Merge pull request #3011 from randaz81/subdevice_removed

Removed subdevice parameter in device wrappers implementations

src/devices/controlBoardRemapper/ControlBoardRemapper.cpp

@@ -308,7 +308,7 @@ bool ControlBoardRemapper::attachAllUsingAxesNames(const PolyDriverList& polylis
         if( !iencs ||
             !iaxinfos )
         {
-            yCError(CONTROLBOARDREMAPPER) << "subdevice" << deviceKey << "does not implemented the required IAxisInfo or IEncoders interfaces";
+            yCError(CONTROLBOARDREMAPPER) << "sub-device" << deviceKey << "does not implemented the required IAxisInfo or IEncoders interfaces";
             return false;
         }
 
@@ -317,7 +317,7 @@ bool ControlBoardRemapper::attachAllUsingAxesNames(const PolyDriverList& polylis
 
         if( !ok )
         {
-            yCError(CONTROLBOARDREMAPPER) << "subdevice" << deviceKey << "does not implemented the required getAxes method";
+            yCError(CONTROLBOARDREMAPPER) << "sub-device" << deviceKey << "does not implemented the required getAxes method";
             return false;
         }
 
@@ -330,7 +330,7 @@ bool ControlBoardRemapper::attachAllUsingAxesNames(const PolyDriverList& polylis
 
             if( !ok )
             {
-                yCError(CONTROLBOARDREMAPPER) << "subdevice" << deviceKey << "does not implemented the required getAxisName method";
+                yCError(CONTROLBOARDREMAPPER) << "sub-device" << deviceKey << "does not implemented the required getAxisName method";
                 return false;
             }
 

src/devices/fake/fakeLaserWithMotor/robotinterface_xml/ros.xml

@@ -16,7 +16,7 @@
             <param name="period">    0.01   </param>
             <action phase="startup" level="5" type="attach">
                 <paramlist name="networks">
-                    <elem name="subdevice"> lidarmotor </elem>
+                    <elem name="subdev"> lidarmotor </elem>
                 </paramlist>
             </action>
             <action phase="shutdown" level="5" type="detach" />
@@ -28,7 +28,7 @@
             <param name="period">    0.01   </param>
             <action phase="startup" level="5" type="attach">
                 <paramlist name="networks">
-                    <elem name="subdevice"> lidarmotor </elem>
+                    <elem name="subdev"> lidarmotor </elem>
                 </paramlist>
             </action>
             <action phase="shutdown" level="5" type="detach" />

src/devices/fake/fakeLaserWithMotor/robotinterface_xml/ros2.xml

@@ -15,7 +15,7 @@
             <param name="period">    0.01   </param>
             <action phase="startup" level="5" type="attach">
                 <paramlist name="networks">
-                    <elem name="subdevice"> lidarmotor </elem>
+                    <elem name="subdev"> lidarmotor </elem>
                 </paramlist>
             </action>
             <action phase="shutdown" level="5" type="detach" />
@@ -26,7 +26,7 @@
             <param name="period">    0.01   </param>
             <action phase="startup" level="5" type="attach">
                 <paramlist name="networks">
-                    <elem name="subdevice"> lidarmotor </elem>
+                    <elem name="subdev"> lidarmotor </elem>
                 </paramlist>
             </action>
             <action phase="shutdown" level="5" type="detach" />
@@ -39,7 +39,7 @@
             <param name="period">    0.01   </param>
             <action phase="startup" level="5" type="attach">
                 <paramlist name="networks">
-                    <elem name="subdevice"> lidarmotor </elem>
+                    <elem name="subdev"> lidarmotor </elem>
                 </paramlist>
             </action>
             <action phase="shutdown" level="5" type="detach" />
@@ -51,7 +51,7 @@
             <param name="period">    0.01   </param>
             <action phase="startup" level="5" type="attach">
                 <paramlist name="networks">
-                    <elem name="subdevice"> lidarmotor </elem>
+                    <elem name="subdev"> lidarmotor </elem>
                 </paramlist>
             </action>
             <action phase="shutdown" level="5" type="detach" />

