Robotics Service Bus

Handle error policies properly in participant creation functions and macros

refs #890

• src/protocol.lisp (make-listener): added error-policy keyword
  parameter; adapted documentation string
  (make-reader): likewise
  (make-informer): likewise
• src/participant.lisp (make-participant): accept error-policy keyword
  parameter; when supplied, install error-policy in the error hook of
  the created participant; adapted documentation string
  (define-participant-creation-uri-methods): added error-policy keyword
  parameter
• src/reader.lisp (make-reader scope): accept error-policy keyword
  parameter; pass to `make-participant'
• src/listener.lisp (make-listener scope): likewise
• src/informer.lisp (make-informer scope): similar
• src/macros.lisp (header): updated copyright
  (define-with-participant-macro): accept error-policy keyword parameter
• src/patterns/request-reply/protocol.lisp (make-remote-server): accept
  error-policy keyword parameter; adapt documentation string accordingly
  (make-local-server): similar
• src/patterns/request-reply/server.lisp (define-lazy-creation-method):
  pass error-policy of the server to its methods
• src/patterns/request-reply/local-server.lisp (make-local-server):
  accept error-policy keyword parameter; install as error hook of
  created server
• src/patterns/request-reply/remote-server.lisp (make-remote-server):
  similar
• test/listener.lisp (header): updated copyright
  (define-basic-participant-test-cases listener): test error-policy
  keyword parameter
• test/reader.lisp (header): updated copyright
  (define-basic-participant-test-cases reader): test error-policy
  keyword parameter
• test/informer.lisp (define-basic-participant-test-cases informer):
  test error-policy keyword parameter
• test/macros.lisp (test macros-root::with-listener/smoke): renamed
  with-listener{- -> /}smoke
  (test macros-root::with-reader/smoke): similar
  (test macros-root::with-informer/smoke): similar
  (test macros-root::with-listener/error-policy): new
  test; test handling of error-policy keyword parameter in
  `with-listener' macro
  (test macros-root::with-reader/error-policy): similar
  (test macros-root::with-informer/error-policy): similar
• test/package.lisp (package rsb.test): added exported symbol
  mock-transform/error
  (mock-transform/error): new function; transform function which signals
  an intentional error
• test/patterns/request-reply/macros.lisp
  (test suite with-methods-root): removed
  (test macros-root::with-methods/smoke): renamed
  with-methods-root::smoke -> macros-root::with-methods/smoke
  (test macros-root::with-methods/macroexpand): similar
  (test macros-root::with-local-server/error-policy): new test; test
  handling of error-policy keyword parameter in `with-local-server'
  macro
  (test macros-root::with-remote-server/error-policy): similar

Support multiple URIs in logger in logger/main.lisp

fixes #890

The logger program now creates multiple listeners, all feeding into a
thread-safe queue. The main loop extracts and processes events
sequentially.

• logger/main.lisp (header): updated copyright
  (update-synopsis): adapted URI part of synopsis; added
  max-queued-events commandline option
  (queue-overflow-error): new error condition; signaled when a
  fixed-capacity event queue overflows
  (make-queue-push-handler): new function; helper function for
  constructing handlers that push event onto a queue with appropriate
  restarts
  (make-queue-pushing-listener): new function; helper function for
  constructing listeners that push events onto a queue
  (process-events): new function; helper function for popping events
  from a queue and formatting them with appropriate restarts
  (main): extract multiple URIs from commandline arguments; turned
  listener creation into a local function; process events via a queue;
  detach listeners when unwinding
• logger/help.lisp (make-help-string): adapted to explain multiple URIs
  (make-examples-string): likewise
• logger/package.lisp (header): updated copyright
  (package rsb.tools.logger): added used package more-conditions
• cl-rsb-tools-logger.asd (system cl-rst-tools-logger): added
  dependency on lparallel
• CMakeLists.txt: added test cases with multiple URIs and queue capacity
  for logger binary

Mention multiple-URIs feature in news.rst

refs #890

• news.rst (RSB 0.11): mention that the logger now accepts multiple URIs