dev: Deprecate headers

* Deprecate the IVisualParams.h file in favour of I{Rgb,Depth}VisualParams.h. * Deprecate files for deprecated interfaces. * Fix `INCLUDING_ON_PURPOSE` macros when deprecated files are included recursively.
robotology · Jun 11, 2021 · ae370c4 · ae370c4
1 parent de89bbe
commit ae370c4
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Showing 51 changed files with 570 additions and 420 deletions.
diff --git a/bindings/lua/examples/driver_qos.lua b/bindings/lua/examples/driver_qos.lua
@@ -44,9 +44,9 @@ if ipos == nil then
     os.exit()
 end
 
-icm = driver:viewIControlMode2()
+icm = driver:viewIControlMode()
 if icm == nil then
-    print("Cannot open the IControlMode2 interface");
+    print("Cannot open the IControlMode interface");
     driver:close()
     os.exit()
 end

diff --git a/bindings/yarp.i b/bindings/yarp.i
@@ -353,9 +353,6 @@ void setExternal2(yarp::sig::Image *img, PyObject* mem, int w, int h) {
 %include <yarp/os/Semaphore.h>
 %include <yarp/os/Thread.h>
 %include <yarp/os/PeriodicThread.h>
-#ifndef YARP_NO_DEPRECATED // Since YARP 3.0.0
-%include <yarp/os/RateThread.h>
-#endif
 %include <yarp/os/Time.h>
 %include <yarp/os/RFModule.h>
 %include <yarp/os/Stamp.h>
@@ -373,6 +370,10 @@ void setExternal2(yarp::sig::Image *img, PyObject* mem, int w, int h) {
 %include <yarp/os/Wire.h>
 %include <yarp/os/WireLink.h>
 
+#ifndef YARP_NO_DEPRECATED // Since YARP 3.0.0
+%include <yarp/os/RateThread.h>
+#endif
+
 %define MAKE_COMMS(name)
 %feature("notabstract") yarp::os::BufferedPort<name>;
 %feature("notabstract") BufferedPort ## name;
@@ -399,10 +400,6 @@ MAKE_COMMS(Bottle)
 %include <yarp/dev/DeviceDriver.h>
 %include <yarp/dev/PolyDriver.h>
 %include <yarp/dev/Drivers.h>
-#ifndef YARP_NO_DEPRECATED // Since YARP 3.5.0
-%include <yarp/dev/IFrameGrabber.h>
-%include <yarp/dev/IFrameGrabberRgb.h>
-#endif YARP_NO_DEPRECATED // Since YARP 3.5.0
 %include <yarp/dev/IFrameGrabberImage.h>
 %include <yarp/dev/IFrameGrabberControls.h>
 %include <yarp/dev/IFrameGrabberControlsDC1394.h>
@@ -421,9 +418,6 @@ MAKE_COMMS(Bottle)
 %include <yarp/dev/CalibratorInterfaces.h>
 %include <yarp/dev/ControlBoardPid.h>
 %include <yarp/dev/IControlMode.h>
-#ifndef YARP_NO_DEPRECATED // Since YARP 3.0.0
-%include <yarp/dev/IControlMode2.h>
-#endif
 %include <yarp/dev/IInteractionMode.h>
 %include <yarp/dev/IEncodersTimed.h>
 %include <yarp/dev/IMotor.h>
@@ -435,15 +429,21 @@ MAKE_COMMS(Bottle)
 %include <yarp/dev/ICurrentControl.h>
 %include <yarp/dev/IAnalogSensor.h>
 %include <yarp/dev/IRemoteVariables.h>
-#ifndef YARP_NO_DEPRECATED // Since YARP 3.0.0
-#define YARP_INCLUDING_DEPRECATED_HEADER_ON_PURPOSE
-%include <yarp/dev/FrameGrabberControl2.h>
-#undef YARP_INCLUDING_DEPRECATED_HEADER_ON_PURPOSE
-#endif
 %include <yarp/dev/IPidControl.h>
 %include <yarp/dev/IPositionDirect.h>
 %include <yarp/dev/MultipleAnalogSensorsInterfaces.h>
 
