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

CMakeLists.txt

@@ -108,6 +108,30 @@ macro(list_subdirectories2 retval curdir return_relative)
   set(${retval} ${list_of_dirs})
 endmacro()
 
+# MACRO to add the list of subdirectories to another list
+macro(list_subdirectories3 retval curdir return_relative)
+  file(GLOB sub-dir RELATIVE ${curdir} *)
+  set(list_of_dirs ${${retval}})
+  foreach(dir ${sub-dir})
+    if(IS_DIRECTORY ${curdir}/${dir})
+      if (${return_relative})
+        list (FIND list_of_dirs "${dir}" _index)
+        if (NOT ${_index} GREATER -1)
+          if (NOT ${dir} MATCHES "CMakeFiles" AND NOT ${dir} MATCHES ".svn")
+                set(list_of_dirs ${list_of_dirs} ${dir})
+          endif()
+        endif()
+      else()
+        list (FIND list_of_dirs "${curdir}/${dir}" _index)
+        if (NOT ${_index} GREATER -1)
+          set(list_of_dirs ${list_of_dirs} ${curdir}/${dir})
+        endif()
+      endif()
+    endif()
+  endforeach()
+  set(${retval} ${list_of_dirs})
+endmacro()
+
 
 
 ###################

Deps/python/Modules/yaml/CMakeLists.txt

@@ -0,0 +1,12 @@
+set(module "yaml")
+
+usePython(2)
+find_python_module(${module} REQUIRED)
+
+string(TOUPPER ${module} module_upper)
+
+if(PY_${module_upper})
+	SET (yaml_PY_MODULES  PY_${module_upper})
+	list(APPEND DEPS python-yaml)
+	list(APPEND DEPS_DEV python-yaml)
+endif(PY_${module_upper})

Deps/yaml-cpp/CMakeLists.txt

@@ -0,0 +1,9 @@
+find_package(yaml-cpp)
+
+if (YAML_CPP_INCLUDE_DIR)
+	message("***YAML-CPP FOUND: ${YAML_CPP_INCLUDE_DIR}")
+	list(APPEND DEPS libyaml-cpp0.5v5)
+	list(APPEND DEPS_DEV libyaml-cpp-dev)
+else()
+	message ("*** YAML-CPP NOT FOUND")
+endIF()

cmake/cpack_metainfo/libs.cmake

@@ -8,14 +8,24 @@ SET(CPACK_COMPONENT_COLORSPACES_DESCRIPTION
 "Library for  
  Home page https://jderobot.org")
 
-SET(CPACK_DEBIAN_COMM_PACKAGE_DEPENDS "jderobot-types, jderobot-logger, jderobot-interfaces, jderobot-colorspaces, jderobot-setup")
+SET(CPACK_DEBIAN_CONFIG_PACKAGE_DEPENDS "jderobot-setup")
+SET(CPACK_COMPONENT_CONFIG_DESCRIPTION  
+"Library for read Yaml config files
+ Home page https://jderobot.org")
+
+SET(CPACK_DEBIAN_CONFIG-PYTHON_PACKAGE_DEPENDS "jderobot-setup")
+SET(CPACK_COMPONENT_CONFIG-PYTHON_DESCRIPTION  
+"Library for read Yaml config files 
+ Home page https://jderobot.org")
+
+SET(CPACK_DEBIAN_COMM_PACKAGE_DEPENDS "jderobot-types, jderobot-config, jderobot-logger, jderobot-interfaces, jderobot-colorspaces, jderobot-setup")
 SET(CPACK_COMPONENT_COMM_DESCRIPTION  
-"Library for  
+"Library for communications. You can use ROS or ICE 
  Home page https://jderobot.org")
 
-SET(CPACK_DEBIAN_COMM-PYTHON_PACKAGE_DEPENDS "jderobot-types-python, jderobot-setup")
+SET(CPACK_DEBIAN_COMM-PYTHON_PACKAGE_DEPENDS "jderobot-types-python,jderobot-config-python, jderobot-setup")
 SET(CPACK_COMPONENT_COMM-PYTHON_DESCRIPTION  
-"Library for  
+"Library for communications. You can use ROS or ICE 
  Home page https://jderobot.org")
 SET(CPACK_DEBIAN_COMM-PYTHON_PACKAGE_CONTROL_EXTRA
     "${CMAKE_CURRENT_SOURCE_DIR}/scripts/cmake/ice/postinst"

cmake/cpack_metainfo/tools.cmake

@@ -16,7 +16,7 @@ SET(CPACK_COMPONENT_COLORTUNER-PYTHON_DESCRIPTION
  Manual page http://jderobot.org/index.php/Tools#ColorTuner_.28Python.29
  Home page https://jderobot.org")
 
