robotology · randaz81 · Feb 27, 2024 · Feb 9, 2024 · Feb 10, 2024 · Feb 11, 2024
diff --git a/cmake/YarpDeviceParamsParserGenerator.cmake b/cmake/YarpDeviceParamsParserGenerator.cmake
@@ -2,8 +2,8 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 # Here is an example of how the YarpDeviceParamParserGenerator should be invoked:
-# YarpDeviceParamParserGenerator --class_name className --input_filename_md  filename.md    [--input_extra_comments comments.md] [--generate_md] [--generate_ini] [--generate_yarpdev] [--generate_yarprobotinterface] [--generate_all] [--output_dir output_path]
-# YarpDeviceParamParserGenerator --class_name className --input_filename_ini filename.ini   [--input_extra_comments comments.md] [--generate_md] [--generate_ini] [--generate_yarpdev] [--generate_yarprobotinterface] [--generate_all] [--output_dir output_path]
+# YarpDeviceParamParserGenerator --class_name className --module_name deviceName --input_filename_md  filename.md    [--input_extra_comments comments.md] [--generate_md] [--generate_ini] [--generate_yarpdev] [--generate_yarprobotinterface] [--generate_all] [--output_dir output_path]
+# YarpDeviceParamParserGenerator --class_name className --module_name deviceName --input_filename_ini filename.ini   [--input_extra_comments comments.md] [--generate_md] [--generate_ini] [--generate_yarpdev] [--generate_yarprobotinterface] [--generate_all] [--output_dir output_path]
 
 function(generateDeviceParamsParser_commandline COMMANDLINE)
     option(ALLOW_DEVICE_PARAM_PARSER_GENERATION "Allow YARP to (re)build device param parsers" OFF)
@@ -37,33 +37,33 @@ function(generateDeviceParamsParser_commandline COMMANDLINE)
 endfunction()
 
 
-function(generateDeviceParamsParser_fromMdFile CLASSNAME FILEMD EXTRACOMMENTS)
+function(generateDeviceParamsParser_fromMdFile CLASSNAME DEVICENAME FILEMD EXTRACOMMENTS)
     if (EXTRACOMMENTS)
-        set (COMMAND "--class_name ${CLASSNAME} --input_filename_md ${FILEMD} --input_extra_comments ${EXTRACOMMENTS}")
+        set (COMMAND "--class_name ${CLASSNAME} --module_name ${DEVICENAME} --input_filename_md ${FILEMD} --input_extra_comments ${EXTRACOMMENTS}")
     else()
-        set (COMMAND "--class_name ${CLASSNAME} --input_filename_md ${FILEMD}")
+        set (COMMAND "--class_name ${CLASSNAME} --module_name ${DEVICENAME} --input_filename_md ${FILEMD}")
     endif()
     generateDeviceParamsParser_commandline (${COMMAND})
 endfunction()
 
-function(generateDeviceParamsParser_fromIniFile CLASSNAME FILEINI EXTRACOMMENTS)
+function(generateDeviceParamsParser_fromIniFile CLASSNAME DEVICENAME FILEINI EXTRACOMMENTS)
     if (EXTRACOMMENTS)
-        set (COMMAND "--class_name ${CLASSNAME} --input_filename_ini ${FILEINI} --input_extra_comments ${EXTRACOMMENTS}")
+        set (COMMAND "--class_name ${CLASSNAME} --module_name ${DEVICENAME} --input_filename_ini ${FILEINI} --input_extra_comments ${EXTRACOMMENTS}")
     else()
-        set (COMMAND "--class_name ${CLASSNAME} --input_filename_ini ${FILEINI}")
+        set (COMMAND "--class_name ${CLASSNAME} --module_name ${DEVICENAME} --input_filename_ini ${FILEINI}")
     endif()
     generateDeviceParamsParser_commandline (${COMMAND})
 endfunction()
 
-function(generateDeviceParamsParser CLASSNAME)
+function(generateDeviceParamsParser CLASSNAME DEVICENAME)
     set (INPUTFILENAME_INI "${CMAKE_CURRENT_SOURCE_DIR}/${CLASSNAME}_params.ini")
     set (INPUTFILENAME_MD "${CMAKE_CURRENT_SOURCE_DIR}/${CLASSNAME}_params.md")
     set (INPUTFILENAME_EXTRA "${CMAKE_CURRENT_SOURCE_DIR}/${CLASSNAME}_params_extracomments.md")
 