+#ifndef YARP_NO_DEPRECATED // Since YARP 3.0.0
+%include <yarp/dev/FrameGrabberControl2.h>
+%include <yarp/dev/IControlMode2.h>
+#endif
+
+#ifndef YARP_NO_DEPRECATED // Since YARP 3.5.0
+%include <yarp/dev/IFrameGrabber.h>
+%include <yarp/dev/IFrameGrabberRgb.h>
+#endif YARP_NO_DEPRECATED // Since YARP 3.5.0
+
+
 %template(DVector) std::vector<double>;
 %template(BVector) std::vector<bool>;
 %template(SVector) std::vector<std::string>;

diff --git a/src/devices/ControlBoardRemapper/ControlBoardRemapper.cpp b/src/devices/ControlBoardRemapper/ControlBoardRemapper.cpp
@@ -3590,7 +3590,7 @@ bool ControlBoardRemapper::getControlModes(int *modes)
     return ret;
 }
 
-// iControlMode2
+// IControlMode interface
 bool ControlBoardRemapper::getControlModes(const int n_joints, const int *joints, int *modes)
 {
     bool ret=true;
@@ -3867,9 +3867,8 @@ bool ControlBoardRemapper::getRefPositions(const int n_joints, const int *joints
 }
 
 
-//
-// IVelocityControl2 Interface
-//
+
+// IVelocityControl interface
 bool ControlBoardRemapper::velocityMove(const int n_joints, const int *joints, const double *spds)
 {
     bool ret=true;

diff --git a/src/devices/ControlBoardRemapper/ControlBoardRemapper.h b/src/devices/ControlBoardRemapper/ControlBoardRemapper.h
@@ -502,7 +502,7 @@ class ControlBoardRemapper :
 
     bool getControlModes(int *modes) override;
 
-    // iControlMode2
+    // IControlMode interface
     bool getControlModes(const int n_joint, const int *joints, int *modes) override;
 
     bool setControlMode(const int j, const int mode) override;
@@ -525,9 +525,7 @@ class ControlBoardRemapper :
 
     yarp::os::Stamp getLastInputStamp() override;
 
-    //
-    // IVelocityControl2 Interface
-    //
+    // IVelocityControl interface
     bool velocityMove(const int n_joints, const int *joints, const double *spds) override;
 
     bool getRefVelocity(const int joint, double *vel) override;

diff --git a/src/devices/ControlBoardRemapper/ControlBoardRemapperHelpers.cpp b/src/devices/ControlBoardRemapper/ControlBoardRemapperHelpers.cpp
@@ -172,13 +172,13 @@ bool RemappedSubControlBoard::attach(yarp::dev::PolyDriver *d, const std::string
     // checking minimum set of intefaces required
     if( !(pos) )
     {
-        yCError(CONTROLBOARDREMAPPER, "IPositionControl2 interface was not found in subdevice. Quitting");
+        yCError(CONTROLBOARDREMAPPER, "IPositionControl interface was not found in subdevice. Quitting");
         return false;
     }
 
     if( ! (vel) )
     {
-        yCError(CONTROLBOARDREMAPPER, "IVelocityControl2 interface was not found in subdevice. Quitting");
+        yCError(CONTROLBOARDREMAPPER, "IVelocityControl interface was not found in subdevice. Quitting");
         return false;
     }
 
@@ -190,7 +190,7 @@ bool RemappedSubControlBoard::attach(yarp::dev::PolyDriver *d, const std::string
 
     if(!iMode)
     {
-        yCError(CONTROLBOARDREMAPPER, "IControlMode2 interface was not found in subdevice, exiting.");
+        yCError(CONTROLBOARDREMAPPER, "IControlMode interface was not found in subdevice, exiting.");
         return false;
     }
 

diff --git a/src/devices/ControlBoardRemapper/ControlBoardRemapperHelpers.h b/src/devices/ControlBoardRemapper/ControlBoardRemapperHelpers.h
@@ -19,7 +19,7 @@
 
 #include <yarp/dev/ControlBoardInterfaces.h>
 #include <yarp/dev/IInteractionMode.h>
-#include <yarp/dev/IControlLimits2.h>
+#include <yarp/dev/IControlLimits.h>
 #include <yarp/dev/PolyDriver.h>
 #include <yarp/dev/IPreciselyTimed.h>
 

diff --git a/src/devices/ControlBoardWrapper/RPCMessagesParser.cpp b/src/devices/ControlBoardWrapper/RPCMessagesParser.cpp
@@ -223,7 +223,7 @@ void RPCMessagesParser::handleControlModeMsg(const yarp::os::Bottle& cmd,
             // try to be compatible as much as I can
 
             yCError(CONTROLBOARD) << " Error, received a set control mode message using a legacy version, trying to be handle the message anyway "
-                                         << " but please update your client to be compatible with the IControlMode2 interface";
+                                  << " but please update your client to be compatible with the IControlMode interface";
 
