Merge pull request #2608 from drdanz/robotinterface_param

robotinterface: Allow replacing values from command line

doc/release/master/robotinterface_param.md

@@ -0,0 +1,27 @@
+robotinterface_param {#master}
+--------------------
+
+## Libraries
+
+### `robotinterface`
+
+#### `XMLReader`
+
+* The `getRobotFromFile` and `getRobotFromString` now accept a `Searchable` that
+  is used to replace params with the attribute `extern-name`.
+  The signatures are now:
+  ```
+      XMLReaderResult getRobotFromFile(const std::string& filename,
+                                       const yarp::os::Searchable& config = yarp::os::Property());
+      XMLReaderResult getRobotFromString(const std::string& filename,
+                                         const yarp::os::Searchable& config = yarp::os::Property());
+  ```
+
+* DTD version is now 3.1.
+
+## Tools
+
+### `yarprobotinterface`
+
+* Arguments taken from the command line are now handled and used to replace
+  parameters marked with the attribute `extern-name`.

src/libYARP_robotinterface/src/yarp/robotinterface/experimental/XMLReader.cpp

@@ -74,7 +74,8 @@ void yarp::robotinterface::experimental::XMLReader::setEnableDeprecated(bool ena
     mPriv->enable_deprecated = enab;
 }
 
-yarp::robotinterface::experimental::XMLReaderResult yarp::robotinterface::experimental::XMLReader::getRobotFromFile(const std::string& fileName)
+yarp::robotinterface::experimental::XMLReaderResult yarp::robotinterface::experimental::XMLReader::getRobotFromFile(const std::string& fileName,
+                                                                                                                    const yarp::os::Searchable& config)
 {
     std::string filename = fileName;
 #if defined(_WIN32)
@@ -121,23 +122,26 @@ yarp::robotinterface::experimental::XMLReaderResult yarp::robotinterface::experi
         if (mPriv->enable_deprecated) {
             yWarning() << "yarprobotinterface: using DEPRECATED xml parser for DTD v1.x";
             mPriv->mReader = new yarp::robotinterface::impl::XMLReaderFileV1;
-            return mPriv->mReader->getRobotFromFile(filename, mPriv->verbose);
-        } else {
-            yError("Invalid DTD version, execution stopped.");
-            return yarp::robotinterface::experimental::XMLReaderResult::ParsingFailed();
+            return mPriv->mReader->getRobotFromFile(filename, config, mPriv->verbose);
         }
-    } else if (dtd.majorVersion == 3) {
+
+        yError("Invalid DTD version, execution stopped.");
+        return yarp::robotinterface::experimental::XMLReaderResult::ParsingFailed();
+
+    }
+    if (dtd.majorVersion == 3) {
         yDebug() << "yarprobotinterface: using xml parser for DTD v3.x";
         mPriv->mReader = new yarp::robotinterface::impl::XMLReaderFileV3;
-        return mPriv->mReader->getRobotFromFile(filename, mPriv->verbose);
+        return mPriv->mReader->getRobotFromFile(filename, config, mPriv->verbose);
     }
 
     //ERROR HERE
     yError("Invalid DTD version. Unable to choose parser for DTD.major: %d", dtd.majorVersion);
     return yarp::robotinterface::experimental::XMLReaderResult::ParsingFailed();
 }
 