     if (EXISTS ${INPUTFILENAME_INI})
-        set (COMMAND "--class_name ${CLASSNAME} --input_filename_ini ${INPUTFILENAME_INI}")
+        set (COMMAND "--class_name ${CLASSNAME} --module_name ${DEVICENAME} --input_filename_ini ${INPUTFILENAME_INI}")
     elseif (EXISTS ${INPUTFILENAME_MD})
-        set (COMMAND "--class_name ${CLASSNAME} --input_filename_md  ${INPUTFILENAME_MD}")
+        set (COMMAND "--class_name ${CLASSNAME} --module_name ${DEVICENAME} --input_filename_md  ${INPUTFILENAME_MD}")
     else()
         message(FATAL_ERROR "Cannot find input file ${INPUTFILENAME_INI} or ${INPUTFILENAME_MD}")
     endif()

diff --git a/cmake/YarpPlugin.cmake b/cmake/YarpPlugin.cmake
@@ -59,7 +59,7 @@ include(CMakeParseArguments)
 include(CMakeDependentOption)
 include(${CMAKE_CURRENT_LIST_DIR}/YarpInstallationHelpers.cmake)
 include(${CMAKE_CURRENT_LIST_DIR}/YarpPrintFeature.cmake)
-
+include(${CMAKE_CURRENT_LIST_DIR}/YarpDeviceParamsParserGenerator.cmake)
 
 ################################################################################
 #.rst:
@@ -169,6 +169,7 @@ endmacro()
 #                       [DOC "<plugin documentation>"]
 #                       [ADVANCED]
 #                       [INTERNAL]
+#                       [GENERATE_PARSER]
 #                       [DEPENDS <condition>]
 #                       [TEMPLATE <file_name|path_to_a_file>]
 #                       [TEMPLATE_DIR <dir>]
@@ -218,6 +219,8 @@ endmacro()
 # The ``DOC`` argument can be used to set a description for this option.
 # If the``ADVANCED`` option is enabled, this option is marked as advanced in
 # CMake.
+# If the ``GENERATE_PARSER`` option is enabled, a parameter parser will be generated
+# for the plugin. See documentation of: generateDeviceParamsParser()
 # If the ``INTERNAL`` option is enabled, this option is marked as internal in
 # CMake, and therefore not displayed in CMake gui. This also implies
 # `DEFAULT=ON` unless explicitly specified.
@@ -250,6 +253,7 @@ macro(YARP_PREPARE_PLUGIN _plugin_name)
     ADVANCED
     INTERNAL
     QUIET
+    GENERATE_PARSER
   )
   set(_oneValueArgs
     TYPE
@@ -567,6 +571,12 @@ YARP_DEFINE_SHARED_SUBCLASS(\@YARPPLUG_NAME\@, \@YARPPLUG_TYPE\@, \@YARPPLUG_PAR
     add_feature_info(${_plugin_fullname} ${_YPP_OPTION} "${_feature_doc}.")
   endif()
 
+  if (NOT SKIP_${_plugin_name})
+    if(_YPP_GENERATE_PARSER)
+        message ("Invoking generateDeviceParamsParser (${_YPP_TYPE} ${_plugin_name})")
+        generateDeviceParamsParser(${_YPP_TYPE} ${_plugin_name})
+    endif()
+  endif()
 endmacro()
 
 

diff --git a/doc/module_executables/cmd_yarpDeviceParamParserGenerator.dox b/doc/module_executables/cmd_yarpDeviceParamParserGenerator.dox
@@ -98,9 +98,67 @@ depending on the meaning of specific parameters (e.g. when a real hardware is in
 
