test

robotology · Nov 11, 2022 · c174c2d · c174c2d
1 parent f03dd5d
commit c174c2d
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Showing 16 changed files with 72 additions and 124 deletions.
diff --git a/src/devices/ServerInertial/ServerInertial.cpp b/src/devices/ServerInertial/ServerInertial.cpp
@@ -237,7 +237,7 @@ bool ServerInertial::openAndAttachSubDevice(yarp::os::Property& prop)
         p.put("device",subdevice.toString());
         IMU_polydriver->open(p);
     } else {
-        IMU_polydriver->open(subdevice);
+        IMU_polydriver->open(*subdevice.asSearchable());
     }
 
     if (!IMU_polydriver->isValid())

diff --git a/src/libYARP_companion/src/yarp/companion/impl/Companion.cmdPlugin.cpp b/src/libYARP_companion/src/yarp/companion/impl/Companion.cmdPlugin.cpp
@@ -152,8 +152,8 @@ int Companion::cmdPlugin(int argc, char *argv[])
         for (size_t i=0; i<lst.size(); i++) {
             Value& options = lst.get(i);
             std::string name = options.asList()->get(0).toString();
-            std::string path = options.check("path", Value("unknown path")).asString();
-            std::string type = options.check("type", Value("unknown type")).asString();
+            std::string path = options.asSearchable()->check("path", Value("unknown path")).asString();
+            std::string type = options.asSearchable()->check("type", Value("unknown type")).asString();
             if (type == "shared") {
                 yCInfo(COMPANION, "  %15s:\t%s", name.c_str(), path.c_str());
             }
@@ -165,7 +165,7 @@ int Companion::cmdPlugin(int argc, char *argv[])
         Bottle lst = selector.getSelectedPlugins();
         for (size_t i=0; i<lst.size(); i++) {
             Value& options = lst.get(i);
-            std::string name = options.check("name", Value("untitled")).asString();
+            std::string name = options.asSearchable()->check("name", Value("untitled")).asString();
             yCInfo(COMPANION, "%s", name.c_str());
         }
         return 0;
@@ -180,11 +180,11 @@ int Companion::cmdPlugin(int argc, char *argv[])
         bool ok = true;
         for (size_t i=0; i<lst.size(); i++) {
             Value& options = lst.get(i);
-            std::string name = options.check("name", Value("untitled")).asString();
-            std::string type = options.check("type", Value("unknown type")).asString();
+            std::string name = options.asSearchable()->check("name", Value("untitled")).asString();
+            std::string type = options.asSearchable()->check("type", Value("unknown type")).asString();
             yCInfo(COMPANION);
             yCInfo(COMPANION, "%s %s", type.c_str(), name.c_str());
-            yCInfo(COMPANION, "  * ini file:       %s", options.find("inifile").toString().c_str());
+            yCInfo(COMPANION, "  * ini file:       %s", options.asSearchable()->find("inifile").toString().c_str());
             options.asList()->pop();
             yCInfo(COMPANION, "  * config:         %s", options.toString().c_str());
             YarpPluginSettings settings;
@@ -195,7 +195,7 @@ YARP_DISABLE_DEPRECATED_WARNING
 YARP_WARNING_POP
 #endif // YARP_NO_DEPRECATED
             settings.setSelector(selector);
-            settings.readFromSearchable(options, name);
+            settings.readFromSearchable(*options.asSearchable(), name);
             ok &= plugin_test(settings);
         }
         return ok ? 0 : 1;

diff --git a/src/libYARP_dev/src/yarp/dev/Drivers.cpp b/src/libYARP_dev/src/yarp/dev/Drivers.cpp
@@ -83,15 +83,15 @@ class Drivers::Private : public YarpPluginSelector {
         Bottle lst = getSelectedPlugins();
         for (size_t i=0; i<lst.size(); i++) {
             Value& prop = lst.get(i);
-            std::string name = prop.check("name",Value("untitled")).asString();
+            std::string name = prop.asSearchable()->check("name",Value("untitled")).asString();
             if (done.check(name)) {
                 continue;
             }
 
