Merge pull request #3130 from randaz81/dev2sig_datatypes

dev to sig datatypes migration

doc/release/master.md

@@ -81,7 +81,10 @@ New Features
 #### `lib_yarp_dev`
 
 * `Drivers.cpp` If the user requests for a not existing plugin, the system now prints a message suggesting devices with similar names
+* The following data types have been migrated from `yarp_dev` to `yarp_sig` library: `AudioPlayerStatus, AudioRecorderStatus, AudioBufferSize, AudioBufferSizeData, LaserMeasurementData, LaserScan2D`.
 
 #### `lib_yarp_sig`
 
-* Improvements to serialization class `yarp::sig::Sound` (breaking change)
+* Improvements to serialization class `yarp::sig::Sound` (breaking change)
+* yarp_sig can now use IDL thrift to generate custom data types.
+* The following data types have been migrated from `yarp_dev` to `yarp_sig` library: `AudioPlayerStatus, AudioRecorderStatus, AudioBufferSize, AudioBufferSizeData, LaserMeasurementData, LaserScan2D`.

src/devices/ffmpeg/FfmpegGrabber.h

@@ -22,6 +22,7 @@ extern "C" {
 #include <yarp/dev/AudioVisualInterfaces.h>
 #include <yarp/dev/IFrameGrabberImage.h>
 #include <yarp/dev/DeviceDriver.h>
+#include <yarp/sig/AudioBufferSize.h>
 
 #include "ffmpeg_api.h"
 #include "FfmpegGrabber_ParamsParser.h"
@@ -89,11 +90,11 @@ class FfmpegGrabber :
         return false;
     }
 
-    bool getRecordingAudioBufferMaxSize(yarp::dev::AudioBufferSize&) override {
+    bool getRecordingAudioBufferMaxSize(yarp::sig::AudioBufferSize&) override {
         return false;
     }
 
-    bool getRecordingAudioBufferCurrentSize(yarp::dev::AudioBufferSize&) override {
+    bool getRecordingAudioBufferCurrentSize(yarp::sig::AudioBufferSize&) override {
         return false;
     }
 

src/devices/laserFromExternalPort/laserFromExternalPort.cpp

@@ -47,7 +47,7 @@ InputPortProcessor::InputPortProcessor()
     m_contains_data=false;
 }
 
-void InputPortProcessor::onRead(yarp::dev::LaserScan2D& b)
+void InputPortProcessor::onRead(yarp::sig::LaserScan2D& b)
 {
     m_port_mutex.lock();
         m_lastScan = b;
@@ -56,7 +56,7 @@ void InputPortProcessor::onRead(yarp::dev::LaserScan2D& b)
     m_port_mutex.unlock();
 }
 
-inline void InputPortProcessor::getLast(yarp::dev::LaserScan2D& data, Stamp& stmp)
+inline void InputPortProcessor::getLast(yarp::sig::LaserScan2D& data, Stamp& stmp)
 {
     //this blocks untils the first data is received;
     size_t counter =0;
@@ -292,7 +292,7 @@ bool LaserFromExternalPort::threadInit()
     return true;
 }
 
-void LaserFromExternalPort::calculate(yarp::dev::LaserScan2D scan_data, yarp::sig::Matrix m)
+void LaserFromExternalPort::calculate(yarp::sig::LaserScan2D scan_data, yarp::sig::Matrix m)
 {
     yarp::sig::Vector temp(3);
     temp = yarp::math::dcm2rpy(m);

src/devices/laserFromExternalPort/laserFromExternalPort.h

@@ -13,7 +13,7 @@
 #include <yarp/os/Stamp.h>
 #include <yarp/dev/ControlBoardInterfaces.h>
 #include <yarp/dev/IRangefinder2D.h>
-#include <yarp/dev/LaserScan2D.h>
+#include <yarp/sig/LaserScan2D.h>
 #include <yarp/dev/Lidar2DDeviceBase.h>
 #include <yarp/sig/Vector.h>
 #include <yarp/dev/IFrameTransform.h>
@@ -34,26 +34,26 @@ enum base_enum
 };
 