 \section yarpDeviceParamParserGenerator_cmake CMake Usage
 yarpDeviceParamParserGenerator usage can be integrated in the CMakeLists.txt of a device.
-The usage is very simple: user has to add the generateDeviceParamsParser() command, whose input parameter must match the name of the class
-of the device, in this case ChatBot_nws_yarp. yarpDeviceParamParserGenerator will generate the two files ChatBot_nws_yarp_ParamsParser.cpp,
+
+\subsection yarpDeviceParamParserGenerator_cmake_basic Basic cmake
+
+The usage is very simple: user has to add the `GENERATE_PARSER` option to the `yarp_prepare_plugin` macro. yarpDeviceParamParserGenerator will generate the two files ChatBot_nws_yarp_ParamsParser.cpp,
 ChatBot_nws_yarp_ParamsParser.h which must be added to target_sources.
+The name of the generated files depends on the `TYPE` keyword, to which the `_ParamsParser` suffix is added.
+
+\code{.cmake}
+include(YarpDeviceParamsParserGenerator)
+
+yarp_prepare_plugin(chatBot_nws_yarp
+  CATEGORY device
+  TYPE ChatBot_nws_yarp
+  INCLUDE ChatBot_nws_yarp.h
+  DEFAULT ON
+  GENERATE_PARSER
+)
+
+if(NOT SKIP_chatBot_nws_yarp)
+  yarp_add_plugin(yarp_chatBot_nws_yarp)
+
+  target_sources(yarp_chatBot_nws_yarp
+    PRIVATE
+      ChatBot_nws_yarp.cpp
+      ChatBot_nws_yarp.h
+      ChatBot_nws_yarp_ParamsParser.cpp
+      ChatBot_nws_yarp_ParamsParser.h
+  )
+
+  target_link_libraries(yarp_chatBot_nws_yarp
+    PRIVATE
+      YARP::YARP_os
+      YARP::YARP_sig
+      YARP::YARP_dev
+  )
+
+  list(APPEND YARP_${YARP_PLUGIN_MASTER}_PRIVATE_DEPS
+    YARP_os
+    YARP_sig
+    YARP_dev
+  )
+
+  yarp_install(
+    TARGETS yarp_chatBot_nws_yarp
+    EXPORT YARP_${YARP_PLUGIN_MASTER}
+    COMPONENT ${YARP_PLUGIN_MASTER}
+    LIBRARY DESTINATION ${YARP_DYNAMIC_PLUGINS_INSTALL_DIR}
+    ARCHIVE DESTINATION ${YARP_STATIC_PLUGINS_INSTALL_DIR}
+    YARP_INI DESTINATION ${YARP_PLUGIN_MANIFESTS_INSTALL_DIR}
+  )
+
+  set(YARP_${YARP_PLUGIN_MASTER}_PRIVATE_DEPS ${YARP_${YARP_PLUGIN_MASTER}_PRIVATE_DEPS} PARENT_SCOPE)
+endif()
+\endcode
+
+\subsection yarpDeviceParamParserGenerator_cmake_advanced Advanced cmake
+
+It is also possible to provide a customized control command by using the `generateDeviceParamsParser()` function (see documentation
+in file YarpDeviceParamsParserGenerator.cmake). The minimum number of accepted parameters is two:
+the name of the device class and the name of the plugin. It is not mandatory, but in Yarp the convention typically followed is to have
+the class name upper camel case and the plugin name lower camel case.
 
 \code{.cmake}
 include(YarpDeviceParamsParserGenerator)
@@ -114,7 +172,7 @@ yarp_prepare_plugin(chatBot_nws_yarp
 
 if(NOT SKIP_chatBot_nws_yarp)
   yarp_add_plugin(yarp_chatBot_nws_yarp)
-  generateDeviceParamsParser(ChatBot_nws_yarp)
+  generateDeviceParamsParser(ChatBot_nws_yarp chatBot_nws_yarp)
 
   target_sources(yarp_chatBot_nws_yarp
     PRIVATE
@@ -160,15 +218,20 @@ file YarpDeviceParamsParserGenerator.cmake
 - nested groups can be specified using the :: operator. For example: myGroup::mySubGroup1::mySubGroup2::myVariable
 - only the following values are supported for the Type field in the input files:
 \code{.unparsed}
-| Parameter type | c++ type       | yarp::os::Value call |
-|:--------------:|:--------------:|:--------------------:|
-| "bool"         | bool           | .asBool()            |
-| "string"       | std::string    | .asString()          |
-| "int"          | int            | .asInt64()           |
-| "size_t"       | size_t         | .asInt64()           |
-| "float"        | float          | .asFloat32()         |
-| "double"       | double         | .asFloat64()         |
+| Parameter type | c++ type             | yarp::os::Value call | .md file example |
+|:--------------:|:--------------------:|:--------------------:|:----------------:|
+| "bool"         | bool                 | .asBool()            | true             |
+| "string"       | std::string          | .asString()          | "hello"          |
+| "int"          | int                  | .asInt64()           | 10               |
+| "size_t"       | size_t               | .asInt64()           | 10               |
+| "float"        | float                | .asFloat32()         | 10.0             |
+| "double"       | double               | .asFloat64()         | 10.0             |
+| "char"         | char                 | .asInt8()            | 'c'              |
+| vector<int>    | std::vector<int>     | -                    | 10 10            |
+| vector<double> | std::vector<double>  | -                    | 10.0 10.0        |
+| vector<string> | std::vector<string>  | -                    | "hello" "hello"  |
 \endcode
+- Be careful with the vector type: invoking the device from the command line requires additional escape quotes (e.g. "10 10", "\"hello\" \"hello\"")
 - The generated .cpp file also include a function ::getDocumentationOfDeviceParams() which will output a documentation string which
 will be displayed on user request (for example invoking the --help option)
 

@@ -8,7 +8,7 @@
 // This is an automatically generated file. Please do not edit it.
 // It will be re-generated if the cmake flag ALLOW_DEVICE_PARAM_PARSER_GERNERATION is ON.
 