-yarp::robotinterface::experimental::XMLReaderResult yarp::robotinterface::experimental::XMLReader::getRobotFromString(const std::string& xmlString)
+yarp::robotinterface::experimental::XMLReaderResult yarp::robotinterface::experimental::XMLReader::getRobotFromString(const std::string& xmlString,
+                                                                                                                      const yarp::os::Searchable& config)
 {
     std::string curr_filename = " XML runtime string ";
     std::unique_ptr<TiXmlDocument> doc = std::make_unique<TiXmlDocument>();
@@ -177,15 +181,15 @@ yarp::robotinterface::experimental::XMLReaderResult yarp::robotinterface::experi
         if (mPriv->enable_deprecated) {
             yWarning() << "yarprobotinterface: using DEPRECATED xml parser for DTD v1.x";
             mPriv->mReader = new yarp::robotinterface::impl::XMLReaderFileV1;
-            return mPriv->mReader->getRobotFromString(xmlString, mPriv->verbose);
+            return mPriv->mReader->getRobotFromString(xmlString, config, mPriv->verbose);
         } else {
             yError("Invalid DTD version, execution stopped.");
             return yarp::robotinterface::experimental::XMLReaderResult::ParsingFailed();
         }
     } else if (dtd.majorVersion == 3) {
         yDebug() << "yarprobotinterface: using xml parser for DTD v3.x";
         mPriv->mReader = new yarp::robotinterface::impl::XMLReaderFileV3;
-        return mPriv->mReader->getRobotFromString(xmlString, mPriv->verbose);
+        return mPriv->mReader->getRobotFromString(xmlString, config, mPriv->verbose);
     }
 
     //ERROR HERE

src/libYARP_robotinterface/src/yarp/robotinterface/experimental/XMLReader.h

@@ -12,6 +12,9 @@
 #include <yarp/robotinterface/api.h>
 #include <yarp/robotinterface/experimental/Robot.h>
 
+#include <yarp/os/Searchable.h>
+#include <yarp/os/Property.h>
+
 #include <string>
 
 
@@ -55,15 +58,18 @@ class YARP_robotinterface_API XMLReader
      * \param filename path to the XML file to load.
      * \return result of parsing.
      */
-    XMLReaderResult getRobotFromFile(const std::string& filename);
+    XMLReaderResult getRobotFromFile(const std::string& filename,
+                                     const yarp::os::Searchable& config = yarp::os::Property());
 
     /**
      * Parse the XML description of a robotinterface from a string.
      *
      * \param xmlString string containing the XML code to parse.
      * \return result of parsing.
      */
-    XMLReaderResult getRobotFromString(const std::string& xmlString);
+    XMLReaderResult getRobotFromString(const std::string& filename,
+                                       const yarp::os::Searchable& config = yarp::os::Property());
+
     void setVerbose(bool verbose);
     void setEnableDeprecated(bool enab);
 

src/libYARP_robotinterface/src/yarp/robotinterface/impl/XMLReaderFileV1.cpp

@@ -826,13 +826,17 @@ yarp::robotinterface::experimental::ActionList yarp::robotinterface::impl::XMLRe
     return actions;
 }
 
-yarp::robotinterface::experimental::XMLReaderResult yarp::robotinterface::impl::XMLReaderFileV1::getRobotFromFile(const std::string& filename, bool verb)
+yarp::robotinterface::experimental::XMLReaderResult yarp::robotinterface::impl::XMLReaderFileV1::getRobotFromFile(const std::string& filename,
+                                                                                                                  const yarp::os::Searchable& /*config*/,
+                                                                                                                  bool verb)
 {
     mPriv->verbose_output = verb;
     return mPriv->readRobotFromFile(filename);
 }
 
-yarp::robotinterface::experimental::XMLReaderResult yarp::robotinterface::impl::XMLReaderFileV1::getRobotFromString(const std::string& xmlString, bool verb)
+yarp::robotinterface::experimental::XMLReaderResult yarp::robotinterface::impl::XMLReaderFileV1::getRobotFromString(const std::string& xmlString,
+                                                                                                                    const yarp::os::Searchable& /*config*/,
+                                                                                                                    bool verb)
 {
     mPriv->verbose_output = verb;
     return mPriv->readRobotFromString(xmlString);

src/libYARP_robotinterface/src/yarp/robotinterface/impl/XMLReaderFileV1.h

@@ -28,8 +28,12 @@ class XMLReaderFileV1 : public XMLReaderFileVx
     XMLReaderFileV1();
     ~XMLReaderFileV1() override;
 