-SET(CPACK_DEBIAN_CAMERAVIEW_PACKAGE_DEPENDS "jderobot-easyice, jderobot-comm, jderobot-util, jderobot-interfaces, jderobot-resourcelocator, jderobot-colorspaces")
+SET(CPACK_DEBIAN_CAMERAVIEW_PACKAGE_DEPENDS "jderobot-config, jderobot-comm, jderobot-util, jderobot-interfaces, jderobot-resourcelocator, jderobot-colorspaces")
 SET(CPACK_COMPONENT_CAMERAVIEW_DESCRIPTION  
 "Generic viewer for cameras 
  Manual Page http://jderobot.org/index.php/Tools#CameraView
@@ -34,7 +34,7 @@ SET(CPACK_COMPONENT_GIRAFFECLIENT_DESCRIPTION
  Manual Page 
  Home page https://jderobot.org")
 
-SET(CPACK_DEBIAN_KOBUKIVIEWER_PACKAGE_DEPENDS "jderobot-easyice, jderobot-comm")
+SET(CPACK_DEBIAN_KOBUKIVIEWER_PACKAGE_DEPENDS "jderobot-config, jderobot-comm")
 SET(CPACK_COMPONENT_KOBUKIVIEWER_DESCRIPTION  
 "Teleoperator for vehicle-type robots, such as kobuki, pioneer, cars, etc. 
  Manual page http://jderobot.org/index.php/Tools#KobukiViewer
@@ -46,7 +46,7 @@ SET(CPACK_COMPONENT_NAMINGSERVICE_DESCRIPTION
  Manual Page 
  Home page https://jderobot.org")
 
-SET(CPACK_DEBIAN_PANTILTTELEOP-PYTHON_PACKAGE_DEPENDS "python-matplotlib, python-pyqt5, python-pip, python-numpy, python-pyqt5.qtsvg, jderobot-parallelice-python, jderobot-easyice-python")
+SET(CPACK_DEBIAN_PANTILTTELEOP-PYTHON_PACKAGE_DEPENDS "python-matplotlib, python-pyqt5, python-pip, python-numpy, python-pyqt5.qtsvg, jderobot-comm-python, jderobot-config-python")
 SET(CPACK_COMPONENT_PANTILTTELEOP-PYTHON_DESCRIPTION  
 "Teleoperator for IP cameras that allow movement (i.e. Sony EVI camera)
  Manual Page http://jderobot.org/index.php/Tools#NavigatorCamera

src/libs/CMakeLists.txt

@@ -1,4 +1,5 @@
-list_subdirectories( LIST_LIBS ${CMAKE_CURRENT_SOURCE_DIR} 1)
+set (LIST_LIBS "config_cpp") #Adding library to be processed first
+list_subdirectories3( LIST_LIBS ${CMAKE_CURRENT_SOURCE_DIR} 1)
 
 FOREACH (lib ${LIST_LIBS})
 	if (EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/${lib}/CMakeLists.txt)

src/libs/jderobotcomm_cpp/CMakeLists.txt → src/libs/comm_cpp/CMakeLists.txt

@@ -6,7 +6,7 @@ ELSE()
     SET(JDEROBOTCOM_ROS OFF)
 endif()
 
-project(jderobotcomm)
+project(comm)
 
 usePython(2)
 
@@ -28,10 +28,12 @@ include_directories(
     ${catkin_INCLUDE_DIRS}
     ${roscpp_INCLUDE_DIRS}
     ${INTERFACES_CPP_DIR}
+    ${config_INCLUDE_DIRS}
 )
 
 
 set(HEADERS
+    include/jderobot/comm/communicator.hpp
     include/jderobot/comm/laserClient.hpp
     include/jderobot/comm/interfaces/laserClient.hpp
     include/jderobot/comm/ice/laserIceClient.hpp
@@ -48,6 +50,7 @@ set(HEADERS
 )
 
 set(SOURCES
+    src/communicator.cpp
     src/laserClient.cpp
     src/ice/laserIceClient.cpp
     src/cameraClient.cpp
@@ -83,12 +86,15 @@ ENDIF()
 ## Adding shared library for common usage
 add_library(${PROJECT_NAME} SHARED ${SOURCES} ${HEADERS})
 
+add_dependencies(${PROJECT_NAME} ${config_LIBRARIES})
+
 target_link_libraries(${PROJECT_NAME} 
     ${ZeroCIce_LIBRARIES} 
     logger 
     ${Boost_LIBRARIES} 
     colorspacesmm 
-    ${catkin_LIBRARIES})
+    ${catkin_LIBRARIES}
+    ${config_LIBRARIES})
 