-// Generated on: Fri Feb  9 16:59:13 2024
+// Generated on: Mon Feb 19 16:28:03 2024
 
 
 #include "AudioToFileDevice_ParamsParser.h"
@@ -20,6 +20,11 @@ namespace {
 }
 
 
+AudioToFileDevice_ParamsParser::AudioToFileDevice_ParamsParser()
+{
+}
+
+
 std::vector<std::string> AudioToFileDevice_ParamsParser::getListOfParams() const
 {
     std::vector<std::string> params;
@@ -123,8 +128,8 @@ std::string      AudioToFileDevice_ParamsParser::getDocumentationOfDeviceParams(
     doc = doc + std::string("'add_marker': If set, it will add a marker at the beginning and at the ending of each received waveform.\n");
     doc = doc + std::string("\n");
     doc = doc + std::string("Here are some examples of invocation command with yarpdev, with all params:\n");
-    doc = doc + " yarpdev --device AudioToFileDevice --file_name audio_out.wav --save_mode overwrite_file --add_marker false\n";
+    doc = doc + " yarpdev --device audioToFileDevice --file_name audio_out.wav --save_mode overwrite_file --add_marker false\n";
     doc = doc + std::string("Using only mandatory params:\n");
-    doc = doc + " yarpdev --device AudioToFileDevice\n";
+    doc = doc + " yarpdev --device audioToFileDevice\n";
     doc = doc + std::string("=============================================\n\n");    return doc;
 }
@@ -8,7 +8,7 @@
 // This is an automatically generated file. Please do not edit it.
 // It will be re-generated if the cmake flag ALLOW_DEVICE_PARAM_PARSER_GERNERATION is ON.
 
-// Generated on: Sun Feb 11 01:26:28 2024
+// Generated on: Mon Feb 19 16:28:03 2024
 
 
 #ifndef AUDIOTOFILEDEVICE_PARAMSPARSER_H
@@ -31,36 +31,43 @@
 *
 * The device can be launched by yarpdev using one of the following examples:
 * \code{.unparsed}
-* yarpdev --device AudioToFileDevice --file_name audio_out.wav --save_mode overwrite_file --add_marker false
+* yarpdev --device audioToFileDevice --file_name audio_out.wav --save_mode overwrite_file --add_marker false
 * \endcode
 *
 * \code{.unparsed}
-* yarpdev --device AudioToFileDevice
+* yarpdev --device audioToFileDevice
 * \endcode
 *
 */
 
 class AudioToFileDevice_ParamsParser : public yarp::dev::IDeviceDriverParams
 {
 public:
-    AudioToFileDevice_ParamsParser() = default;
+    AudioToFileDevice_ParamsParser();
     ~AudioToFileDevice_ParamsParser() override = default;
 
 public:
-    const std::string m_device_type = {"AudioToFileDevice"};
+    const std::string m_device_classname = {"AudioToFileDevice"};
+    const std::string m_device_name = {"audioToFileDevice"};
     bool m_parser_is_strict = false;
     struct parser_version_type
     {
          int major = 1;
          int minor = 0;
     };
     const parser_version_type m_parser_version = {};
+
+    const std::string m_file_name_defaultValue = {"audio_out.wav"};
+    const std::string m_save_mode_defaultValue = {"overwrite_file"};
+    const std::string m_add_marker_defaultValue = {"false"};
+
     std::string m_file_name = {"audio_out.wav"};
     std::string m_save_mode = {"overwrite_file"};
     bool m_add_marker = {false};
 
     bool          parseParams(const yarp::os::Searchable & config) override;
-    std::string   getDeviceType() const override { return m_device_type; }
+    std::string   getDeviceClassName() const override { return m_device_classname; }
+    std::string   getDeviceName() const override { return m_device_name; }
     std::string   getDocumentationOfDeviceParams() const override;
     std::vector<std::string> getListOfParams() const override;
 };