             SharedLibraryFactory lib;
             YarpPluginSettings settings;
             settings.setSelector(*this);
-            settings.readFromSearchable(prop,name);
+            settings.readFromSearchable(*prop.asSearchable(),name);
             settings.open(lib);
             std::string location = lib.getName();
             if (location.empty()) {
@@ -100,8 +100,8 @@ class Drivers::Private : public YarpPluginSelector {
               continue;
             }
 
-            std::string cxx = prop.check("cxx",Value("unknown")).asString();
-            std::string wrapper = prop.check("wrapper",Value("unknown")).asString();
+            std::string cxx = prop.asSearchable()->check("cxx",Value("unknown")).asString();
+            std::string wrapper = prop.asSearchable()->check("wrapper",Value("unknown")).asString();
             s += "Device \"";
             s += name;
             s += "\"";

diff --git a/src/libYARP_manager/src/yarp/manager/xmlapploader.cpp b/src/libYARP_manager/src/yarp/manager/xmlapploader.cpp
@@ -567,8 +567,8 @@ Application* XmlAppLoader::parsXml(const char* szFile)
                         for(size_t i=1; i<pos.size(); i++)
                         {
                             GyPoint pt;
-                            pt.x = pos.get(i).find("x").asFloat64();
-                            pt.y = pos.get(i).find("y").asFloat64();
+                            pt.x = pos.get(i).asSearchable()->find("x").asFloat64();
+                            pt.y = pos.get(i).asSearchable()->find("y").asFloat64();
                             model.points.push_back(pt);
                         }
                         arbitrator.setModelBase(model);
@@ -682,8 +682,8 @@ Application* XmlAppLoader::parsXml(const char* szFile)
                         for(size_t i=1; i<pos.size(); i++)
                         {
                             GyPoint pt;
-                            pt.x = pos.get(i).find("x").asFloat64();
-                            pt.y = pos.get(i).find("y").asFloat64();
+                            pt.x = pos.get(i).asSearchable()->find("x").asFloat64();
+                            pt.y = pos.get(i).asSearchable()->find("y").asFloat64();
                             model.points.push_back(pt);
                         }
                         connection.setModelBase(model);

diff --git a/src/libYARP_manager/src/yarp/manager/yarpbroker.cpp b/src/libYARP_manager/src/yarp/manager/yarpbroker.cpp
@@ -703,14 +703,14 @@ bool YarpBroker::getAllProcesses(const char* server,
         {
             Process proc;
             std::string sprc;
-            if (response.get(i).check("pid")) {
-                proc.pid = response.get(i).find("pid").asInt32();
+            if (response.get(i).asSearchable()->check("pid")) {
+                proc.pid = response.get(i).asSearchable()->find("pid").asInt32();
             }
-            if (response.get(i).check("cmd")) {
-                sprc = response.get(i).find("cmd").asString();
+            if (response.get(i).asSearchable()->check("cmd")) {
+                sprc = response.get(i).asSearchable()->find("cmd").asString();
             }
-            if (response.get(i).check("env") && response.get(i).find("env").asString().length()) {
-                sprc.append("; ").append(response.get(i).find("env").asString());
+            if (response.get(i).asSearchable()->check("env") && response.get(i).asSearchable()->find("env").asString().length()) {
+                sprc.append("; ").append(response.get(i).asSearchable()->find("env").asString());
             }
             proc.command = sprc;
             processes.push_back(proc);

diff --git a/src/libYARP_os/src/yarp/os/Carriers.cpp b/src/libYARP_os/src/yarp/os/Carriers.cpp
@@ -186,7 +186,7 @@ bool Carriers::Private::scanForCarrier(const Bytes& header)
     selector.scan();
     Bottle lst = selector.getSelectedPlugins();
     for (size_t i = 0; i < lst.size(); i++) {
-        if (checkForCarrier(header, lst.get(i))) {
+        if (checkForCarrier(header, *lst.get(i).asSearchable())) {
             return true;
         }
     }
@@ -333,15 +333,15 @@ Bottle Carriers::listCarriers()
     Bottle plugins = instance.mPriv->getSelectedPlugins();
     for (size_t i = 0; i < plugins.size(); i++) {
         Value& options = plugins.get(i);
-        std::string name = options.check("name", Value("untitled")).asString();
+        std::string name = options.asSearchable()->check("name", Value("untitled")).asString();
         if (done.check(name)) {
             continue;
         }
 