 class InputPortProcessor :
-    public yarp::os::BufferedPort<yarp::dev::LaserScan2D>
+        public yarp::os::BufferedPort<yarp::sig::LaserScan2D>
 {
     std::mutex             m_port_mutex;
-    yarp::dev::LaserScan2D m_lastScan;
+    yarp::sig::LaserScan2D m_lastScan;
     yarp::os::Stamp        m_lastStamp;
     bool                   m_contains_data;
 
 public:
     InputPortProcessor(const InputPortProcessor& alt) :
-            yarp::os::BufferedPort<yarp::dev::LaserScan2D>(),
+            yarp::os::BufferedPort<yarp::sig::LaserScan2D>(),
             m_lastScan(alt.m_lastScan),
             m_lastStamp(alt.m_lastStamp),
             m_contains_data(alt.m_contains_data)
     {
     }
 
     InputPortProcessor();
-    using yarp::os::BufferedPort<yarp::dev::LaserScan2D>::onRead;
-    void onRead(yarp::dev::LaserScan2D& v) override;
-    void getLast(yarp::dev::LaserScan2D& data, yarp::os::Stamp& stmp);
+    using yarp::os::BufferedPort<yarp::sig::LaserScan2D>::onRead;
+    void onRead(yarp::sig::LaserScan2D& v) override;
+    void getLast(yarp::sig::LaserScan2D& data, yarp::os::Stamp& stmp);
 };
 
 /**
@@ -93,7 +93,7 @@ class LaserFromExternalPort : public yarp::dev::Lidar2DDeviceBase,
     std::vector <std::string>       m_port_names;
     std::vector<InputPortProcessor> m_input_ports;
     std::vector <yarp::os::Stamp>        m_last_stamp;
-    std::vector <yarp::dev::LaserScan2D> m_last_scan_data;
+    std::vector<yarp::sig::LaserScan2D> m_last_scan_data;
     yarp::dev::PolyDriver                m_tc_driver;
     yarp::dev::IFrameTransform*          m_iTc = nullptr;
 
@@ -102,7 +102,7 @@ class LaserFromExternalPort : public yarp::dev::Lidar2DDeviceBase,
     yarp::sig::Vector                    m_empty_laser_data;
     base_enum                            m_base_type;
 
-    void calculate(yarp::dev::LaserScan2D scan, yarp::sig::Matrix m);
+    void calculate(yarp::sig::LaserScan2D scan, yarp::sig::Matrix m);
 
 public:
     LaserFromExternalPort(double period = 0.01) : Lidar2DDeviceBase(), PeriodicThread(period)

src/devices/laserFromPointCloud/laserFromPointCloud.cpp

@@ -25,6 +25,8 @@
 #define DEG2RAD M_PI/180.0
 #endif
 
+using namespace yarp::sig;
+
 YARP_LOG_COMPONENT(LASER_FROM_POINTCLOUD, "yarp.devices.laserFromPointCloud")
 
 /*

src/devices/laserHokuyo/laserHokuyo.cpp

@@ -21,6 +21,7 @@
 #define DEG2RAD M_PI/180.0
 #endif
 
+using namespace yarp::sig;
 
 namespace {
 YARP_LOG_COMPONENT(LASERHOKUYO, "yarp.devices.laserHokuyo")

src/devices/laserHokuyo/laserHokuyo.h

@@ -105,7 +105,7 @@ class laserHokuyo : public PeriodicThread, public yarp::dev::IRangefinder2D, pub
 public:
     //IRangefinder2D interface
     bool getRawData(yarp::sig::Vector &data, double* timestamp) override;
-    bool getLaserMeasurement(std::vector<LaserMeasurementData> &data, double* timestamp) override;
+    bool getLaserMeasurement(std::vector<yarp::sig::LaserMeasurementData> &data, double* timestamp) override;
     bool getDeviceStatus     (Device_status &status) override;
     bool getDeviceInfo       (std::string &device_info) override;
     bool getDistanceRange    (double& min, double& max) override;

src/devices/messages/IAudioGrabberMsgs/IAudioGrabberMsgs.thrift

@@ -10,10 +10,10 @@ struct return_isRecording {
   2: bool isRecording = false;
 }
 
