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CMakeRC integration first test #2624

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Jul 1, 2021
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CMakeRC integration first test #2624

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f32bf85
CMakeRC integration first test
elandini84 Jun 30, 2021
185055b
CMakeRC static library workaround
elandini84 Jun 30, 2021
5ed3965
Clang-tidy issues addressed
elandini84 Jul 1, 2021
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18 changes: 18 additions & 0 deletions src/devices/frameTransformClient/CMakeLists.txt
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Expand Up @@ -4,6 +4,22 @@
# This software may be modified and distributed under the terms of the
# BSD-3-Clause license. See the accompanying LICENSE file for details.

include(CMakeRC)

cmrc_add_resource_library(frameTransformRC
NAMESPACE frameTransformRC
WHENCE robotinterface_xml
PREFIX config_xml
robotinterface_xml/ftc_full_ros.xml
robotinterface_xml/ftc_pub_ros.xml
robotinterface_xml/ftc_ros.xml
robotinterface_xml/ftc_sub_ros.xml
robotinterface_xml/ftc_pub_yarp_only.xml
robotinterface_xml/ftc_sub_yarp_only.xml
robotinterface_xml/ftc_yarp_only.xml
robotinterface_xml/ftc_yarp_only_single_client.xml
robotinterface_xml/ftc_local_only.xml)

yarp_prepare_plugin(frameTransformClient
CATEGORY device
TYPE FrameTransformClient
Expand All @@ -25,6 +41,8 @@ if(NOT SKIP_frameTransformClient)
YARP::YARP_dev
YARP::YARP_math
YARP::YARP_robotinterface)
target_sources(yarp_frameTransformClient PRIVATE $<TARGET_OBJECTS:frameTransformRC>)
target_include_directories(yarp_frameTransformClient PRIVATE $<TARGET_PROPERTY:frameTransformRC,INTERFACE_INCLUDE_DIRECTORIES>)
list(APPEND YARP_${YARP_PLUGIN_MASTER}_PRIVATE_DEPS YARP_os
YARP_sig
YARP_dev
Expand Down
14 changes: 12 additions & 2 deletions src/devices/frameTransformClient/frameTransformClient.cpp
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Expand Up @@ -23,6 +23,9 @@
#include <yarp/math/Math.h>
#include <mutex>

#include <cmrc/cmrc.hpp>
CMRC_DECLARE(frameTransformRC);

/*! \file FrameTransformClient.cpp */

//example: yarpdev --device frameTransformClient --local /transformClient --remote /transformServer
Expand Down Expand Up @@ -232,15 +235,22 @@ bool FrameTransformClient::open(yarp::os::Searchable &config)
cfg.fromString(config.toString());

string configuration_to_open;
if(cfg.check("filexml_option")) { configuration_to_open=cfg.find("filexml_option").toString();}
string innerFilePath="config_xml/ftc_local_only.xml";
auto fs = cmrc::frameTransformRC::get_filesystem();
if(cfg.check("filexml_option")) { innerFilePath="config_xml/"+cfg.find("filexml_option").toString();}
cfg.unput("filexml_option");
auto xmlFile = fs.open(innerFilePath);
for(const auto& lemma : xmlFile)
{
configuration_to_open += lemma;
}

string m_local_rpcUser = "/ftClient/rpc";
if (cfg.check("local_rpc")) { m_local_rpcUser=cfg.find("local_rpc").toString();}
cfg.unput("local_rpc");

yarp::robotinterface::experimental::XMLReader reader;
yarp::robotinterface::experimental::XMLReaderResult result = reader.getRobotFromFile(configuration_to_open, cfg);
yarp::robotinterface::experimental::XMLReaderResult result = reader.getRobotFromString(configuration_to_open, cfg);
yCAssert(FRAMETRANSFORMCLIENT, result.parsingIsSuccessful);

