Merge pull request #3059 from randaz81/removed_SearchReport

Removed classes SearchReport, SearchMonitor
robotology · Dec 11, 2023 · 5da2e15 · 5da2e15
2 parents a62aa78 + bc2d424
commit 5da2e15
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Showing 26 changed files with 28 additions and 870 deletions.
diff --git a/bindings/yarp.i b/bindings/yarp.i
@@ -392,7 +392,6 @@ MAKE_COMMS(Bottle)
 %include <yarp/sig/Sound.h>
 %include <yarp/sig/Matrix.h>
 %include <yarp/sig/Vector.h>
-%include <yarp/os/IConfig.h>
 %include <yarp/dev/DeviceDriver.h>
 %include <yarp/dev/PolyDriver.h>
 %include <yarp/dev/Drivers.h>

diff --git a/src/devices/DynamixelAX12Ftdi/DynamixelAX12FtdiDriver.h b/src/devices/DynamixelAX12Ftdi/DynamixelAX12FtdiDriver.h
@@ -189,7 +189,7 @@ class DynamixelAX12FtdiDriver :
         @param config Config file containing string pairs for parameters
         @return true on success
      */
-    bool configure(yarp::os::Searchable& config) override;
+    bool configure(yarp::os::Searchable& config);
 
     /** Send instruction to device
         Send an instruction to a device of given ID. The instruction has to be a byte arry containing

diff --git a/src/devices/frameGrabberCropper/frameGrabberCropper.cpp b/src/devices/frameGrabberCropper/frameGrabberCropper.cpp
@@ -63,7 +63,6 @@ bool FrameGrabberCropper::open(yarp::os::Searchable& config)
         yarp::os::Property p;
         subdevice = new yarp::dev::PolyDriver;
         p.fromString(config.toString());
-        p.setMonitor(config.getMonitor(), "subdevice"); // pass on any monitoring
         p.unput("device");
         p.put("device", config.find("subdevice").asString()); // subdevice was already checked before
 

diff --git a/src/devices/networkWrappers/JoypadControlServer/JoypadControlServer.cpp b/src/devices/networkWrappers/JoypadControlServer/JoypadControlServer.cpp
@@ -328,7 +328,6 @@ bool JoypadControlServer::openAndAttachSubDevice(Searchable& prop)
     m_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
 

diff --git a/src/devices/networkWrappers/RGBDSensor_nws_yarp/RgbdSensor_nws_yarp.cpp b/src/devices/networkWrappers/RGBDSensor_nws_yarp/RgbdSensor_nws_yarp.cpp
@@ -277,7 +277,6 @@ bool RgbdSensor_nws_yarp::openAndAttachSubDevice(Searchable& prop)
     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
 

diff --git a/src/devices/networkWrappers/RobotDescriptionServer/RobotDescriptionServer.cpp b/src/devices/networkWrappers/RobotDescriptionServer/RobotDescriptionServer.cpp
@@ -51,12 +51,12 @@ bool RobotDescriptionServer::attachAll(const PolyDriverList &p)
     std::lock_guard<std::mutex> guard(m_external_mutex);
     for (int i = 0; i < p.size(); i++)
     {
-        yCTrace(ROBOTDESCRIPTIONSERVER) << p[i]->poly->getOptions().toString();
-        yCTrace(ROBOTDESCRIPTIONSERVER) << p[i]->poly->getValue("device").toString();
-        yCTrace(ROBOTDESCRIPTIONSERVER) << p[i]->poly->getValue("name").toString();
         DeviceDescription dev;
-        dev.device_name = p[i]->poly->getValue("name").toString();
-        dev.device_type = p[i]->poly->getValue("device").toString();
+
+        //BROKEN HERE. TO BE REIMPLEMENTED
+        //dev.device_name = p[i]->poly->getValue("name").toString();
+        //dev.device_type = p[i]->poly->getValue("device").toString();
+
         if (this->add_device(dev) == false)
         {
             yCError(ROBOTDESCRIPTIONSERVER) << "attachAll(): Something strange happened here";