diff --git a/src/devices/audioToFileDevice/CMakeLists.txt b/src/devices/audioToFileDevice/CMakeLists.txt
@@ -5,14 +5,14 @@ yarp_prepare_plugin(audioToFileDevice
   CATEGORY device
   TYPE AudioToFileDevice
   INCLUDE AudioToFileDevice.h
+  GENERATE_PARSER
   EXTRA_CONFIG
     WRAPPER=AudioPlayerWrapper
   DEFAULT ON
 )
 
 if(NOT SKIP_audioToFileDevice)
   yarp_add_plugin(yarp_audioToFileDevice)
-  generateDeviceParamsParser(AudioToFileDevice)
 
   target_sources(yarp_audioToFileDevice
     PRIVATE

@@ -22,40 +22,31 @@ const char *fmcA_file_content   = "device fakeMotionControl\n"
                                   "[GENERAL]\n"
                                   "Joints 2\n"
                                   "\n"
-                                  "AxisName \"axisA1\" \"axisA2\" \n";
+                                  "AxisName (\"axisA1\" \"axisA2\") \n";
 
 const char *fmcB_file_content   = "device fakeMotionControl\n"
                                   "[GENERAL]\n"
                                   "Joints 3\n"
                                   "\n"
-                                  "AxisName \"axisB1\" \"axisB2\" \"axisB3\"\n";
+                                  "AxisName (\"axisB1\" \"axisB2\" \"axisB3\") \n";
 
 const char *fmcC_file_content   =  "device fakeMotionControl\n"
                                   "[GENERAL]\n"
                                   "Joints 4\n"
                                   "\n"
-                                  "AxisName \"axisC1\" \"axisC2\" \"axisC3\" \"axisC4\"  \n";
+                                  "AxisName (\"axisC1\" \"axisC2\" \"axisC3\" \"axisC4\")  \n";
 
 const char *wrapperA_file_content   = "device controlBoard_nws_yarp\n"
                                       "name /testRemapperRobot/a\n"
-                                      "period 0.01\n"
-                                      "networks (net_a)\n"
-                                      "joints 2\n"
-                                      "net_a 0 1 0 1\n";
+                                      "period 0.01\n";
 
 const char *wrapperB_file_content   = "device controlBoard_nws_yarp\n"
                                       "name /testRemapperRobot/b\n"
-                                      "period 0.01\n"
-                                      "networks (net_b)\n"
-                                      "joints 3\n"
-                                      "net_b 0 2 0 2\n";
+                                      "period 0.01\n";
 
 const char *wrapperC_file_content   = "device controlBoard_nws_yarp\n"
                                       "name /testRemapperRobot/c\n"
-                                      "period 0.01\n"
-                                      "networks (net_c)\n"
-                                      "joints 4\n"
-                                      "net_c 0 3 0 3\n";
+                                      "period 0.01\n";
 
 
 static void checkRemapper(yarp::dev::PolyDriver & ddRemapper, int rand, size_t nrOfRemappedAxes)
@@ -220,7 +211,7 @@ TEST_CASE("dev::ControlBoardRemapperTest", "[yarp::dev]")
             PolyDriverList pdList;
             pdList.push(fmcbs[i],wrapperNetworks[i].c_str());
 
-            CHECK(iwrap->attachAll(pdList)); // controlBoard_nws_yarp attached successfully to the device
+            REQUIRE(iwrap->attachAll(pdList)); // controlBoard_nws_yarp attached successfully to the device
         }
 
         // Create a list containing all the fake controlboards
@@ -252,7 +243,7 @@ TEST_CASE("dev::ControlBoardRemapperTest", "[yarp::dev]")
         REQUIRE(ddRemapperWN.view(imultwrapWN)); // interface for multiple wrapper with wrong names correctly opened
         REQUIRE(imultwrapWN);
 
-        CHECK_FALSE(imultwrapWN->attachAll(fmcList)); // attachAll for controlboardremapper with wrong names successful
+        REQUIRE_FALSE(imultwrapWN->attachAll(fmcList)); // attachAll for controlboardremapper with wrong names successful
 
         // Make sure that a controlboard in which attachAll is not successfull
         // closes correctly
@@ -278,7 +269,7 @@ TEST_CASE("dev::ControlBoardRemapperTest", "[yarp::dev]")
         REQUIRE(ddRemapper.view(imultwrap)); // interface for multiple wrapper correctly opened
         REQUIRE(imultwrap);
 
-        CHECK(imultwrap->attachAll(fmcList)); // attachAll for controlboardremapper successful
+        REQUIRE(imultwrap->attachAll(fmcList)); // attachAll for controlboardremapper successful
 
 
         // Test the controlboardremapper