 ## Adding static library for single .so configurations
 # since target is a shared library, -fPIC must be provided
@@ -100,7 +106,8 @@ target_link_libraries(${PROJECT_NAME}-embedded
     ${Boost_LIBRARIES} 
     colorspacesmm 
     JderobotInterfaces
-    ${catkin_LIBRARIES})
+    ${catkin_LIBRARIES}
+    ${config_LIBRARIES})
 set_property(TARGET ${PROJECT_NAME}-embedded PROPERTY POSITION_INDEPENDENT_CODE 1)
 
 

src/libs/jderobotcomm_cpp/include/jderobot/comm/cameraClient.hpp → src/libs/comm_cpp/include/jderobot/comm/cameraClient.hpp

@@ -22,14 +22,14 @@
 
 #include <jderobot/types/image.h>
 #include <Ice/Communicator.h>
-#include <Ice/Properties.h>
+#include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/cameraClient.hpp>
 
 
 
 
 
-namespace JdeRobotComm {
+namespace Comm {
 
 	/**
 	 * @brief make a CameraClient using propierties
@@ -41,7 +41,7 @@ namespace JdeRobotComm {
 	 *
 	 * @return null if propierties are wrong
 	 */
-	CameraClient* getCameraClient(Ice::CommunicatorPtr ic, std::string prefix);
+	CameraClient* getCameraClient(Comm::Communicator* jdrc, std::string prefix);
 
 
 } //NS

src/libs/comm_cpp/include/jderobot/comm/communicator.hpp

@@ -0,0 +1,47 @@
+/*
+ *  Copyright (C) 1997-2017 JDE Developers Team
+ *
+ *  This program is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program.  If not, see http://www.gnu.org/licenses/.
+ *  Authors :
+ *       Aitor Martinez Fernandez <aitor.martinez.fernandez@gmail.com>
+ */
+
+#ifndef JDEROBOTCOMM_COMMUNICATOR_H
+#define JDEROBOTCOMM_COMMUNICATOR_H
+
+#include <Ice/Communicator.h>
+#include <Ice/Initialize.h>
+#include <jderobot/config/properties.hpp>
+
+
+namespace Comm {
+
+	class Communicator {
+	public:
+		Communicator(Config::Properties config);
+		~Communicator();
+
+		Config::Properties getConfig();
+		Ice::CommunicatorPtr getIceComm();
+
+
+	private:
+		Config::Properties config;
+		Ice::CommunicatorPtr ic;	
+	};
+
+
+} //NS
+
+#endif // JDEROBOTCOMM_COMMUNICATOR_H

src/libs/jderobotcomm_cpp/include/jderobot/comm/ice/cameraIceClient.hpp → src/libs/comm_cpp/include/jderobot/comm/ice/cameraIceClient.hpp

@@ -28,15 +28,17 @@
 #include <jderobot/camera.h>
 #include <cv.h>
 #include <logger/Logger.h>
+#include <jderobotutil/utils/CameraUtils.h>
 #include <jderobot/types/image.h>
+#include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/cameraClient.hpp>
 #include <zlib.h>
 
-namespace JdeRobotComm {
+namespace Comm {
 
-class CameraIceClient: public IceUtil::Thread, public JdeRobotComm::CameraClient {
+class CameraIceClient: public IceUtil::Thread, public Comm::CameraClient {
 public:
-	CameraIceClient(Ice::CommunicatorPtr ic, std::string prefix);
+	CameraIceClient(Comm::Communicator* jdrc, std::string prefix);
 	virtual ~CameraIceClient();
 	virtual void run();
 
@@ -69,5 +71,5 @@ class CameraIceClient: public IceUtil::Thread, public JdeRobotComm::CameraClient
 
 };
 
-} /* namespace JdeRobotComm */
+} /* namespace Comm */
 #endif /* JDEROBOTCOMM_CAMERAICECLIENT_H_ */

src/libs/jderobotcomm_cpp/include/jderobot/comm/ice/laserIceClient.hpp → src/libs/comm_cpp/include/jderobot/comm/ice/laserIceClient.hpp

@@ -31,14 +31,15 @@
 #include <fstream>
 #include <logger/Logger.h>
 #include <jderobot/types/laserData.h>
+#include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/laserClient.hpp>
 