-struct yarp_dev_AudioBufferSize {
+struct yarp_sig_AudioBufferSize {
 } (
-  yarp.name = "yarp::dev::AudioBufferSize"
-  yarp.includefile = "yarp/dev/AudioBufferSize.h"
+  yarp.name = "yarp::sig::AudioBufferSize"
+  yarp.includefile = "yarp/sig/AudioBufferSize.h"
 )
 
 struct yarp_sig_Sound {
@@ -29,12 +29,12 @@ struct return_getSound {
 
 struct return_getRecordingAudioBufferCurrentSize {
   1: bool ret = false;
-  2: yarp_dev_AudioBufferSize bufsize;
+  2: yarp_sig_AudioBufferSize bufsize;
 }
 
 struct return_getRecordingAudioBufferMaxSize {
   1: bool ret = false;
-  2: yarp_dev_AudioBufferSize bufsize;
+  2: yarp_sig_AudioBufferSize bufsize;
 }
 
 typedef i32 ( yarp.type = "size_t" ) size_t

src/devices/networkWrappers/Rangefinder2DClient/Rangefinder2DClient.cpp

@@ -48,7 +48,7 @@ Rangefinder2DInputPortProcessor::Rangefinder2DInputPortProcessor()
     resetStat();
 }
 
-void Rangefinder2DInputPortProcessor::onRead(yarp::dev::LaserScan2D&b)
+void Rangefinder2DInputPortProcessor::onRead(yarp::sig::LaserScan2D& b)
 {
     now=SystemClock::nowSystem();
     mutex.lock();
@@ -102,7 +102,7 @@ void Rangefinder2DInputPortProcessor::onRead(yarp::dev::LaserScan2D&b)
     mutex.unlock();
 }
 
-inline int Rangefinder2DInputPortProcessor::getLast(yarp::dev::LaserScan2D&data, Stamp &stmp)
+inline int Rangefinder2DInputPortProcessor::getLast(yarp::sig::LaserScan2D& data, Stamp& stmp)
 {
     mutex.lock();
     int ret=state;
@@ -286,7 +286,7 @@ bool Rangefinder2DClient::close()
 
 bool Rangefinder2DClient::getRawData(yarp::sig::Vector &data, double* timestamp)
 {
-    yarp::dev::LaserScan2D scan;
+    yarp::sig::LaserScan2D scan;
     inputPort.getLast(scan, lastTs);
 
     data = scan.scans;
@@ -300,7 +300,7 @@ bool Rangefinder2DClient::getRawData(yarp::sig::Vector &data, double* timestamp)
 
 bool Rangefinder2DClient::getLaserMeasurement(std::vector<LaserMeasurementData> &data, double* timestamp)
 {
-    yarp::dev::LaserScan2D scan;
+    yarp::sig::LaserScan2D scan;
     inputPort.getLast(scan, lastTs);
     size_t size = scan.scans.size();
     data.resize(size);

src/devices/networkWrappers/Rangefinder2DClient/Rangefinder2DClient.h

@@ -13,7 +13,7 @@
 #include <yarp/dev/IRangefinder2D.h>
 #include <yarp/dev/ControlBoardInterfaces.h>
 #include <yarp/dev/ControlBoardHelpers.h>
-#include <yarp/dev/LaserScan2D.h>
+#include <yarp/sig/LaserScan2D.h>
 #include <yarp/sig/Vector.h>
 #include <yarp/os/Time.h>
 #include <yarp/dev/PolyDriver.h>
@@ -25,9 +25,9 @@
 const int LASER_TIMEOUT=100; //ms
 