             yCTrace(CONTROLBOARD) << " cmd.get(4).asVocab() is " << Vocab::decode(cmd.get(4).asVocab());
             int axis = cmd.get(3).asInt32();

diff --git a/src/devices/ControlBoardWrapper/SubDevice.cpp b/src/devices/ControlBoardWrapper/SubDevice.cpp
@@ -179,7 +179,7 @@ bool SubDevice::attach(yarp::dev::PolyDriver* d, const std::string& k)
     }
 
     if (!vel) {
-        yCError(CONTROLBOARD, "Part <%s>: IVelocityControl nor IVelocityControl2 interface was not found in subdevice. Quitting", parentName.c_str());
+        yCError(CONTROLBOARD, "Part <%s>: IVelocityControl interface was not found in subdevice. Quitting", parentName.c_str());
         return false;
     }
 

diff --git a/src/devices/RGBDSensorClient/RGBDSensorClient.cpp b/src/devices/RGBDSensorClient/RGBDSensorClient.cpp
@@ -11,7 +11,7 @@
 #include <yarp/os/Portable.h>
 #include <yarp/os/LogComponent.h>
 #include <yarp/os/LogStream.h>
-#include <yarp/dev/GenericVocabs.h>
+#include <yarp/proto/framegrabber/CameraVocabs.h>
 
 using namespace yarp::os;
 using namespace yarp::sig;

diff --git a/src/devices/ServerFrameGrabber/ServerFrameGrabber.h b/src/devices/ServerFrameGrabber/ServerFrameGrabber.h
@@ -23,10 +23,15 @@
 #include <yarp/os/Vocab.h>
 #include <yarp/os/Bottle.h>
 
+// #define YARP_INCLUDING_DEPRECATED_HEADER_YARP_OS_RATETHREAD_H_ON_PURPOSE
 #define YARP_INCLUDING_DEPRECATED_HEADER_ON_PURPOSE
 #include <yarp/os/RateThread.h>
-#include <yarp/dev/DataSource.h>
 #undef YARP_INCLUDING_DEPRECATED_HEADER_ON_PURPOSE
+// #undef YARP_INCLUDING_DEPRECATED_HEADER_YARP_OS_RATETHREAD_H_ON_PURPOSE
+
+#define YARP_INCLUDING_DEPRECATED_HEADER_YARP_DEV_DATASOURCE_H_ON_PURPOSE
+#include <yarp/dev/DataSource.h>
+#undef YARP_INCLUDING_DEPRECATED_HEADER_YARP_DEV_DATASOURCE_H_ON_PURPOSE
 
 #include <yarp/proto/framegrabber/RgbVisualParams_Responder.h>
 #include <yarp/proto/framegrabber/FrameGrabberControls_Responder.h>

diff --git a/src/devices/fakeFrameGrabber/FakeFrameGrabber.h b/src/devices/fakeFrameGrabber/FakeFrameGrabber.h
@@ -23,7 +23,7 @@
 #include <yarp/os/Vocab.h>
 #include <yarp/os/Log.h>
 #include <yarp/os/Value.h>
-#include <yarp/dev/IVisualParams.h>
+#include <yarp/dev/IRgbVisualParams.h>
 
 #include <cstdio>
 #include <random>

diff --git a/src/devices/fakeMotionControl/fakeMotionControl.cpp b/src/devices/fakeMotionControl/fakeMotionControl.cpp
@@ -2714,7 +2714,7 @@ bool FakeMotionControl::getJointTypeRaw(int axis, yarp::dev::JointTypeEnum& type
     }
 }
 
-// IControlLimits2
+// IControlLimits
 bool FakeMotionControl::setVelLimitsRaw(int axis, double min, double max)
 {
     return NOT_YET_IMPLEMENTED("setVelLimitsRaw");
@@ -2827,7 +2827,7 @@ bool FakeMotionControl::setMotorTorqueParamsRaw(int j, const MotorTorqueParamete
     return true;
 }
 
-// IVelocityControl2
+// IVelocityControl interface
 bool FakeMotionControl::velocityMoveRaw(const int n_joint, const int *joints, const double *spds)
 {
     bool ret = true;

diff --git a/src/devices/fakeMotionControl/fakeMotionControl.h b/src/devices/fakeMotionControl/fakeMotionControl.h
@@ -18,6 +18,8 @@
 #include <yarp/dev/ControlBoardInterfacesImpl.h>
 #include <yarp/dev/IVirtualAnalogSensor.h>
 #include <yarp/dev/ImplementVirtualAnalogSensor.h>
+#include <yarp/dev/ImplementPositionControl.h>
+#include <yarp/dev/ImplementVelocityControl.h>
 
