New wrappers imported from iCub repository

src/libYARP_dev/CMakeLists.txt

@@ -4,8 +4,11 @@
 
 project(YARP_dev)
 
+option (NEW_WRAPPERS_WIP "under testing -> use newly imported wrappers from icub repository" FALSE)
+
 set(YARP_dev_HDRS include/yarp/dev/all.h
                   include/yarp/dev/api.h
+#                  include/yarp/dev/AnalogWrapper.h
                   include/yarp/dev/AudioGrabberInterfaces.h
                   include/yarp/dev/AudioVisualInterfaces.h
                   include/yarp/dev/CalibratorInterfaces.h
@@ -16,6 +19,7 @@ set(YARP_dev_HDRS include/yarp/dev/all.h
                   include/yarp/dev/ControlBoardInterfaces.h
                   include/yarp/dev/ControlBoardInterfacesImpl.h
                   include/yarp/dev/ControlBoardPid.h
+#                  include/yarp/dev/ControlBoardWrapper.h
                   include/yarp/dev/DataSource.h
                   include/yarp/dev/DeviceDriver.h
                   include/yarp/dev/DeviceGroup.h
@@ -66,12 +70,15 @@ set(YARP_dev_HDRS include/yarp/dev/all.h
                   include/yarp/dev/ServiceInterfaces.h
                   include/yarp/dev/TestFrameGrabber.h
                   include/yarp/dev/TestMotor.h
+#                  include/yarp/dev/VirtualAnalogWrapper.h
                   include/yarp/dev/Wrapper.h
                   include/yarp/dev/ControlBoardInterfacesImpl.inl)
 
 set(YARP_dev_SRCS src/AnalogSensorClient.cpp
+#                  src/AnalogWrapper.cpp
                   src/ControlBoardInterfacesImpl.cpp
                   src/ControlBoardPid.cpp
+#                  src/ControlBoardWrapper.cpp
                   src/ControlCalibrationImpl.cpp
                   src/ControlModeImpl.cpp
                   src/DeviceDriver.cpp
@@ -96,7 +103,25 @@ set(YARP_dev_SRCS src/AnalogSensorClient.cpp
                   src/ServerControlBoard.cpp
                   src/ServerFrameGrabber.cpp
                   src/TestFrameGrabber.cpp
-                  src/TorqueControlImpl.cpp)
+                  src/TorqueControlImpl.cpp
+#                  src/VirtualAnalogWrapper.cpp
+                  )
+
+# once this will be stable, remove the following 'IF' and uncomment corresponding files
+# in the previous section.
+
+IF (NEW_WRAPPERS_WIP)
+add_definitions( -DUSE_NEW_WRAPPERS_WIP )
+  set(YARP_dev_HDRS   ${YARP_dev_HDRS}
+                      include/yarp/dev/ControlBoardWrapper.h
+                      include/yarp/dev/AnalogWrapper.h
+                      include/yarp/dev/VirtualAnalogWrapper.h)
+
+  set(YARP_dev_SRCS   ${YARP_dev_SRCS}
+                      src/AnalogWrapper.cpp
+                      src/ControlBoardWrapper.cpp
+                      src/VirtualAnalogWrapper.cpp)
+ENDIF(NEW_WRAPPERS_WIP)
 
 source_group("Source Files" FILES ${YARP_dev_SRCS})
 source_group("Header Files" FILES ${YARP_dev_HDRS})

