[Libs] Makes YML config file description more readable

src/drivers/YoutubeServer/youtubeserver.yml

@@ -1,6 +1,6 @@
 youtubeServer:
   ImageSrv:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS (Not supported)
+    Server: Ice #Deactivate, Ice , ROS (Not supported)
     Proxy: "default -h 0.0.0.0 -p 9999"
     URL: "https://www.youtube.com/watch?v=zw47_q9wbBE"
     LiveBroadcast: False #True for youtube live events
@@ -10,4 +10,3 @@ youtubeServer:
     Name: youtubeServer_py
 
   NodeName: youtubeServerCfg
-

src/examples/basic_component/basic_component.yml

@@ -1,14 +1,14 @@
 basic_component:
   Motors:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "Motors:default -h localhost -p 9001"
     Topic: "/turtlebotROS/mobile_base/commands/velocity"
     Name: basic_componentCamera
     maxW: 0.7
     maxV: 4
-  
+
   Camera:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "CameraL:default -h localhost -p 9001"
     Format: RGB8
     Topic: "/TurtlebotROS/cameraL/image_raw"
@@ -17,4 +17,3 @@ basic_component:
   NodeName: basic_component
   Vmax: 5
   Wmax: 0.5
-

src/examples/basic_component_py/basic_component_py.yml

@@ -1,14 +1,14 @@
 basic_component:
   Motors:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "Motors:default -h localhost -p 9001"
     Topic: "/turtlebotROS/mobile_base/commands/velocity"
     Name: basic_component_pyCamera
     maxW: 0.7
     maxV: 4
-  
+
   Camera:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "CameraL:default -h localhost -p 9001"
     Format: RGB8
     Topic: "/TurtlebotROS/cameraL/image_raw"

src/libs/comm_cpp/src/ardroneextraClient.cpp

@@ -6,12 +6,21 @@
 
 namespace Comm {
 
-ArDroneExtraClient* 
+ArDroneExtraClient*
 getArDroneExtraClient(Comm::Communicator* jdrc, std::string prefix){
 	ArDroneExtraClient* client = 0;
 
+	int server;
+	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
+	std::transform(server_name.begin(), server_name.end(), server_name.begin(), ::tolower);
+	if(server_name == "ice"){
+		server = 1;
+	}
+	else if(server_name == "ros"){
+		server = 2;
+	}
+	else server = 0;
 
-	int server = jdrc->getConfig().asIntWithDefault(prefix+".Server", 0);
 	switch (server){
 		case 0:
 		{

src/libs/comm_cpp/src/bumperClient.cpp

@@ -6,11 +6,21 @@
 
 namespace Comm {
 
-BumperClient* 
+BumperClient*
 getBumperClient(Comm::Communicator* jdrc, std::string prefix){
 	BumperClient* client = 0;
 
-	int server = jdrc->getConfig().asIntWithDefault(prefix+".Server", 0);
+	int server;
+	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
+	std::transform(server_name.begin(), server_name.end(), server_name.begin(), ::tolower);
+	if(server_name == "ice"){
+		server = 1;
+	}
+	else if(server_name == "ros"){
+		server = 2;
+	}
+	else server = 0;
+
 	switch (server){
 		case 0:
 		{

src/libs/comm_cpp/src/cameraClient.cpp

@@ -24,12 +24,21 @@
 
 namespace Comm {
 
-CameraClient* 
+CameraClient*
 getCameraClient(Comm::Communicator* jdrc, std::string prefix){
 	CameraClient* client = 0;
 
+	int server;
+	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
+	std::transform(server_name.begin(), server_name.end(), server_name.begin(), ::tolower);
+	if(server_name == "ice"){
+		server = 1;
+	}
+	else if(server_name == "ros"){
+		server = 2;
+	}
+	else server = 0;
 
-	int server = jdrc->getConfig().asIntWithDefault(prefix+".Server", 0);
 	switch (server){
 		case 0:
 		{
@@ -76,4 +85,4 @@ getCameraClient(Comm::Communicator* jdrc, std::string prefix){
 
 }
 
-}//NS
+}//NS

src/libs/comm_cpp/src/cmdvelClient.cpp

@@ -6,12 +6,21 @@
 
 namespace Comm {
 
-CMDVelClient* 
+CMDVelClient*
 getCMDVelClient(Comm::Communicator* jdrc, std::string prefix){
 	CMDVelClient* client = 0;
 
+	int server;
+	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
+	std::transform(server_name.begin(), server_name.end(), server_name.begin(), ::tolower);
+	if(server_name == "ice"){
+		server = 1;
+	}
+	else if(server_name == "ros"){
+		server = 2;
+	}
+	else server = 0;
 
-	int server = jdrc->getConfig().asIntWithDefault(prefix+".Server", 0);
 	switch (server){
 		case 0:
 		{

src/libs/comm_cpp/src/laserClient.cpp

@@ -6,11 +6,21 @@
 
 namespace Comm {
 
-LaserClient* 
+LaserClient*
 getLaserClient(Comm::Communicator* jdrc, std::string prefix){
 	LaserClient* client = 0;
 
-	int server = jdrc->getConfig().asIntWithDefault(prefix+".Server", 0);
+	int server;
+	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
+	std::transform(server_name.begin(), server_name.end(), server_name.begin(), ::tolower);
+	if(server_name == "ice"){
+		server = 1;
+	}
+	else if(server_name == "ros"){
+		server = 2;
+	}
+	else server = 0;
+
 	switch (server){
 		case 0:
 		{

src/libs/comm_cpp/src/motorsClient.cpp

@@ -6,12 +6,21 @@
 
 namespace Comm {
 
-MotorsClient* 
+MotorsClient*
 getMotorsClient(Comm::Communicator* jdrc, std::string prefix){
 	MotorsClient* client = 0;
 