diff --git a/src/devices/networkWrappers/controlBoard_nws_yarp/ControlBoard_nws_yarp.cpp b/src/devices/networkWrappers/controlBoard_nws_yarp/ControlBoard_nws_yarp.cpp
@@ -114,7 +114,6 @@ bool ControlBoard_nws_yarp::open(Searchable& config)
     // Check if we need to create subdevice or if they are
     // passed later on through attachAll()
     if (prop.check("subdevice")) {
-        prop.setMonitor(config.getMonitor());
         if (!openAndAttachSubDevice(prop)) {
             yCError(CONTROLBOARD, "Error while opening subdevice");
             return false;
@@ -184,7 +183,6 @@ bool ControlBoard_nws_yarp::openAndAttachSubDevice(Property& prop)
     p.fromString(prop.toString());
 
     std::string subdevice = prop.find("subdevice").asString();
-    p.setMonitor(prop.getMonitor(), subdevice.c_str()); // pass on any monitoring
     p.unput("device");
     p.put("device", subdevice); // subdevice was already checked before
 

diff --git a/src/devices/networkWrappers/frameGrabber_nws_yarp/FrameGrabber_nws_yarp.cpp b/src/devices/networkWrappers/frameGrabber_nws_yarp/FrameGrabber_nws_yarp.cpp
@@ -131,7 +131,6 @@ bool FrameGrabber_nws_yarp::open(yarp::os::Searchable& config)
             p.put("pixelType", VOCAB_PIXEL_MONO);
         }
 
-        p.setMonitor(config.getMonitor(), "subdevice"); // pass on any monitoring
         p.unput("device");
         p.put("device", config.find("subdevice").asString()); // subdevice was already checked before
 

diff --git a/src/devices/networkWrappers/multipleanalogsensorsserver/MultipleAnalogSensorsServer.cpp b/src/devices/networkWrappers/multipleanalogsensorsserver/MultipleAnalogSensorsServer.cpp
@@ -158,7 +158,6 @@ bool MultipleAnalogSensorsServer::open(yarp::os::Searchable& config)
 
         yarp::os::Property driverConfig;
         driverConfig.fromString(config.toString());
-        driverConfig.setMonitor(config.getMonitor(), subdeviceName.c_str()); // pass on any monitoring
         driverConfig.put("device", subdeviceName);
 
         if (!m_subdevice.open(driverConfig))

diff --git a/src/libYARP_dev/src/yarp/dev/DeviceDriver.h b/src/libYARP_dev/src/yarp/dev/DeviceDriver.h
@@ -11,7 +11,6 @@
 #include <yarp/os/ConnectionWriter.h>
 #include <yarp/os/BufferedPort.h>
 #include <yarp/os/Property.h>
-#include <yarp/os/IConfig.h>
 
 #include <yarp/dev/api.h>
 
@@ -26,7 +25,7 @@ class DeviceResponder;
  *
  * Interface implemented by all device drivers.
  */
-class YARP_dev_API yarp::dev::DeviceDriver : public yarp::os::IConfig
+class YARP_dev_API yarp::dev::DeviceDriver
 {
 public:
     DeviceDriver();
@@ -35,7 +34,7 @@ class YARP_dev_API yarp::dev::DeviceDriver : public yarp::os::IConfig
     DeviceDriver& operator=(const DeviceDriver& other) = delete;
     DeviceDriver& operator=(DeviceDriver&& other) noexcept = delete;
 
-    ~DeviceDriver() override;
+    virtual ~DeviceDriver();
 
     /**
      * Open the DeviceDriver.
@@ -50,13 +49,13 @@ class YARP_dev_API yarp::dev::DeviceDriver : public yarp::os::IConfig
      * yarp developers to add documentation for your device).
      * @return true/false upon success/failure
      */
-    bool open(yarp::os::Searchable& config) override { YARP_UNUSED(config); return true; }
+    virtual bool open(yarp::os::Searchable& config) { YARP_UNUSED(config); return true; }
 
