Change version check to threading check to disable subscriptions

Author: jdlangs

src/RobotOS.jl

@@ -23,6 +23,8 @@ function __init__()
     end
 end
 
+_threads_enabled() = ccall(:jl_threading_enabled, Cint, ()) != 0
+
 include("debug.jl")
 include("time.jl")
 include("gentypes.jl")

src/pubsub.jl

@@ -17,7 +17,7 @@ function publish{MsgType<:MsgT}(p::Publisher{MsgType}, msg::MsgType)
     pycall(p.o["publish"], PyAny, convert(PyObject, msg))
 end
 
-if VERSION >= v"0.5.0-dev+3692" #callbacks are broken
+if _threads_enabled() #callbacks are broken
 
 type Subscriber{T}
 end
@@ -50,4 +50,4 @@ Subscriber{MsgType<:MsgT}(
     kwargs...
 ) = Subscriber{MsgType}(ascii(topic), cb, cb_args; kwargs...)
 
-end #version check
+end #check

src/services.jl

@@ -32,7 +32,7 @@ end
     resp
 end
 
-if VERSION >= v"0.5.0-dev+3692" #callbacks are broken
+if _threads_enabled() #callbacks are broken
 
 type Service{T}
 end
@@ -75,7 +75,7 @@ function Service{SrvType<:ServiceDefinition}(
     Service{SrvType}(ascii(name), handler; kwargs...)
 end
 
-end #version check
+end #check
 
 function wait_for_service(service::AbstractString; kwargs...)
     try

test/pubsub.jl

@@ -36,7 +36,7 @@ function pose_cb(msg::PoseStamped, msgs::Vector{PoseStamped})
 end
 pose_cb(PoseStamped(), msgs) #warm up run
 
-if VERSION >= v"0.5.0-dev+3692" #callbacks are broken
+if RobotOS._threads_enabled() #callbacks are broken
 
 warn("Not testing subscriber!")
 
@@ -66,4 +66,4 @@ for i=1:Nmsgs
 end
 empty!(msgs)
 
-end #version check
+end #check

test/services.jl

@@ -24,7 +24,7 @@ function srv_cb(req::GetPlanRequest)
     return resp
 end
 
-if VERSION >= v"0.5.0-dev+3692" #callbacks are broken
+if RobotOS._threads_enabled() #callbacks are broken
 
 warn("Not testing service provider!")
 
@@ -64,7 +64,7 @@ if flag[1]
 end
 empty!(msgs)
 
-end #version check
+end #check
 
 #Test error handling
 @test_throws ErrorException wait_for_service("fake_srv", timeout=1.0)

test/typegeneration.jl

@@ -77,5 +77,6 @@ emptymsg = std_msgs.msg.Empty()
 @test isdefined(std_msgs.msg, :Float64Msg)
 @test isdefined(std_msgs.msg, :StringMsg)
 @test Publisher{std_msgs.msg.Float64Msg}("x", queue_size=10) != nothing
-VERSION < v"0.5.0-dev+3692" &&
+if ! RobotOS._threads_enabled()
     @test Subscriber{std_msgs.msg.Float64Msg}("x", x->x, queue_size=10) != nothing
+end