-    yarp::robotinterface::experimental::XMLReaderResult getRobotFromFile(const std::string& filename, bool verbose = false) override;
-    yarp::robotinterface::experimental::XMLReaderResult getRobotFromString(const std::string& xmlString, bool verbose = false) override;
+    yarp::robotinterface::experimental::XMLReaderResult getRobotFromFile(const std::string& filename,
+                                                                         const yarp::os::Searchable& config,
+                                                                         bool verbose = false) override;
+    yarp::robotinterface::experimental::XMLReaderResult getRobotFromString(const std::string& xmlString,
+                                                                           const yarp::os::Searchable& config,
+                                                                           bool verbose = false) override;
 
 private:
     class Private;

src/libYARP_robotinterface/src/yarp/robotinterface/impl/XMLReaderFileV3.cpp

@@ -68,6 +68,7 @@ class yarp::robotinterface::impl::XMLReaderFileV3::Private
 #endif
 
     bool verbose_output;
+    const yarp::os::Searchable* config;
     std::string curr_filename;
     unsigned int minorVersion;
     unsigned int majorVersion;
@@ -415,7 +416,14 @@ yarp::robotinterface::experimental::Param yarp::robotinterface::impl::XMLReaderF
         result.parsingIsSuccessful = false;
         return yarp::robotinterface::experimental::Param();
     }
-    param.value() = valueText;
+
+    std::string extern_name;
+    if (paramElem->QueryStringAttribute("extern-name", &extern_name) == TIXML_SUCCESS && config && config->check(extern_name)) {
+        // FIXME Check DTD >= 3.1
+        param.value() = config->find(extern_name).asString();
+    } else {
+        param.value() = valueText;
+    }
 
     // yDebug() << param;
     return param;
@@ -700,16 +708,26 @@ yarp::robotinterface::experimental::ActionList yarp::robotinterface::impl::XMLRe
 }
 
 
-yarp::robotinterface::experimental::XMLReaderResult yarp::robotinterface::impl::XMLReaderFileV3::getRobotFromFile(const std::string& filename, bool verb)
+yarp::robotinterface::experimental::XMLReaderResult yarp::robotinterface::impl::XMLReaderFileV3::getRobotFromFile(const std::string& filename,
+                                                                                                                  const yarp::os::Searchable& config,
+                                                                                                                  bool verb)
 {
+    mPriv->config = &config;
     mPriv->verbose_output = verb;
-    return mPriv->readRobotFromFile(filename);
+    auto ret = mPriv->readRobotFromFile(filename);
+    mPriv->config = nullptr;
+    return ret;
 }
 
-yarp::robotinterface::experimental::XMLReaderResult yarp::robotinterface::impl::XMLReaderFileV3::getRobotFromString(const std::string& xmlString, bool verb)
+yarp::robotinterface::experimental::XMLReaderResult yarp::robotinterface::impl::XMLReaderFileV3::getRobotFromString(const std::string& xmlString,
+                                                                                                                    const yarp::os::Searchable& config,
+                                                                                                                    bool verb)
 {
+    mPriv->config = &config;
     mPriv->verbose_output = verb;
-    return mPriv->readRobotFromString(xmlString);
+    auto ret = mPriv->readRobotFromString(xmlString);
+    mPriv->config = nullptr;
+    return ret;
 }
 
 

src/libYARP_robotinterface/src/yarp/robotinterface/impl/XMLReaderFileV3.h

@@ -28,8 +28,12 @@ class XMLReaderFileV3 : public XMLReaderFileVx
     XMLReaderFileV3();
     ~XMLReaderFileV3() override;
 
-    yarp::robotinterface::experimental::XMLReaderResult getRobotFromFile(const std::string& filename, bool verbose = false) override;
-    yarp::robotinterface::experimental::XMLReaderResult getRobotFromString(const std::string& xmlString, bool verbose = false) override;
+    yarp::robotinterface::experimental::XMLReaderResult getRobotFromFile(const std::string& filename,
+                                                                         const yarp::os::Searchable& config,
+                                                                         bool verbose = false) override;
+    yarp::robotinterface::experimental::XMLReaderResult getRobotFromString(const std::string& xmlString,
+                                                                           const yarp::os::Searchable& config,
+                                                                           bool verbose = false) override;
 
 private:
     class Private;

