[issue #892] Created Config library for read Yaml config files

[aitormf]

In this PR I maked 2 new libraries (config_cpp and config_py) to read Yaml config files. in their directories you can find a demo programs to show how can you use those libraries.

C++:

#include 
...
Config::Properties props = Config::load(argc, argv);
std::cout << props << std::endl;
std::cout << props.asString("Demo.Motors.Proxy")<< std::endl;
std::cout << props.asStringWithDefault("Demo.Motors.Proxy2", "Proxy2")<< std::endl;

Python:

import config
....
cfg = config.load(sys.argv[1])

print (cfg.getProperty("Demo.Motors.Server"))
print (cfg.getPropertyWithDefault("Demo.Motors.Server2", "Server2"))
print cfg

a example of new config files is the following:

Demo:
  Motors:
    Server: 2 # 0 -> Deactivate, 1 -> Ice , 2 -> 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: 2 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
    Proxy: "CameraL:default -h localhost -p 9001"
    Format: RGB8
    Topic: "/TurtlebotROS/cameraL/image_raw"
    Name: basic_component_pyCamera

  NodeName: demo

JdeRobotComm (py and C++) has also been modified:

• Updated to use config library
• changed name from JdeRobotComm to Comm

Python

import config
import comm
...
cfg = config.load(sys.argv[1])
jdrc= comm.init(cfg, "Test")
client = jdrc.getCameraClient("Test.Camera1")

C++

#include "jderobot/config/config.h"
#include "jderobot/comm/communicator.hpp"
#include 
...
Config::Properties props = Config::load(argc, argv);

Comm::Communicator* jdrc = new Comm::Communicator(props);
Comm::CameraClient* camera1 = Comm::getCameraClient(jdrc, "kobukiViewer.Camera1");

[okanasik]

Dear @aitormf, I have a quick question about the yaml config. For the components we have three constructs about ice interfaces; interface, proxyName, name. Which part of these corresponds to values of yaml values?

For the following example:

Demo:
  Motors:
    Server: 2 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
    Proxy: "Motors:default -h localhost -p 9001"
    Topic: "/turtlebotROS/mobile_base/commands/velocity"
    Name: basic_component_pyCamera
    maxW: 0.7
    maxV: 4

Motors just under demo is interface, Motors inside Proxy is proxyName, name is the Name:
If that's correct. Can we define two Motors interface? I am not sure, but that should not be possible with that config structure. What do you think?

[aitormf]

Hi @okanasik, yes, fields are as you say, but if you want, you can have two motor interfaces, for example kobukiViewer tool has a two camera interfaces and its config file is the following:

kobukiViewer:
  Motors:
    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
    Proxy: "Motors:default -h localhost -p 9001"
    Topic: "/turtlebotROS/mobile_base/commands/velocity"
    Name: kobukiViewerMotors
    maxV: 3
    maxW: 0.7

  Camera1:
    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
    Proxy: "CameraL:default -h localhost -p 9001"
    Format: RGB8
    Topic: "/TurtlebotROS/cameraL/image_raw"
    Name: kobukiViewerCamera1

  Camera2:
    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
    Proxy: "CameraR:default -h localhost -p 9001"
    Format: RGB8
    Topic: "/TurtlebotROS/cameraR/image_raw"
    Name: kobukiViewerCamera2

  Pose3D:
    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
    Proxy: "Pose3D:default -h localhost -p 9001"
    Topic: "//turtlebotROS/odom"
    Name: kobukiViewerPose3d

  Laser:
    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
    Proxy: "Laser:default -h localhost -p 9001"
    Topic: "/turtlebotROS/laser/scan"
    Name: kobukiViewerLaser

  Vmax: 3
  Wmax: 0.7
  NodeName: kobukiViewer

With motors would be the same.
I hope I helped you

[okanasik]

Thanks @aitormf , The config dialog of visualStates was directly using interface to determine the type of comm client that will be instantiated. In that case, I can add indexes for every interface.

Best.