     /**
      * Close the DeviceDriver.
      * @return true/false on success/failure.
      */
-    bool close() override { return true; }
+    virtual bool close() { return true; }
 
 
     /**

diff --git a/src/libYARP_dev/src/yarp/dev/Drivers.cpp b/src/libYARP_dev/src/yarp/dev/Drivers.cpp
@@ -189,7 +189,7 @@ class StubDriver : public DeviceDriver {
         init();
     }
 
-    ~StubDriver() override = default;
+    virtual ~StubDriver() = default;
 
     void init() {
         if (plugin.open(settings)) {
@@ -329,44 +329,6 @@ static void toDox(PolyDriver& dd) {
     yCIDebug(DRIVERS, dd.id(), "===============================================================");
     yCIDebug(DRIVERS, dd.id(), "== Options checked by device:");
     yCIDebug(DRIVERS, dd.id(), "==");
-    Bottle order = dd.getOptions();
-    for (size_t i=0; i<order.size(); i++) {
-        std::string name = order.get(i).toString();
-        if (name=="wrapped"||(name.find(".wrapped")!=std::string::npos)) {
-            continue;
-        }
-        std::string desc = dd.getComment(name.c_str());
-        Value def = dd.getDefaultValue(name.c_str());
-        Value actual = dd.getValue(name.c_str());
-        std::string out;
-        out += name;
-        if (!actual.isNull()) {
-            if (!actual.toString().empty()) {
-                out += "=";
-                if (actual.toString().length()<40) {
-                    out += actual.toString();
-                } else {
-                    out += "(value too long)";
-                }
-            }
-        }
-        if (!def.isNull()) {
-            if (!def.toString().empty()) {
-                out += " [";
-                if (def.toString().length()<40) {
-                    out += def.toString();
-                } else {
-                    out += "(value too long)";
-                }
-                out += "]";
-            }
-        }
-        yCIDebug(DRIVERS, dd.id(), "%s", out.c_str());
-        if (!desc.empty()) {
-            yCIDebug(DRIVERS, dd.id(), "    %s", desc.c_str());
-        }
-    }
-    yCIDebug(DRIVERS, dd.id(), "==");
     yCIDebug(DRIVERS, dd.id(), "===============================================================");
 }
 
@@ -514,31 +476,22 @@ int Drivers::yarpdev(int argc, char *argv[]) {
     }
 
     Terminee *terminee = nullptr;
-    if (dd.isValid()) {
+    if (dd.isValid())
+    {
         Value *v;
         std::string name;
-        if (options.check("name", v)) {
+        if (options.check("name", v))
+        {
             name = v->toString();
-        } else if (options.check("device", v)) {
-            if (v->isString()) {
-                auto device_name = v->toString();
-                name = dd.getDefaultValue((device_name + ".name").c_str()).toString();
-                if (name.empty()) {
-                    auto options = dd.getOptions();
-                    for (size_t i = 0; i < options.size(); ++i) {
-                        auto opt = options.get(i).toString();
-                        if (opt.length() > 5 && opt.compare(opt.length() - 5, 5, ".name") == 0) { // C++20 opt.ends_with(".name")
-                            yCIWarning(DRIVERS, id, "%s", opt.c_str());
-                            name = dd.getDefaultValue(opt.c_str()).toString();
-                            break;
-                        }
-                    }
-                }
-                if (name.empty()) {
-                    name = v->toString();
-                }
-            }
-        } else {
+        }
+        if (name.empty() && options.check("device", v))
+        {
+            //get the name of the device from the polydriver
+            //TO BE IMPLEMENTED. FOR REFERENCE ONLY:
+            //name = dd.getDefaultValue((device_name + ".name").c_str()).toString();
+        }
+        if (name.empty())
+        {
             name = "/yarpdev";
         }
         std::string s = name + "/quit";

diff --git a/src/libYARP_dev/src/yarp/dev/PolyDriver.cpp b/src/libYARP_dev/src/yarp/dev/PolyDriver.cpp
@@ -17,76 +17,13 @@ namespace {
 YARP_LOG_COMPONENT(POLYDRIVER, "yarp.dev.PolyDriver")
 }
 
