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ISerialDevice interface refactor #3234

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4 changes: 4 additions & 0 deletions doc/release/master.md
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Expand Up @@ -31,6 +31,10 @@ Breaking Changes
now obtained through the streaming port instead of an RPC.
This new feature is implemented through a breaking change in the definition of data fields in `stateExt.thrift`

* `ISerialDevice` interface was refactored to use `yarp::dev::ReturnValue`. Some methods changed their signature
to improve interface usability.
Affected devices: `serialPort_nwc_yarp`, `serialPort_nws_yarp`, `fakeSerialPort`, `serialDeviceDriver`

### libYARP_sig

* Removed field `topIsLow` from `yarp::sig::Image`
106 changes: 56 additions & 50 deletions src/devices/fake/fakeSerialPort/FakeSerialPort.cpp
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Expand Up @@ -38,119 +38,125 @@ bool FakeSerialPort::close()
return true;
}

bool FakeSerialPort::setDTR(bool value)
ReturnValue FakeSerialPort::setDTR(bool value)
{
return true;
return ReturnValue_ok;
}

bool FakeSerialPort::send(const Bottle& msg)
ReturnValue FakeSerialPort::sendString(const std::string& msg)
{
if (msg.size() > 0)
{
int message_size = msg.get(0).asString().length();
size_t message_size = msg.size();

if (message_size > 0)
{
if (verbose)
{
yCDebug(FAKESERIALPORT, "Sending string: %s", msg.get(0).asString().c_str());
}
}
else
if (message_size > 0)
{
if (verbose)
{
if (verbose)
{
yCDebug(FAKESERIALPORT, "The input command bottle contains an empty string.");
}
return false;
yCDebug(FAKESERIALPORT, "Sending string: %s", msg.c_str());
}
}
else
{
if (verbose)
{
yCDebug(FAKESERIALPORT, "The input command bottle is empty. \n");
yCDebug(FAKESERIALPORT, "The string contains an empty string.");
}
return false;
return yarp::dev::ReturnValue::return_code::return_value_error_method_failed;
}

return true;
return ReturnValue_ok;
}

bool FakeSerialPort::send(const char *msg, size_t size)
ReturnValue FakeSerialPort::sendByte(unsigned char byt)
{
if (size > 0)
yCInfo(FAKESERIALPORT, "sent byte : %c \n", byt);
return ReturnValue_ok;
}

ReturnValue FakeSerialPort::sendBytes(const std::vector<unsigned char>& msg)
{
if (msg.size() > 0)
{
if (verbose)
{
yCDebug(FAKESERIALPORT, "Sending string: %s", msg);
}

// Write message in the serial device
size_t bytes_written = size;
size_t bytes_written = msg.size();

if (bytes_written == -1)
{
yCError(FAKESERIALPORT, "Unable to write to serial port");
return false;
return ReturnValue::return_code::return_value_error_method_failed;
}
}
else
{
if (verbose) {
yCDebug(FAKESERIALPORT, "The input message is empty. \n");
}
return false;
return ReturnValue::return_code::return_value_error_method_failed;
}

yCInfo (FAKESERIALPORT, "sent command: %s \n",msg);
return true;
return ReturnValue_ok;
}

int FakeSerialPort::receiveChar(char& c)
ReturnValue FakeSerialPort::receiveByte(unsigned char& c)
{
char chr='c';
char chr='R';

size_t bytes_read = 1;

if (bytes_read == -1)
{
yCError(FAKESERIALPORT, "Error in SerialDeviceDriver::receive()");
return 0;
return ReturnValue::return_code::return_value_error_method_failed;
}

if (bytes_read == 0)
{
return 0;
return ReturnValue::return_code::return_value_error_method_failed;
}

c=chr;
return 1;
return ReturnValue_ok;
}

int FakeSerialPort::flush()
ReturnValue FakeSerialPort::flush()
{
return 1;
size_t dummy_counter = 0;
return flush(dummy_counter);
}

int FakeSerialPort::receiveBytes(unsigned char* bytes, const int size)
ReturnValue FakeSerialPort::flush(size_t& flushed)
{
for (size_t i=0; i< size; i++)
bytes[i]='0'+i;
return size;
flushed = 3;
return ReturnValue_ok;
}

int FakeSerialPort::receiveLine(char* buffer, const int MaxLineLength)
ReturnValue FakeSerialPort::receiveBytes(std::vector<unsigned char>& line, const int MaxSize)
{
line.clear();
line.resize(1000);
for (size_t i = 0; i < MaxSize; i++)
{
line[i]= ('0' + i);
}
return ReturnValue_ok;
}