-namespace JdeRobotComm {
+namespace Comm {
 
 
-class LaserIceClient: public IceUtil::Thread, public JdeRobotComm::LaserClient {
+class LaserIceClient: public IceUtil::Thread, public Comm::LaserClient {
 public:
-	LaserIceClient(Ice::CommunicatorPtr ic, std::string prefix);
+	LaserIceClient(Comm::Communicator* jdrc, std::string prefix);
 	virtual ~LaserIceClient();
 	virtual void run();
 

src/libs/jderobotcomm_cpp/include/jderobot/comm/ice/motorsIceClient.hpp → src/libs/comm_cpp/include/jderobot/comm/ice/motorsIceClient.hpp

@@ -25,14 +25,15 @@
 #include <Ice/Ice.h>
 #include <jderobot/motors.h>
 #include <jderobot/types/cmdvel.h>
+#include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/motorsClient.hpp>
 
-namespace JdeRobotComm {
+namespace Comm {
 
 
-class MotorsIceClient: public JdeRobotComm::MotorsClient {
+class MotorsIceClient: public Comm::MotorsClient {
 public:
-	MotorsIceClient(Ice::CommunicatorPtr ic, std::string prefix);
+	MotorsIceClient(Comm::Communicator* jdrc, std::string prefix);
 	virtual ~MotorsIceClient();
 
 	virtual void sendVelocities(JdeRobotTypes::CMDVel vel);

src/libs/jderobotcomm_cpp/include/jderobot/comm/ice/pose3dIceClient.hpp → src/libs/comm_cpp/include/jderobot/comm/ice/pose3dIceClient.hpp

@@ -28,14 +28,15 @@
 #include <math.h> 
 #include <vector>
 #include <jderobot/types/pose3d.h>
+#include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/pose3dClient.hpp>
 
-namespace JdeRobotComm {
+namespace Comm {
 
 
-class Pose3dIceClient: public IceUtil::Thread, public JdeRobotComm::Pose3dClient {
+class Pose3dIceClient: public IceUtil::Thread, public Comm::Pose3dClient {
 public:
-	Pose3dIceClient(Ice::CommunicatorPtr ic, std::string prefix);
+	Pose3dIceClient(Comm::Communicator* jdrc, std::string prefix);
 	virtual ~Pose3dIceClient();
 	virtual void run();
 

src/libs/jderobotcomm_cpp/include/jderobot/comm/interfaces/cameraClient.hpp → src/libs/comm_cpp/include/jderobot/comm/interfaces/cameraClient.hpp

@@ -23,7 +23,7 @@
 #include <jderobot/types/image.h>
 
 
-namespace JdeRobotComm {
+namespace Comm {
 
 	/**
 	 * @brief LaserClient class.

src/libs/jderobotcomm_cpp/include/jderobot/comm/interfaces/laserClient.hpp → src/libs/comm_cpp/include/jderobot/comm/interfaces/laserClient.hpp

@@ -23,7 +23,7 @@
 #include <jderobot/types/laserData.h>
 
 
-namespace JdeRobotComm {
+namespace Comm {
 
 	/**
 	 * @brief LaserClient class.

src/libs/jderobotcomm_cpp/include/jderobot/comm/interfaces/motorsClient.hpp → src/libs/comm_cpp/include/jderobot/comm/interfaces/motorsClient.hpp

@@ -23,7 +23,7 @@
 #include <jderobot/types/cmdvel.h>
 
 
-namespace JdeRobotComm {
+namespace Comm {
 
 	/**
 	 * @brief MotorsClient class.

src/libs/jderobotcomm_cpp/include/jderobot/comm/interfaces/pose3dClient.hpp → src/libs/comm_cpp/include/jderobot/comm/interfaces/pose3dClient.hpp

@@ -23,7 +23,7 @@
 #include <jderobot/types/pose3d.h>
 
 
-namespace JdeRobotComm {
+namespace Comm {
 
 	/**
 	 * @brief Pose3dClient class.

src/libs/jderobotcomm_cpp/include/jderobot/comm/laserClient.hpp → src/libs/comm_cpp/include/jderobot/comm/laserClient.hpp

@@ -22,13 +22,13 @@
 
 #include <jderobot/types/laserData.h>
 #include <Ice/Communicator.h>
-#include <Ice/Properties.h>
+#include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/laserClient.hpp>
 
 
 
 
-namespace JdeRobotComm {
+namespace Comm {
 
 	/**
 	 * @brief make a LaserClient using propierties
@@ -40,7 +40,7 @@ namespace JdeRobotComm {
 	 *
 	 * @return null if propierties are wrong
 	 */
-	LaserClient* getLaserClient(Ice::CommunicatorPtr ic, std::string prefix);
+	LaserClient* getLaserClient(Comm::Communicator* jdrc, std::string prefix);
 
 
 } //NS