m_robot = std::move(result.robot); // FIXME std::move non serve
Expand Down
69 changes: 69 additions & 0 deletions src/devices/frameTransformClient/robotinterface_xml/ftc_full_ros.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="frameTransformClient" build="2" portprefix="frameTransformClient" xmlns:xi="http://www.w3.org/2001/XInclude">
<devices>
<!-- **************** YARP NWC **************** -->
<device name="ftSet_nwc_yarp" type="frameTransformSet_nwc_yarp">
<param extern-name="ftSet_client_port" name="rpc_port_client"> /frameTransformSet/clientRPC </param>
<param extern-name="ftSet_server_port" name="rpc_port_server"> /frameTransformSet/serverRPC </param>
</device>
<device name="ftGet_nwc_yarp" type="frameTransformGet_nwc_yarp">
<param extern-name="ftGet_client_port" name="rpc_port_client"> /frameTransformGet/clientRPC </param>
<param extern-name="ftGet_server_port" name="rpc_port_server"> /frameTransformGet/serverRPC </param>
</device>
<!-- **************** ROS NWC **************** -->
<device name="ftSet_nwc_ros" type="frameTransformSet_nwc_ros">
<group name="GENERAL">
<param extern-name="ftSet_period" name="period"> 0.01 </param>
<param extern-name="ftSet_refInt" name="refresh_interval"> 0.1 </param>
<param extern-name="ftSet_asyncPub" name="asynch_pub"> 1 </param>
</group>
<group name="ROS">
<param extern-name="ftSet_ftTopic" name="ft_topic"> /tf </param>
<param extern-name="ftSet_ftTopicStatic" name="ft_topic_static"> /tf_static </param>
<param extern-name="ftSet_ftNode" name="ft_node"> /tfNodeSet </param>
</group>
</device>
<device name="ftGet_nwc_ros" type="frameTransformGet_nwc_ros">
<group name="GENERAL">
<param extern-name="ftGet_period" name="period"> 0.01 </param>
<param extern-name="ftGet_refInt" name="refresh_interval"> 0.1 </param>
</group>
<group name="ROS">
<param extern-name="ftGet_ftTopic" name="ft_topic"> /tf </param>
<param extern-name="ftGet_ftTopicStatic" name="ft_topic_static"> /tf_static </param>
<param extern-name="ftGet_ftNode" name="ft_node"> /tfNodeGet </param>
</group>
</device>
<!-- **************** STORAGE **************** -->
<device name="ftc_storage" type="frameTransformStorage">
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="subdevicegetmpx"> ftc_mpxGet </elem>
</paramlist>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>
<!-- **************** MULTIPLEXER **************** -->
<device name="ftc_mpxSet" type="frameTransformSetMultiplexer">
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="subdevicestorage"> ftc_storage </elem>
<elem name="subdevicesetyarp"> ftSet_nwc_yarp </elem>
<elem name="subdevicesetros"> ftSet_nwc_ros </elem>
</paramlist>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>
<device name="ftc_mpxGet" type="frameTransformGetMultiplexer">
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="subdevicegetyarp"> ftGet_nwc_yarp </elem>
<elem name="subdevicegetros"> ftGet_nwc_ros </elem>
</paramlist>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>
</devices>
</robot>
9 changes: 9 additions & 0 deletions src/devices/frameTransformClient/robotinterface_xml/ftc_local_only.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="ftc_local_only" build="2" portprefix="test" xmlns:xi="http://www.w3.org/2001/XInclude">
<devices>
<device name="ftc_storage" type="frameTransformStorage">
</device>
</devices>
</robot>
23 changes: 23 additions & 0 deletions src/devices/frameTransformClient/robotinterface_xml/ftc_pub_ros.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="frameTransformClient" build="2" portprefix="frameTransformClient" xmlns:xi="http://www.w3.org/2001/XInclude">
<devices>
<!-- **************** ROS NWC **************** -->
<device name="ftSet_nwc_ros" type="frameTransformSet_nwc_ros">
<group name="GENERAL">
<param extern-name="ftSet_period" name="period"> 0.01 </param>