src/devices/fake/fakeLaserWithMotor/robotinterface_xml/ros2b.xml

@@ -15,7 +15,7 @@
             <param name="period">    0.01   </param>
             <action phase="startup" level="5" type="attach">
                 <paramlist name="networks">
-                    <elem name="subdevice"> lidarmotor </elem>
+                    <elem name="subdev"> lidarmotor </elem>
                 </paramlist>
             </action>
             <action phase="shutdown" level="5" type="detach" />
@@ -26,7 +26,7 @@
             <param name="period">    0.01   </param>
             <action phase="startup" level="5" type="attach">
                 <paramlist name="networks">
-                    <elem name="subdevice"> lidarmotor </elem>
+                    <elem name="subdev"> lidarmotor </elem>
                 </paramlist>
             </action>
             <action phase="shutdown" level="5" type="detach" />
@@ -51,7 +51,7 @@
             <param name="period">    0.01   </param>
             <action phase="startup" level="5" type="attach">
                 <paramlist name="networks">
-                    <elem name="subdevice"> lidarmotor </elem>
+                    <elem name="subdev"> lidarmotor </elem>
                 </paramlist>
             </action>
             <action phase="shutdown" level="5" type="detach" />
@@ -65,7 +65,7 @@
             <param name="period">    0.01   </param>
             <action phase="startup" level="5" type="attach">
                 <paramlist name="networks">
-                    <elem name="subdevice"> lidarmotor </elem>
+                    <elem name="subdev"> lidarmotor </elem>
                 </paramlist>
             </action>
             <action phase="shutdown" level="5" type="detach" />

src/devices/fake/fakeLaserWithMotor/robotinterface_xml/yarp.xml

@@ -15,7 +15,7 @@
             <param name="period">    0.01   </param>
             <action phase="startup" level="5" type="attach">
                 <paramlist name="networks">
-                    <elem name="subdevice"> lidarmotor </elem>
+                    <elem name="subdev"> lidarmotor </elem>
                 </paramlist>
             </action>
             <action phase="shutdown" level="5" type="detach" />
@@ -26,7 +26,7 @@
             <param name="period">    0.01   </param>
             <action phase="startup" level="5" type="attach">
                 <paramlist name="networks">
-                    <elem name="subdevice"> lidarmotor </elem>
+                    <elem name="subdev"> lidarmotor </elem>
                 </paramlist>
             </action>
             <action phase="shutdown" level="5" type="detach" />

src/devices/fake/fakeMotionControl/fakeMotionControl.h

@@ -73,15 +73,13 @@ struct ImpedanceParameters
 /**
  * @ingroup dev_impl_fake dev_impl_motor
  *
- * \brief `fakeMotionControl`: Documentation to be added
- *
- * The aim of this device is to mimic the expected behavior of a
+ * \brief `fakeMotionControl`: The aim of this device is to mimic the expected behavior of a
  * real motion control device to help testing the high level software.
  *
  * This device is implementing last version of interfaces and it is compatible
  * with controlBoard_nws_yarp device.
  *
- * WIP - it is very basic now, not all interfaces are implemented yet.
+ * WIP - Some interfaces could be not implemented.
  */
 class FakeMotionControl :
         public yarp::dev::DeviceDriver,

src/devices/fake/fakeMotionControlMicro/fakeMotionControlMicro.h

@@ -20,15 +20,9 @@
 /**
  * @ingroup dev_impl_fake dev_impl_motor
  *
- * \brief `fakeMotionControlMicro`: Documentation to be added
+ * \brief `fakeMotionControlMicro`: This device implements a minimal subset of mandatory interfaces
+ * to run with controlBoard_nws_yarp. It is thus a smaller, limited version than fakeMotionControl.
  *
- * The aim of this device is to mimic the expected behavior of a
- * real motion control device to help testing the high level software.
- *
- * This device is implementing last version of interfaces and it is compatible
- * with controlBoard_nws_yarp device.
- *
- * WIP - it is very basic now, not all interfaces are implemented yet.
  */
 class FakeMotionControlMicro :
         public yarp::os::PeriodicThread,

src/devices/frameGrabberCropper/frameGrabberCropper.cpp

@@ -59,38 +59,12 @@ bool FrameGrabberCropper::open(yarp::os::Searchable& config)
         forwardRgbVisualParams = true;
     }
 
