# SoftBank Robotics documentation What's new in NAOqi 2.8?

# Merge Request #3 - August 2014 bis

## Overview

This release is again about bugfixes, test fixes and documentation improvement, with some small features.

## Small Changes

- AnyFunction was documented and a call method was added for easier use.
- Some static initialization races were fixed in the type system, it should fix a lot of Choregraphe crashes on Windows.
- Session::loadService now accepts extra arguments to give to the factory (if, in addition to all of the arguments, the factory accepts a qi::Session as a first argument, it will be given to it).
- qi/qi.hpp is now deprecated. The only function it contained was `qi::unicodeFacet` which was useful when used with `boost::path`. If you really need it, this function was moved to qi/path.hpp. You should also consider using `qi::Path` instead.
- `qi::Atomic` is now implemented as a wrapper over `boost::atomic` and thus supports other types than `int`.
- `qi::ScopedThreadName` allow to set the current thread name in a RAII fashion
- `qi::Session::waitForService` now returns a cancellable future.
- Python signals can now have an onSubscribers callback (as in C++). See documentation.
- Python properties have been improved. `addCallback()` now returns a link that you can use with `disconnect()`.

## SDK Path

The SDK paths returned by libqi (in all `qi::path` methods, like `qi::path::findLib`) are no longer deduced from the running executable (/proc/self/exe on Linux) but from argv[0]. This change should not break existing code since usually the executable is the same as argv[0].

However, this implies changes for Python in case of deploys. Currently, the returned paths were always taken from /usr since the executable was /usr/bin/python2.7. They will now be deduced relatively to the python script if it is located in a SDK, with a fallback to the old behavior. This is useful for dynamic module loading.

## LogManager

The LogManager now holds a ring buffer that allows to get past logs coming before you register your LogListener to it.

- There is a ring buffer of 500 messages.
- You can get it by subscribing to onLogMessagesWithBacklog.

    void onLogMessages(std::vector<qi::LogMessage> msgs)
    {
      for (unsigned int i = 0; i < msgs.size(); ++i)
      {
        qi::LogMessage msg = msgs.at(i);
        std::stringstream ss;
        ss << msg.level
           << " " << msg.category
           << " " << msg.message
           << std::endl;
        std::cout << ss.str() << std::endl;
      }
    }

    int main(int argc, char** argv)
    {
      qi::ApplicationSession app(argc, argv);
      app.start();

      app.loadModule("qicore");

      qi::LogListenerPtr listener = logger->getListener();

      listener->onLogMessagesWithBacklog.connect(&onLogMessages);
      app.run();
    }

## Bug fixes

### Python object registration error

The errors:

    [E] 6298 qipy.object: Error while registering function '__str__': TypeError: <method-wrapper '__str__' of MenuCook object at 0xb588f5ac> is not a Python function

are now fixed.

### Signal connection bug

In the following code:

    qi::AnyObject obj = ...;
    obj.connect("signal", &myCallback);

`myCallback` would be called synchronously by the signal handler. It will now be called asynchronously as the user would expect.

### Redmine issues

- FIX #16461 Service Bonjour is not working correctly on Windows (No robot found)
- FIX #17970 NAO appears red in the robot browser while naoqi is not dead
- FIX #15310 AL::BonjourDiscovery - SegFault using avahi
- FIX #20594 The logger service should hold a ring buffer of past logs
- FIX #24281 APP DEADLOCK - RANDOM - Dead lock in python interpreter
- FIX #24333 loadModuleFactory regex causes 8 pop-ups at naoqi startup

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