<param extern-name="ftSet_refInt" name="refresh_interval"> 0.1 </param>
<param extern-name="ftSet_asyncPub" name="asynch_pub"> 1 </param>
</group>
<group name="ROS">
<param extern-name="ftSet_ftTopic" name="ft_topic"> /tf </param>
<param extern-name="ftSet_ftTopicStatic" name="ft_topic_static"> /tf_static </param>
<param extern-name="ftSet_ftNode" name="ft_node"> /tfNodeSet </param>
</group>
</device>
<!-- **************** STORAGE **************** -->
<device name="ftc_storage" type="frameTransformStorage">
</device>
</devices>
</robot>
15 changes: 15 additions & 0 deletions src/devices/frameTransformClient/robotinterface_xml/ftc_pub_yarp_only.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="frameTransformClient" build="2" portprefix="frameTransformClient" xmlns:xi="http://www.w3.org/2001/XInclude">
<devices>
<!-- **************** YARP NWC **************** -->
<device name="ftSet_nwc_yarp" type="frameTransformSet_nwc_yarp">
<param extern-name="ftSet_client_port" name="rpc_port_client"> /frameTransformSet/clientRPC </param>
<param extern-name="ftSet_server_port" name="rpc_port_server"> /frameTransformSet/serverRPC </param>
</device>
<!-- **************** STORAGE **************** -->
<device name="ftc_storage" type="frameTransformStorage">
</device>
</devices>
</robot>
50 changes: 50 additions & 0 deletions src/devices/frameTransformClient/robotinterface_xml/ftc_ros.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="frameTransformClient" build="2" portprefix="frameTransformClient" xmlns:xi="http://www.w3.org/2001/XInclude">
<devices>
<!-- **************** ROS NWC **************** -->
<device name="ftSet_nwc_ros" type="frameTransformSet_nwc_ros">
<group name="GENERAL">
<param extern-name="ftSet_period" name="period"> 0.01 </param>
<param extern-name="ftSet_refInt" name="refresh_interval"> 0.1 </param>
<param extern-name="ftSet_asyncPub" name="asynch_pub"> 1 </param>
</group>
<group name="ROS">
<param extern-name="ftSet_ftTopic" name="ft_topic"> /tf </param>
<param extern-name="ftSet_ftTopicStatic" name="ft_topic_static"> /tf_static </param>
<param extern-name="ftSet_ftNode" name="ft_node"> /tfNodeSet </param>
</group>
</device>
<device name="ftGet_nwc_ros" type="frameTransformGet_nwc_ros">
<group name="GENERAL">
<param extern-name="ftGet_period" name="period"> 0.01 </param>
<param extern-name="ftGet_refInt" name="refresh_interval"> 0.1 </param>
</group>
<group name="ROS">
<param extern-name="ftGet_ftTopic" name="ft_topic"> /tf </param>
<param extern-name="ftGet_ftTopicStatic" name="ft_topic_static"> /tf_static </param>
<param extern-name="ftGet_ftNode" name="ft_node"> /tfNodeGet </param>
</group>
</device>
<!-- **************** STORAGE **************** -->
<device name="ftc_storage" type="frameTransformStorage">
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="subdevicegetros"> ftGet_nwc_ros </elem>
</paramlist>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>
<!-- **************** MULTIPLEXER **************** -->
<device name="ftc_mpxSet" type="frameTransformSetMultiplexer">
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="subdevicestorage"> ftc_storage </elem>
<elem name="subdevicesetros"> ftSet_nwc_ros </elem>
</paramlist>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>
</devices>
</robot>
28 changes: 28 additions & 0 deletions src/devices/frameTransformClient/robotinterface_xml/ftc_sub_ros.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="frameTransformClient" build="2" portprefix="frameTransformClient" xmlns:xi="http://www.w3.org/2001/XInclude">
<devices>
<!-- **************** ROS NWC **************** -->
<device name="ftGet_nwc_ros" type="frameTransformGet_nwc_ros">
<group name="GENERAL">
<param extern-name="ftGet_period" name="period"> 0.01 </param>
<param extern-name="ftGet_refInt" name="refresh_interval"> 0.1 </param>