-    if (config.check("subdevice")) {
-        yarp::os::Property p;
-        subdevice = new yarp::dev::PolyDriver;
-        p.fromString(config.toString());
-        p.unput("device");
-        p.put("device", config.find("subdevice").asString()); // subdevice was already checked before
-
-        // if errors occurred during open, quit here.
-        if (!subdevice->open(p) || !(subdevice->isValid())) {
-            yCError(FRAMEGRABBERCROPPER, "Could not open subdevice");
-            return false;
-        }
-
-        if (!attach(subdevice)) {
-            yCError(FRAMEGRABBERCROPPER, "Could not attach subdevice");
-            subdevice->close();
-            return false;
-        }
-        subdeviceOwned = true;
-    }
-
     return true;
 }
 
 
 bool FrameGrabberCropper::close()
 {
-    if (subdeviceOwned) {
-        subdevice->close();
-        delete subdevice;
-        subdevice = nullptr;
-    }
     return true;
 }
 

src/devices/frameGrabberCropper/frameGrabberCropper.h

@@ -66,9 +66,6 @@ class FrameGrabberCropper :
         public yarp::dev::IRgbVisualParams,
         public yarp::dev::IPreciselyTimed
 {
-    yarp::dev::PolyDriver* subdevice{nullptr};
-    bool subdeviceOwned{false};
-
     yarp::dev::IFrameGrabberControls* iFrameGrabberControls{nullptr};
     yarp::dev::IFrameGrabberControlsDC1394* iFrameGrabberControlsDC1394{nullptr};
     yarp::dev::IRgbVisualParams* iRgbVisualParams{nullptr};

src/devices/networkWrappers/AnalogWrapper/AnalogWrapper.cpp

@@ -247,69 +247,12 @@ void AnalogWrapper::removeHandlers()
     handlers.clear();
 }
 
-bool AnalogWrapper::openAndAttachSubDevice(Searchable &prop)
-{
-    Property p;
-    subDeviceOwned = new PolyDriver;
-    p.fromString(prop.toString());
-
-//     p.setMonitor(prop.getMonitor(), "subdevice"); // pass on any monitoring
-    p.unput("device");
-    p.put("device", prop.find("subdevice").asString());  // subdevice was already checked before
-
-    // if errors occurred during open, quit here.
-    yCDebug(ANALOGWRAPPER, "opening AnalogWrapper subdevice...");
-    subDeviceOwned->open(p);
-
-    if (!subDeviceOwned->isValid())
-    {
-        yCError(ANALOGWRAPPER, "opening AnalogWrapper subdevice... FAILED\n");
-        return false;
-    }
-
-    subDeviceOwned->view(analogSensor_p);
-
-    if (analogSensor_p == nullptr)
-    {
-        yCError(ANALOGWRAPPER, "Opening IAnalogSensor interface of AnalogWrapper subdevice... FAILED\n");
-        return false;
-    }
-
-    int chNum = analogSensor_p->getChannels();
-
-    if (chNum <= 0)
-    {
-        yCError(ANALOGWRAPPER, "Calling analog sensor has invalid channels number %d.\n", chNum);
-        return false;
-    }
-
-    attach(analogSensor_p);
-    PeriodicThread::setPeriod(_rate / 1000.0);
-    return PeriodicThread::start();
-}
-
-
-bool AnalogWrapper::openDeferredAttach(yarp::os::Searchable &prop)
-{
-    // nothing to do here?
-    if ((subDeviceOwned != nullptr) || (ownDevices == true)) {
-        yCError(ANALOGWRAPPER) << "AnalogWrapper: something wrong with the initialization.";
-    }
-    return true;
-}
-
-
 /**
   * Specify which analog sensor this thread has to read from.
   */
 
