Move yarprobotinterface logic to a standalone libYARP_robotinterface library

[traversaro]

This PR fixes the first part of #2005 . The possibility of attaching to device not opened by the yarp::robotinterface::Robot object will be added later.

The following snippet show a basic use of the new libYARP_robotinterface library:

// Load the XML configuration file 
std::string pathToXmlConfigurationFile = ...;
yarp::robotinterface::XMLReader reader;
yarp::robotinterface::Robot robot  = reader.getRobot(pathToXmlConfigurationFile);

bool ok = true;

// Enter the startup phase 
ok = robot.enterPhase(yarp::robotinterface::ActionPhaseStartup);

if (!ok) {
    // Handle error 
    // ...
}

// Enter the run phase
ok = robot.enterPhase(yarp::robotinterface::ActionPhaseRun);

if (!ok) {
    // Handle error 
    // ...
}

// At this point, the system is running and the thread that called the 
// enterPhase methods does not need to do anything else 

// When you want to close the yarprobotinterface 

// Enter interrupt phase 
ok = robot.enterPhase(yarp::robotinterface::ActionPhaseInterrupt1);
if (!ok) {
    // Handle error 
    // ...
}

There are the following open points, but I would prefer to get an early review on the modifications, so that this points can be addressed considering also the early review: All the open points have been addressed

• Tests are missing (at least a basic test to run valgrind on the classes would be nice) Basic test for a library class added in ec5629f
• The RobotInterfaceDTD class uses a TinyXML pointer as part of its public interface. At the moment there is no explicit dependency on the TinyXML thanks to the forward declaration added in 5403225, but in general to make the class actually usable from outside it would be great to avoid the use of TinyXML classes. If this is not possible, probably it would make sense to make the RobotInterfaceDTD a non-public class, making its headers private. This was fixed my making RobotInterfaceDTD a private header.

[traversaro]

cc @prashanthr05 @diegoferigo

[traversaro]

@drdanz there are a lot of failing tests for the licence check, any idea? It could be related to the -2020 in the headers?

1: [NOT OK (unknown license)] src/libYARP_robotinterface/CMakeLists.txt
1: [NOT OK (unknown license)] src/libYARP_robotinterface/src/CMakeLists.txt
1: [NOT OK - LGPL2.1+ (library robotinterface)] src/libYARP_robotinterface/src/yarp/robotinterface/Action.cpp
1: [NOT OK - LGPL2.1+ (library robotinterface)] src/libYARP_robotinterface/src/yarp/robotinterface/Action.h
1: [NOT OK - LGPL2.1+ (library robotinterface)] src/libYARP_robotinterface/src/yarp/robotinterface/CalibratorThread.cpp
1: [NOT OK - LGPL2.1+ (library robotinterface)] src/libYARP_robotinterface/src/yarp/robotinterface/CalibratorThread.h
1: [NOT OK - LGPL2.1+ (library robotinterface)] src/libYARP_robotinterface/src/yarp/robotinterface/Device.cpp
1: [NOT OK - LGPL2.1+ (library robotinterface)] src/libYARP_robotinterface/src/yarp/robotinterface/Device.h
1: [NOT OK - LGPL2.1+ (library robotinterface)] src/libYARP_robotinterface/src/yarp/robotinterface/Param.cpp
1: [NOT OK - LGPL2.1+ (library robotinterface)] src/libYARP_robotinterface/src/yarp/robotinterface/Param.h
1: [NOT OK - LGPL2.1+ (library robotinterface)] src/libYARP_robotinterface/src/yarp/robotinterface/Robot.cpp
1: [NOT OK - LGPL2.1+ (library robotinterface)] src/libYARP_robotinterface/src/yarp/robotinterface/Robot.h
1: [NOT OK - LGPL2.1+ (library robotinterface)] src/libYARP_robotinterface/src/yarp/robotinterface/RobotInterfaceDTD.cpp
1: [NOT OK - LGPL2.1+ (library robotinterface)] src/libYARP_robotinterface/src/yarp/robotinterface/Thread.h
1: [NOT OK - LGPL2.1+ (library robotinterface)] src/libYARP_robotinterface/src/yarp/robotinterface/Types.cpp
1: [NOT OK - LGPL2.1+ (library robotinterface)] src/libYARP_robotinterface/src/yarp/robotinterface/Types.h
1: [NOT OK - LGPL2.1+ (library robotinterface)] src/libYARP_robotinterface/src/yarp/robotinterface/XMLReader.h
1: [NOT OK - LGPL2.1+ (library robotinterface)] src/libYARP_robotinterface/src/yarp/robotinterface/XMLReaderV1.cpp
1: [NOT OK - LGPL2.1+ (library robotinterface)] src/libYARP_robotinterface/src/yarp/robotinterface/XMLReaderV3.cpp
1: [NOT OK - LGPL2.1+ (library robotinterface)] src/libYARP_robotinterface/src/yarp/robotinterface/XMLReaderVx.cpp
1: [NOT OK (unknown license)] src/libYARP_robotinterface/src/yarp/robotinterface/api.h
1: [NOT OK - LGPL2.1+ (library robotinterface)] src/libYARP_robotinterface/src/yarp/robotinterface/impl/RobotInterfaceDTD.h
1: [NOT OK (unknown license)] tests/libYARP_robotinterface/CMakeLists.txt

[drdanz]

Yes, the 2020 is not recognized yet, let me take care of that...

[drdanz]

Right, I forgot... It's still failing because libraries are expected to be BSD.
I see no reasons for keeping it LGPL, @lornat75 do you agree with this change?

[drdanz]

Rebased and changed to BSD.
I'll wait for @lornat75 authorization before merging it

[lornat75]

ok for changing the license!

[drdanz]

LGTM