src/libYARP_robotinterface/src/yarp/robotinterface/impl/XMLReaderFileVx.h

@@ -11,6 +11,8 @@
 
 #include <yarp/robotinterface/experimental/Robot.h>
 
+#include <yarp/os/Searchable.h>
+
 #include <string>
 
 namespace yarp {
@@ -27,8 +29,12 @@ class XMLReaderFileVx
 public:
     bool verbose;
     virtual ~XMLReaderFileVx(){};
-    virtual yarp::robotinterface::experimental::XMLReaderResult getRobotFromFile(const std::string& filename, bool verbose = false) = 0;
-    virtual yarp::robotinterface::experimental::XMLReaderResult getRobotFromString(const std::string& xmlString, bool verbose = false) = 0;
+    virtual yarp::robotinterface::experimental::XMLReaderResult getRobotFromFile(const std::string& filename,
+                                                                                 const yarp::os::Searchable& config,
+                                                                                 bool verbose = false) = 0;
+    virtual yarp::robotinterface::experimental::XMLReaderResult getRobotFromString(const std::string& xmlString,
+                                                                                   const yarp::os::Searchable& config,
+                                                                                   bool verbose = false) = 0;
 };
 
 } // namespace impl

src/yarprobotinterface/Module.cpp

@@ -130,7 +130,14 @@ bool yarprobotinterface::Module::configure(yarp::os::ResourceFinder& rf)
     reader.setVerbose(verbosity);
     reader.setEnableDeprecated(deprecated);
 
-    yarp::robotinterface::experimental::XMLReaderResult result = reader.getRobotFromFile(filename);
+    // Prepare configuration for sub-devices
+    yarp::os::Property config;
+    config.fromString(rf.toString());
+    // The --config option is consumed by yarprobotinterface, and never
+    // forwarded to the devices)
+    config.unput("config");
+
+    yarp::robotinterface::experimental::XMLReaderResult result = reader.getRobotFromFile(filename, config);
 
     if (!result.parsingIsSuccessful) {
         yFatal() << "Config file " << filename << " not parsed correctly.";

src/yarprobotinterface/tests/fakeFrameGrabber/fakeFrameGrabber.xml

@@ -0,0 +1,36 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.1//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.1.dtd">
+
+<devices robot="grabber_left" build="3">
+    <device name="grabber_left" type="fakeFrameGrabber">
+        <param name="fakeFrameGrabber_rpc_port"> /fakeFrameGrabber_left/rpc </param>
+        <param name="width">360</param>
+        <param name="height">240</param>
+        <param name="mode" extern-name="mode">grid</param>
+    </device>
+
+    <device name="grabber_right" type="fakeFrameGrabber">
+        <param name="fakeFrameGrabber_rpc_port"> /fakeFrameGrabber_right/rpc </param>
+        <param name="width">360</param>
+        <param name="height">240</param>
+        <param name="mode" extern-name="mode">grid</param>
+    </device>
+
+    <device name="wrapper_left" type="grabberDual"> <!-- frameGrabber_nws_yarp -->
+        <param name="name">/left</param>
+        <param name="period">33</param>
+        <action phase="startup" level="10" type="attach">
+            <param name="device"> grabber_left </param>
+        </action>
+        <action phase="shutdown" level="5" type="detach" />
+    </device>
+
+    <device name="wrapper_right" type="grabberDual">--> <!-- frameGrabber_nws_yarp -->
+        <param name="name">/right</param>
+        <param name="period">33</param>
+        <action phase="startup" level="10" type="attach">
+            <param name="device"> grabber_right </param>
+        </action>
+        <action phase="shutdown" level="5" type="detach" />
+    </device>
+</devices>

src/yarprobotinterface/tests/fakeFrameGrabber/grabber.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 1.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV1.0.dtd">
+<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.1//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.1.dtd">
 
-<robot name="grabber" build="2" portprefix="grabber">
-    <devices file="fakeFrameGrabber.xml" />
+<robot name="grabber" build="3" portprefix="grabber" xmlns:xi="http://www.w3.org/2001/XInclude">
+    <xi:include href="./fakeFrameGrabber.xml" />
 </robot>