</group>
<group name="ROS">
<param extern-name="ftGet_ftTopic" name="ft_topic"> /tf </param>
<param extern-name="ftGet_ftTopicStatic" name="ft_topic_static"> /tf_static </param>
<param extern-name="ftGet_ftNode" name="ft_node"> /tfNodeGet </param>
</group>
</device>
<!-- **************** STORAGE **************** -->
<device name="ftc_storage" type="frameTransformStorage">
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="subdevicegetros"> ftGet_nwc_ros </elem>
</paramlist>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>
</devices>
</robot>
21 changes: 21 additions & 0 deletions src/devices/frameTransformClient/robotinterface_xml/ftc_sub_yarp_only.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="frameTransformClient" build="2" portprefix="frameTransformClient" xmlns:xi="http://www.w3.org/2001/XInclude">
<devices>
<!-- **************** YARP NWC **************** -->
<device name="ftGet_nwc_yarp" type="frameTransformGet_nwc_yarp">
<param extern-name="ftGet_client_port" name="rpc_port_client"> /frameTransformGet/clientRPC </param>
<param extern-name="ftGet_server_port" name="rpc_port_server"> /frameTransformGet/serverRPC </param>
</device>
<!-- **************** STORAGE **************** -->
<device name="ftc_storage" type="frameTransformStorage">
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="subdevicegetyarp"> ftGet_nwc_yarp </elem>
</paramlist>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>
</devices>
</robot>
35 changes: 35 additions & 0 deletions src/devices/frameTransformClient/robotinterface_xml/ftc_yarp_only.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="frameTransformClient" build="2" portprefix="frameTransformClient" xmlns:xi="http://www.w3.org/2001/XInclude">
<devices>
<!-- **************** YARP NWC **************** -->
<device name="ftSet_nwc_yarp" type="frameTransformSet_nwc_yarp">
<param extern-name="ftSet_client_port" name="rpc_port_client"> /frameTransformSet/clientRPC </param>
<param extern-name="ftSet_server_port" name="rpc_port_server"> /frameTransformSet/serverRPC </param>
</device>
<device name="ftGet_nwc_yarp" type="frameTransformGet_nwc_yarp">
<param extern-name="ftGet_client_port" name="rpc_port_client"> /frameTransformGet/clientRPC </param>
<param extern-name="ftGet_server_port" name="rpc_port_server"> /frameTransformGet/serverRPC </param>
</device>
<!-- **************** STORAGE **************** -->
<device name="ftc_storage" type="frameTransformStorage">
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="subdevicegetyarp"> ftGet_nwc_yarp </elem>
</paramlist>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>
<!-- **************** MULTIPLEXER **************** -->
<device name="ftc_mpxSet" type="frameTransformSetMultiplexer">
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="subdevicestorage"> ftc_storage </elem>
<elem name="subdevicesetyarp"> ftSet_nwc_yarp </elem>
</paramlist>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>
</devices>
</robot>
22 changes: 22 additions & 0 deletions src/devices/frameTransformClient/robotinterface_xml/ftc_yarp_only_single_client.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="frameTransformClient" build="2" portprefix="frameTransformClient" xmlns:xi="http://www.w3.org/2001/XInclude">
<devices>
<!-- **************** STORAGE **************** -->
<device name="ftc_storage" type="frameTransformStorage">
</device>
<!-- **************** YARP NWS **************** -->
<device name="ftSet_nws_yarp" type="frameTransformSet_nws_yarp">
<group name="GENERAL">
<param extern-name="ftSet_rpc_port" name="rpc_port"> /frameTransformSet/rpc </param>
</group>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="subdevicestorage"> ftc_storage </elem>
</paramlist>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>
</devices>
</robot>