 #include <mutex>
 
@@ -432,7 +434,7 @@ class FakeMotionControl :
     bool setMotorTorqueParamsRaw(int j, const yarp::dev::MotorTorqueParameters params) override;
 //     int32_t getRefSpeedInTbl(uint8_t boardNum, int j, eOmeas_position_t pos) override;
 
-    // IVelocityControl2
+    // IVelocityControl interface
     bool velocityMoveRaw(const int n_joint, const int *joints, const double *spds) override;
     bool getRefVelocityRaw(const int joint, double *ref) override;
     bool getRefVelocitiesRaw(double *refs) override;

diff --git a/src/devices/framegrabber_protocol/yarp/proto/framegrabber/CameraVocabs.h b/src/devices/framegrabber_protocol/yarp/proto/framegrabber/CameraVocabs.h
@@ -18,12 +18,14 @@
  */
 constexpr yarp::conf::vocab32_t VOCAB_FRAMEGRABBER_IMAGE        = yarp::os::createVocab('f','g','i');
 constexpr yarp::conf::vocab32_t VOCAB_FRAMEGRABBER_IMAGERAW     = yarp::os::createVocab('f','g','i','r');
-
+constexpr yarp::conf::vocab32_t VOCAB_RGB_VISUAL_PARAMS         = yarp::os::createVocab('v','i','s','r');
+constexpr yarp::conf::vocab32_t VOCAB_DEPTH_VISUAL_PARAMS       = yarp::os::createVocab('v','i','s','d');
+constexpr yarp::conf::vocab32_t VOCAB_RGBD_SENSOR               = yarp::os::createVocab('r','g','d','b');
+constexpr yarp::conf::vocab32_t VOCAB_RGBD_PROTOCOL_VERSION     = yarp::os::createVocab('p','r','o','t');
 
 /*
  * Generic capabilities defines
  */
-
 constexpr yarp::conf::vocab32_t VOCAB_BRIGHTNESS                = yarp::os::createVocab('b','r','i');
 constexpr yarp::conf::vocab32_t VOCAB_EXPOSURE                  = yarp::os::createVocab('e','x','p','o');
 constexpr yarp::conf::vocab32_t VOCAB_SHARPNESS                 = yarp::os::createVocab('s','h','a','r');
@@ -99,4 +101,28 @@ constexpr yarp::conf::vocab32_t VOCAB_DRSETCAP = yarp::os::createVocab('D','R','
 constexpr yarp::conf::vocab32_t VOCAB_DRSETBPP = yarp::os::createVocab('D','R','2','N'); // 39
 constexpr yarp::conf::vocab32_t VOCAB_DRGETBPP = yarp::os::createVocab('D','R','2','O'); // 40
 
+
+// Rgb and depth
+constexpr yarp::conf::vocab32_t VOCAB_RGB               = yarp::os::createVocab('r','g','b');
+constexpr yarp::conf::vocab32_t VOCAB_DEPTH             = yarp::os::createVocab('d','e','p','t');
+constexpr yarp::conf::vocab32_t VOCAB_MIRROR            = yarp::os::createVocab('m','i','r','r');
+
+// Methods
+constexpr yarp::conf::vocab32_t VOCAB_RESOLUTION        = yarp::os::createVocab('r','e','s');
+constexpr yarp::conf::vocab32_t VOCAB_FOV               = yarp::os::createVocab('f','o','v');
+constexpr yarp::conf::vocab32_t VOCAB_INTRINSIC_PARAM   = yarp::os::createVocab('i','n','t','p');
+constexpr yarp::conf::vocab32_t VOCAB_SUPPORTED_CONF    = yarp::os::createVocab('c','o','n','f');
+
+// Depth only
+constexpr yarp::conf::vocab32_t VOCAB_ACCURACY          = yarp::os::createVocab('a','c','r','c');
+constexpr yarp::conf::vocab32_t VOCAB_CLIP_PLANES       = yarp::os::createVocab('c','l','i','p');
+
+// IRGBDSensor Methods
+constexpr yarp::conf::vocab32_t VOCAB_EXTRINSIC_PARAM   = yarp::os::createVocab('e','x','t');
+constexpr yarp::conf::vocab32_t VOCAB_ERROR_MSG         = yarp::os::createVocab('m','e','s','s');
+constexpr yarp::conf::vocab32_t VOCAB_RGB_IMAGE         = yarp::os::createVocab('i','m','g','r');
+constexpr yarp::conf::vocab32_t VOCAB_DEPTH_IMAGE       = yarp::os::createVocab('i','m','g','d');
+constexpr yarp::conf::vocab32_t VOCAB_IMAGES            = yarp::os::createVocab('i','m','m','s');
+constexpr yarp::conf::vocab32_t VOCAB_STATUS            = yarp::os::createVocab('s','t','a','t');
+
 #endif // YARP_FRAMEGRABBER_PROTOCOL_CAMERAVOCABS_H
diff --git a/src/devices/framegrabber_protocol/yarp/proto/framegrabber/DepthVisualParams_Forwarder.h b/src/devices/framegrabber_protocol/yarp/proto/framegrabber/DepthVisualParams_Forwarder.h
@@ -9,7 +9,7 @@
 #ifndef YARP_FRAMEGRABBER_PROTOCOL_DEPTHVISUALPARAMS_FORWARDER_H
 #define YARP_FRAMEGRABBER_PROTOCOL_DEPTHVISUALPARAMS_FORWARDER_H
 