+	int server;
+	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
+	std::transform(server_name.begin(), server_name.end(), server_name.begin(), ::tolower);
+	if(server_name == "ice"){
+		server = 1;
+	}
+	else if(server_name == "ros"){
+		server = 2;
+	}
+	else server = 0;
 
-	int server = jdrc->getConfig().asIntWithDefault(prefix+".Server", 0);
 	switch (server){
 		case 0:
 		{

src/libs/comm_cpp/src/navdataClient.cpp

@@ -6,11 +6,21 @@
 
 namespace Comm {
 
-NavdataClient* 
+NavdataClient*
 getNavdataClient(Comm::Communicator* jdrc, std::string prefix){
 	NavdataClient* client = 0;
 
-	int server = jdrc->getConfig().asIntWithDefault(prefix+".Server", 0);
+	int server;
+	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
+	std::transform(server_name.begin(), server_name.end(), server_name.begin(), ::tolower);
+	if(server_name == "ice"){
+		server = 1;
+	}
+	else if(server_name == "ros"){
+		server = 2;
+	}
+	else server = 0;
+
 	switch (server){
 		case 0:
 		{

src/libs/comm_cpp/src/pose3dClient.cpp

@@ -6,12 +6,21 @@
 
 namespace Comm {
 
-Pose3dClient* 
+Pose3dClient*
 getPose3dClient(Comm::Communicator* jdrc, std::string prefix){
 	Pose3dClient* client = 0;
 
+	int server;
+	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
+	std::transform(server_name.begin(), server_name.end(), server_name.begin(), ::tolower);
+	if(server_name == "ice"){
+		server = 1;
+	}
+	else if(server_name == "ros"){
+		server = 2;
+	}
+	else server = 0;
 
-	int server = jdrc->getConfig().asIntWithDefault(prefix+".Server", 0);
 	switch (server){
 		case 0:
 		{
@@ -57,4 +66,4 @@ getPose3dClient(Comm::Communicator* jdrc, std::string prefix){
 
 }
 
-}//NS
+}//NS

src/libs/comm_cpp/src/rgbdClient.cpp

@@ -24,12 +24,21 @@
 
 namespace Comm {
 
-RgbdClient* 
+RgbdClient*
 getRgbdClient(Comm::Communicator* jdrc, std::string prefix){
 	RgbdClient* client = 0;
 
+	int server;
+	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
+	std::transform(server_name.begin(), server_name.end(), server_name.begin(), ::tolower);
+	if(server_name == "ice"){
+		server = 1;
+	}
+	else if(server_name == "ros"){
+		server = 2;
+	}
+	else server = 0;
 
-	int server = jdrc->getConfig().asIntWithDefault(prefix+".Server", 0);
 	switch (server){
 		case 0:
 		{
@@ -77,4 +86,4 @@ getRgbdClient(Comm::Communicator* jdrc, std::string prefix){
 
 }
 
-}//NS
+}//NS

src/libs/comm_py/comm/ardroneextraClient.py.only-ice.in

@@ -35,7 +35,7 @@ def __getPublisherArDroneExtra(jdrc, prefix):
     @return ArDroneExtra ROS Publisher
 
     '''
-    
+
     print(prefix + ": ROS msg are diabled")
     return None
 
@@ -71,9 +71,12 @@ def getArDroneExtraClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if not server:
-        server=0
+    if server.lower() == "ice":
+        server=1
+    elif server.lower() == "ros":
+        server=2
+    else : server = 0
 
     cons = [__ArDroneExtradisabled, __getArDroneExtraIceClient, __getPublisherArDroneExtra]
 
-    return cons[server](jdrc, prefix)
+    return cons[server](jdrc, prefix)

src/libs/comm_py/comm/ardroneextraClient.py.ros.in

@@ -35,7 +35,7 @@ def __getPublisherArDroneExtra(jdrc, prefix):
     @return ArDroneExtra ROS Publisher
 
     '''
-    
+
     print(prefix + ": This Interface doesn't support ROS msg")
     return None
 
@@ -71,9 +71,12 @@ def getArDroneExtraClient (jdrc, prefix):
 
     '''
     server = jdrc.getConfig().getProperty(prefix+".Server")
-    if not server:
-        server=0
+    if server.lower() == "ice":
+        server=1
+    elif server.lower() == "ros":
+        server=2
+    else : server = 0
 
     cons = [__ArDroneExtradisabled, __getArDroneExtraIceClient, __getPublisherArDroneExtra]
 
-    return cons[server](jdrc, prefix)
+    return cons[server](jdrc, prefix)

src/libs/comm_py/comm/bumperClient.py.only-ice.in

@@ -66,8 +66,13 @@ def getBumperClient (jdrc, prefix):
     @return None if Bumper is disabled
 
     '''
-    server = jdrc.getConfig().getPropertyWithDefault(prefix+".Server", 0)
+    server = jdrc.getConfig().getProperty(prefix+".Server")
+    if server.lower() == "ice":
+        server=1
+    elif server.lower() == "ros":
+        server=2
+    else : server = 0
 
     cons = [__Bumperdisabled, __getBumperIceClient, __getListenerBumper]
 
-    return cons[server](jdrc, prefix)
+    return cons[server](jdrc, prefix)