ReturnValue FakeSerialPort::receiveLine(std::vector<char>& line, const int MaxLineLength)
{
int i;
for (i = 0; i < MaxLineLength -1; ++i)
{
char recv_ch;
int n = receiveChar(recv_ch);
if (n <= 0)
unsigned char recv_ch;
auto ret = receiveByte(recv_ch);
if (!ret)
{
//this invalidates the whole line, because no line terminator \n was found
return 0;
return ReturnValue::return_code::return_value_error_method_failed;

//use this commented code here if you do NOT want to invalidate the line
//buffer[i] = '\0';
Expand All @@ -168,7 +174,7 @@ int FakeSerialPort::receiveLine(char* buffer, const int MaxLineLength)
return i;
}

bool FakeSerialPort::receive(Bottle& msg)
ReturnValue FakeSerialPort::receiveString(std::string& msg)
{
char message[10] = "123456789";

Expand All @@ -178,11 +184,11 @@ bool FakeSerialPort::receive(Bottle& msg)
if (bytes_read == -1)
{
yCError(FAKESERIALPORT, "Error in SerialDeviceDriver::receive()");
return false;
return ReturnValue::return_code::return_value_error_method_failed;
}

if (bytes_read == 0) { //nothing there
return true;
return ReturnValue_ok;
}

message[bytes_read] = 0;
Expand All @@ -193,8 +199,8 @@ bool FakeSerialPort::receive(Bottle& msg)
}


// Put message in the bottle
msg.addString(message);
// Return the message
msg=message;

return true;
return ReturnValue_ok;
}
18 changes: 10 additions & 8 deletions src/devices/fake/fakeSerialPort/FakeSerialPort.h
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Expand Up @@ -43,14 +43,16 @@ class FakeSerialPort :
bool open(yarp::os::Searchable& config) override;
bool close() override;

bool send(const Bottle& msg) override;
bool send(const char *msg, size_t size) override;
bool receive(Bottle& msg) override;
int receiveChar(char& chr) override;
int receiveBytes(unsigned char* bytes, const int size) override;
int receiveLine(char* line, const int MaxLineLength) override;
bool setDTR(bool value) override;
int flush() override;
yarp::dev::ReturnValue sendString(const std::string& msg) override;
yarp::dev::ReturnValue sendBytes(const std::vector<unsigned char>& line) override;
yarp::dev::ReturnValue sendByte(unsigned char byte) override;
yarp::dev::ReturnValue receiveString(std::string& msg) override;
yarp::dev::ReturnValue receiveBytes(std::vector<unsigned char>& line, const int MaxSize) override;
yarp::dev::ReturnValue receiveByte(unsigned char& chr) override;
yarp::dev::ReturnValue receiveLine(std::vector<char>& line, const int MaxLineLength) override;
yarp::dev::ReturnValue setDTR(bool enable) override;
yarp::dev::ReturnValue flush() override;
yarp::dev::ReturnValue flush(size_t& flushed_chars) override;
};

#endif
12 changes: 7 additions & 5 deletions src/devices/fake/fakeSerialPort/tests/fakeSerialPort_test.cpp
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Expand Up @@ -7,7 +7,7 @@
#include <yarp/os/Network.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/WrapperSingle.h>
//#include <yarp/dev/tests/ILocalization2DTest.h>
#include <yarp/dev/tests/ISerialTest.h>

#include <catch2/catch_amalgamated.hpp>
#include <harness.h>
Expand All @@ -23,10 +23,10 @@ TEST_CASE("dev::fakeSerialPort", "[yarp::dev]")

SECTION("Checking fakeSerialPort device")
{
yarp::dev::ISerialDevice* iser=nullptr;
yarp::dev::ISerialDevice* iser = nullptr;
PolyDriver ddfake;

//open the device
// open the device
{

Property pdev_cfg;
Expand All @@ -38,8 +38,10 @@ TEST_CASE("dev::fakeSerialPort", "[yarp::dev]")
REQUIRE(iser);
}

iser->flush();
//yarp::dev::tests::exec_iLocalization2D_test_1(iser);
// tests
{
yarp::dev::tests::exec_iSerial_test_1(iser);
}

//"Close all polydrivers and check"
{
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