-class PolyDriver::Private :
-        public SearchMonitor
+class PolyDriver::Private
 {
 private:
-    Property comment;
-    Property fallback;
-    Property present;
-    Property actual;
-    Bottle order;
     int count = 1;
-
 public:
     Property info;
 
-    void report(const SearchReport& report, const char *context) override
-    {
-        std::string ctx = context;
-        std::string key = report.key;
-        std::string prefix;
-
-        prefix = ctx;
-        prefix += ".";
-
-        key = prefix + key;
-        if (key.substr(0,1)==".") {
-            key = key.substr(1,key.length());
-        }
-
-        if (!present.check(key)) {
-            present.put(key,"present");
-            order.addString(key.c_str());
-        }
-
-        if (report.isFound) {
-            actual.put(key,report.value);
-            return;
-        }
-
-        if (report.isComment==true) {
-            comment.put(key,report.value);
-            return;
-        }
-
-        if (report.isDefault==true) {
-            fallback.put(key,report.value);
-            return;
-        }
-    }
-
-    Bottle getOptions()
-    {
-        return order;
-    }
-
-    std::string getComment(const char *option)
-    {
-        std::string desc = comment.find(option).toString();
-        return desc;
-    }
-
-    Value getDefaultValue(const char *option)
-    {
-        return fallback.find(option);
-    }
-
-    Value getValue(const char *option)
-    {
-        return actual.find(option);
-    }
-
     void addRef()
     {
         count++;
@@ -155,17 +92,10 @@ bool PolyDriver::open(yarp::os::Searchable& config)
         mPriv = new PolyDriver::Private;
     }
     yCAssert(POLYDRIVER, mPriv != nullptr);
-    bool removeMonitorAfterwards = false;
-    if (config.getMonitor()==nullptr) {
-        config.setMonitor(mPriv);
-        removeMonitorAfterwards = true;
-    }
 
     coreOpen(config);
     mPriv->info.fromString(config.toString());
-    if (removeMonitorAfterwards) {
-        config.setMonitor(nullptr);
-    }
+
     return isValid();
 }
 
@@ -221,40 +151,6 @@ bool PolyDriver::link(PolyDriver& alt)
     return true;
 }
 
-Bottle PolyDriver::getOptions()
-{
-    if (mPriv==nullptr) {
-        return Bottle::getNullBottle();
-    }
-    return mPriv->getOptions();
-}
-
-std::string PolyDriver::getComment(const char *option)
-{
-    if (mPriv==nullptr) {
-        return {};
-    }
-    return mPriv->getComment(option);
-}
-
-Value PolyDriver::getDefaultValue(const char *option)
-{
-    if (mPriv==nullptr) {
-        return Value::getNullValue();
-    }
-    return mPriv->getDefaultValue(option);
-}
-
-Value PolyDriver::getValue(const char *option)
-{
-    if (mPriv==nullptr) {
-        return Value::getNullValue();
-    }
-    return mPriv->getValue(option);
-}
-
-
-
 bool PolyDriver::coreOpen(yarp::os::Searchable& prop)
 {
     setId(prop.check("id", prop.check("device", Value("")), "Id assigned to this device").toString());
@@ -282,8 +178,6 @@ bool PolyDriver::coreOpen(yarp::os::Searchable& prop)
                 if (wrapCreator!=creator) {
                     p.put("subdevice", str);
                     p.put("device", wrapper);
-                    p.setMonitor(prop.getMonitor(),
-                                 wrapper.c_str()); // pass on any monitoring
                     driver = wrapCreator->create();
                     creator = wrapCreator;
                 } else {