 class Rangefinder2DInputPortProcessor :
-        public yarp::os::BufferedPort<yarp::dev::LaserScan2D>
+        public yarp::os::BufferedPort<yarp::sig::LaserScan2D>
 {
-    yarp::dev::LaserScan2D lastScan;
+    yarp::sig::LaserScan2D lastScan;
     std::mutex mutex;
     yarp::os::Stamp lastStamp;
     double deltaT;
@@ -45,10 +45,10 @@ class Rangefinder2DInputPortProcessor :
 
     Rangefinder2DInputPortProcessor();
 
-    using yarp::os::BufferedPort<yarp::dev::LaserScan2D>::onRead;
-    void onRead(yarp::dev::LaserScan2D&v) override;
+    using yarp::os::BufferedPort<yarp::sig::LaserScan2D>::onRead;
+    void onRead(yarp::sig::LaserScan2D& v) override;
 
-    inline int getLast(yarp::dev::LaserScan2D &data, yarp::os::Stamp &stmp);
+    inline int getLast(yarp::sig::LaserScan2D& data, yarp::os::Stamp& stmp);
 
     inline int getIterations();
 
@@ -105,7 +105,7 @@ class Rangefinder2DClient:
     * @param data a vector containing the measurement data, expressed in cartesian/polar format
     * @return true/false..
     */
-    bool getLaserMeasurement(std::vector<yarp::dev::LaserMeasurementData> &data, double* timestamp = nullptr) override;
+    bool getLaserMeasurement(std::vector<yarp::sig::LaserMeasurementData> &data, double* timestamp = nullptr) override;
 
     /**
     * Get the device measurements

src/devices/networkWrappers/Rangefinder2D_nwc_yarp/Rangefinder2D_nwc_yarp.cpp

@@ -49,7 +49,7 @@ Rangefinder2DInputPortProcessor::Rangefinder2DInputPortProcessor()
     resetStat();
 }
 
-void Rangefinder2DInputPortProcessor::onRead(yarp::dev::LaserScan2D&b)
+void Rangefinder2DInputPortProcessor::onRead(yarp::sig::LaserScan2D& b)
 {
     now=SystemClock::nowSystem();
     mutex.lock();
@@ -103,7 +103,7 @@ void Rangefinder2DInputPortProcessor::onRead(yarp::dev::LaserScan2D&b)
     mutex.unlock();
 }
 
-inline int Rangefinder2DInputPortProcessor::getLast(yarp::dev::LaserScan2D&data, Stamp &stmp)
+inline int Rangefinder2DInputPortProcessor::getLast(yarp::sig::LaserScan2D& data, Stamp& stmp)
 {
     mutex.lock();
     int ret=state;
@@ -204,7 +204,7 @@ bool Rangefinder2D_nwc_yarp::close()
 
 bool Rangefinder2D_nwc_yarp::getRawData(yarp::sig::Vector &data, double* timestamp)
 {
-    yarp::dev::LaserScan2D scan;
+    yarp::sig::LaserScan2D scan;
     m_inputPort.getLast(scan, m_lastTs);
 
     data = scan.scans;
@@ -218,7 +218,7 @@ bool Rangefinder2D_nwc_yarp::getRawData(yarp::sig::Vector &data, double* timesta
 
 bool Rangefinder2D_nwc_yarp::getLaserMeasurement(std::vector<LaserMeasurementData> &data, double* timestamp)
 {
-    yarp::dev::LaserScan2D scan;
+    yarp::sig::LaserScan2D scan;
     m_inputPort.getLast(scan, m_lastTs);
     size_t size = scan.scans.size();
     data.resize(size);