src/libYARP_dev/include/yarp/dev/AnalogWrapper.h

@@ -0,0 +1,150 @@
+#ifndef ANALOG_SERVER_H_
+#define ANALOG_SERVER_H_
+
+ //#include <list>
+#include <vector>
+#include <iostream>
+#include <string>
+#include <sstream>
+
+#include <yarp/os/Network.h>
+#include <yarp/os/Port.h>
+#include <yarp/os/BufferedPort.h>
+#include <yarp/os/Bottle.h>
+#include <yarp/os/Time.h>
+#include <yarp/os/Property.h>
+
+#include <yarp/os/RateThread.h>
+#include <yarp/os/BufferedPort.h>
+#include <yarp/os/Stamp.h>
+
+#include <yarp/sig/Vector.h>
+
+#include <yarp/dev/IAnalogSensor.h>
+#include <yarp/dev/PolyDriver.h>
+#include <yarp/dev/DeviceDriver.h>
+#include <yarp/dev/Wrapper.h>
+
+/* Using custom namespace to avoid name conflict while linking since helper
+ * class for the AnalogWrapper could been used also for other devices in other
+ * part of the code.
+ * Better would be use internal linkage, through unnamed namespace therefore
+ * enforcing internal linkage, but compiler correctly complains issuing a
+ * warning message, because th eclass is used as a member of another class
+ * outside the anonymous namespace.
+ * This is not a problem actually, but seeing a lot of warning messages is annoying.
+ */
+
+namespace analogWrapper_yarp_internal_namespace
+{
+    class AnalogServerHandler;
+    class AnalogPortEntry;
+}
+
+namespace yarp{
+    namespace dev{
+        class AnalogWrapper;
+    }
+}
+
+namespace analogWrapper_yarp_internal_namespace {
+/**
+  * Handler of the rpc port related to an analog sensor.
+  * Manage the calibration command received on the rpc port.
+ **/
+class AnalogServerHandler: public yarp::os::PortReader
+{
+    yarp::dev::IAnalogSensor* is;   // analog sensor to calibrate, when required
+    yarp::os::Port rpcPort;         // rpc port related to the analog sensor
+
+public:
+    AnalogServerHandler(const char* n);
+    ~AnalogServerHandler();
+
+    void setInterface(yarp::dev::IAnalogSensor *is);
+
+    bool _handleIAnalog(yarp::os::Bottle &cmd, yarp::os::Bottle &reply);
+
+    virtual bool read(yarp::os::ConnectionReader& connection);
+};
+
+
+/**
+  * A yarp port that output data read from an analog sensor.
+  * It contains information about which data of the analog sensor are sent
+  * on the port, i.e. an offset and a length.
+  */
+struct AnalogPortEntry
+{
+public:
+    yarp::os::BufferedPort<yarp::sig::Vector> port;
+    std::string port_name;      // the complete name of the port
+    int offset;                 // an offset, the port is mapped starting from this taxel
+    int length;                 // length of the output vector of the port (-1 for max length)
+    AnalogPortEntry();
+    AnalogPortEntry(const AnalogPortEntry &alt);
+    AnalogPortEntry &operator =(const AnalogPortEntry &alt);
+};
+
+}  // closing namespace analogWrapper_yarp_internal_namespace
+
+/**
+  * It reads the data from an analog sensor and sends them on one or more ports.
+  * It creates one rpc port and its related handler for every output port.
+  */
+class yarp::dev::AnalogWrapper:  public yarp::os::RateThread,
+                                public yarp::dev::DeviceDriver,
+                                public yarp::dev::IMultipleWrapper
+{
+private:
+    std::string rpcPortName;
+    std::string id;
+    yarp::dev::IAnalogSensor *analogSensor_p;   // the analog sensor to read from
+    std::vector<analogWrapper_yarp_internal_namespace::AnalogPortEntry> analogPorts;   // the list of output ports
+    std::vector<analogWrapper_yarp_internal_namespace::AnalogServerHandler*> handlers; // the list of rpc port handlers
+    yarp::os::Stamp lastStateStamp;             // the last reading time stamp
+    int _rate;
+    void setHandlers();
+    void removeHandlers();
+
+public:
+
+    // Constructor used by yarp factory
+    AnalogWrapper();
+
+    // Constructor used when there is only one output port  -- obsolete, here for backward compatibility with skinwrapper
+    AnalogWrapper(const char* name, int rate=20);
+
+    // Contructor used when one or more output ports are specified  -- obsolete, here for backward compatibility with skinwrapper
+    AnalogWrapper(const std::vector<analogWrapper_yarp_internal_namespace::AnalogPortEntry>& _analogPorts, int rate=20);
+
+    ~AnalogWrapper();
+
+    bool open(yarp::os::Searchable &params);
+    bool close();
+    yarp::os::Bottle getOptions();
+
+    void setId(const std::string &i);
+    std::string getId();
+
+    /**
+      * Specify which analog sensor this thread has to read from.
+      */
+    bool attachAll(const PolyDriverList &p);
+    bool detachAll();
+
+    void attach(yarp::dev::IAnalogSensor *s);
+    void detach();
+
+    bool threadInit();
+    void threadRelease();
+    void run();
+
+private:
+    // Function used when there is only one output port
+    bool createPort(const char* name, int rate=20);
+    // Function used when one or more output ports are specified
+    bool createPorts(const std::vector<analogWrapper_yarp_internal_namespace::AnalogPortEntry>& _analogPorts, int rate=20);
+};
+
+#endif