 bool AnalogWrapper::attachAll(const PolyDriverList &analog2attach)
 {
-    //check if we already instantiated a subdevice previously
-    if (ownDevices) {
-        return false;
-    }
-
     if (analog2attach.size() != 1)
     {
         yCError(ANALOGWRAPPER, "AnalogWrapper: cannot attach more than one device");
@@ -335,11 +278,6 @@ bool AnalogWrapper::attachAll(const PolyDriverList &analog2attach)
 
 bool AnalogWrapper::detachAll()
 {
-    //check if we already instantiated a subdevice previously
-    if (ownDevices) {
-        return false;
-    }
-
     analogSensor_p = nullptr;
     for(unsigned int i=0; i<analogPorts.size(); i++)
     {
@@ -433,25 +371,6 @@ bool AnalogWrapper::open(yarp::os::Searchable &config)
         return false;
     }
 
-    // check if we need to create subdevice or if they are
-    // passed later on thorugh attachAll()
-    if(config.check("subdevice"))
-    {
-        ownDevices=true;
-        if(! openAndAttachSubDevice(config))
-        {
-            yCError(ANALOGWRAPPER, "AnalogWrapper: error while opening subdevice\n");
-            return false;
-        }
-    }
-    else
-    {
-        ownDevices=false;
-        if (!openDeferredAttach(config)) {
-            return false;
-        }
-    }
-
     return true;
 }
 
@@ -623,12 +542,5 @@ bool AnalogWrapper::close()
     detachAll();
     removeHandlers();
 
-    if(subDeviceOwned)
-    {
-        subDeviceOwned->close();
-        delete subDeviceOwned;
-        subDeviceOwned = nullptr;
-    }
-
     return true;
 }

src/devices/networkWrappers/AnalogWrapper/AnalogWrapper.h

@@ -53,7 +53,6 @@ class AnalogPortEntry;
  * |:--------------:|:--------------:|:-------:|:--------------:|:-------------:|:--------------------------: |:-----------------------------------------------------------------:|:-----:|
  * | name           |      -         | string  | -              |   -           | Yes                         | full name of the port opened by the device, like /robotName/part/ | MUST start with a '/' character |
  * | period         |      -         | int     | ms             |   20          | No                          | refresh period of the broadcasted values in ms                    | optional, default 20ms |
- * | subdevice      |      -         | string  | -              |   -           | alternative to netwok group | name of the subdevice to instantiate                              | when used, parameters for the subdevice must be provided as well |
  * | ports          |      -         | group   | -              |   -           | alternative to subdevice    | this is expected to be a group parameter in xml format, a list in .ini file format. SubParameter are mandatory if this is used| - |
  * | -              | portName_1     | 4 * int | channel number |   -           |   if ports is used          | describe how to match subdevice_1 channels with the wrapper channels. First 2 numbers indicate first/last wrapper channel, last 2 numbers are subdevice first/last channel | The channels are intended to be consequent |
  * | -              |      ...       | 4 * int | channel number |   -           |   if ports is used          | same as above                                                     | The channels are intended to be consequent |
@@ -162,15 +161,6 @@ class AnalogWrapper :
     int _rate{DEFAULT_THREAD_PERIOD};
     std::string sensorId;
 
-    bool ownDevices{false};
-    // Open the wrapper only, the attach method needs to be called before using it
-    bool openDeferredAttach(yarp::os::Searchable &prop);
-
-    // For the simulator, if a subdevice parameter is given to the wrapper, it will
-    // open it and attach to it immediately.
-    yarp::dev::PolyDriver *subDeviceOwned{nullptr};
-    bool openAndAttachSubDevice(yarp::os::Searchable &prop);
-
     bool initialize_YARP(yarp::os::Searchable &config);
     void setHandlers();
     void removeHandlers();