integration/lisp (header): updated copyright
  (test integration-root::transform): new test; test applying
  transforms between `remote-server' and `local-server'
• cl-rsb.asd (system cl-rsb): added files
  src/event-processing/conditions.lisp and
  src/event-processing/processor-mixins.lisp
  (system cl-rsb-test): added files
  test/event-processing/protocol.lisp and
  test/event-processing/processor-mixins.lisp