-#include <yarp/dev/IVisualParams.h>
+#include <yarp/dev/IDepthVisualParams.h>
 #include <yarp/os/Port.h>
 
 namespace yarp {

diff --git a/src/devices/framegrabber_protocol/yarp/proto/framegrabber/DepthVisualParams_Responder.h b/src/devices/framegrabber_protocol/yarp/proto/framegrabber/DepthVisualParams_Responder.h
@@ -10,7 +10,7 @@
 #define YARP_FRAMEGRABBER_PROTOCOL_DEPTHVISUALPARAMS_RESPONDER_H
 
 #include <yarp/dev/DeviceDriver.h>
-#include <yarp/dev/IVisualParams.h>
+#include <yarp/dev/IDepthVisualParams.h>
 
 namespace yarp {
 namespace proto {

diff --git a/src/devices/framegrabber_protocol/yarp/proto/framegrabber/RgbVisualParams_Forwarder.h b/src/devices/framegrabber_protocol/yarp/proto/framegrabber/RgbVisualParams_Forwarder.h
@@ -9,7 +9,7 @@
 #ifndef YARP_FRAMEGRABBER_PROTOCOL_RGBVISUALPARAMS_FORWARDER_H
 #define YARP_FRAMEGRABBER_PROTOCOL_RGBVISUALPARAMS_FORWARDER_H
 
-#include <yarp/dev/IVisualParams.h>
+#include <yarp/dev/IRgbVisualParams.h>
 #include <yarp/os/Port.h>
 
 namespace yarp {

diff --git a/src/devices/framegrabber_protocol/yarp/proto/framegrabber/RgbVisualParams_Responder.h b/src/devices/framegrabber_protocol/yarp/proto/framegrabber/RgbVisualParams_Responder.h
@@ -10,7 +10,7 @@
 #define YARP_FRAMEGRABBER_PROTOCOL_RGBVISUALPARAMS_RESPONDER_H
 
 #include <yarp/dev/DeviceDriver.h>
-#include <yarp/dev/IVisualParams.h>
+#include <yarp/dev/IRgbVisualParams.h>
 
 namespace yarp {
 namespace proto {

diff --git a/src/devices/usbCamera/common/USBcamera.h b/src/devices/usbCamera/common/USBcamera.h
@@ -28,7 +28,7 @@
 #include <yarp/dev/DeviceDriver.h>
 #include <yarp/dev/IFrameGrabberControls.h>
 #include <yarp/dev/IFrameGrabberImage.h>
-#include <yarp/dev/IVisualParams.h>
+#include <yarp/dev/IRgbVisualParams.h>
 #include <yarp/dev/IPreciselyTimed.h>
 
 /**

diff --git a/src/devices/usbCamera/linux/V4L_camera.h b/src/devices/usbCamera/linux/V4L_camera.h
@@ -26,7 +26,7 @@
 #include <yarp/dev/DeviceDriver.h>
 #include <yarp/dev/IFrameGrabberImage.h>
 #include <yarp/dev/IFrameGrabberControls.h>
-#include <yarp/dev/IVisualParams.h>
+#include <yarp/dev/IRgbVisualParams.h>
 #include <yarp/dev/IPreciselyTimed.h>
 
 #include <asm/types.h>