         SharedLibraryFactory lib;
         YarpPluginSettings settings;
         settings.setSelector(*instance.mPriv);
-        settings.readFromSearchable(options, name);
+        settings.readFromSearchable(*options.asSearchable(), name);
         settings.open(lib);
         if (lib.getName().empty()) {
             continue;

diff --git a/src/libYARP_os/src/yarp/os/NullConnectionReader.cpp b/src/libYARP_os/src/yarp/os/NullConnectionReader.cpp
@@ -115,5 +115,5 @@ void yarp::os::NullConnectionReader::requestDrop()
 
 const yarp::os::Searchable& yarp::os::NullConnectionReader::getConnectionModifiers() const
 {
-    return blank;
+    return *blank.asSearchable();
 }
diff --git a/src/libYARP_os/src/yarp/os/Value.cpp b/src/libYARP_os/src/yarp/os/Value.cpp
@@ -17,14 +17,12 @@ using namespace yarp::os::impl;
 
 Value::Value() :
         Portable(),
-        Searchable(),
         proxy(nullptr)
 {
 }
 
 Value::Value(std::int32_t x, bool isVocab32) :
         Portable(),
-        Searchable(),
         proxy(nullptr)
 {
     if (!isVocab32) {
@@ -36,15 +34,13 @@ Value::Value(std::int32_t x, bool isVocab32) :
 
 Value::Value(yarp::conf::float64_t x) :
         Portable(),
-        Searchable(),
         proxy(nullptr)
 {
     setProxy(static_cast<Storable*>(makeFloat64(x)));
 }
 
 Value::Value(const std::string& str, bool isVocab32) :
         Portable(),
-        Searchable(),
         proxy(nullptr)
 {
     if (!isVocab32) {
@@ -56,15 +52,13 @@ Value::Value(const std::string& str, bool isVocab32) :
 
 Value::Value(void* data, int length) :
         Portable(),
-        Searchable(),
         proxy(nullptr)
 {
     setProxy(static_cast<Storable*>(makeBlob(data, length)));
 }
 
 Value::Value(const Value& alt) :
         Portable(),
-        Searchable(alt),
         proxy(nullptr)
 {
     setProxy(static_cast<Storable*>(alt.clone()));
@@ -251,11 +245,21 @@ Property* Value::asDict() const
 
 Searchable* Value::asSearchable() const
 {
-    ok();
+    /*
+ok();
     if (proxy->isDict()) {
         return proxy->asDict();
     }
     return proxy->asList();
+*/
+    ok();
+    if (proxy->isDict()) {
+        return proxy->asDict();
+    } 
+    if (proxy->isList()) {
+        return proxy->asList();
+    }
+    return nullptr;
 }
 
 const char* Value::asBlob() const
@@ -318,24 +322,6 @@ bool Value::write(ConnectionWriter& connection) const
     return proxy->write(connection);
 }
 
-bool Value::check(const std::string& key) const
-{
-    ok();
-    return proxy->check(key);
-}
-
-Value& Value::find(const std::string& key) const
-{
-    ok();
-    return proxy->find(key);
-}
-
-Bottle& Value::findGroup(const std::string& key) const
-{
-    ok();
-    return proxy->findGroup(key);
-}
-
 bool Value::operator==(const Value& alt) const
 {
     ok();

diff --git a/src/libYARP_os/src/yarp/os/Value.h b/src/libYARP_os/src/yarp/os/Value.h
@@ -29,21 +29,23 @@ class Storable;
 
 namespace yarp::os {
 
+class stringConvertible
+{
+    public:
+    virtual std::string toString() const = 0;
+};
 /**
  * A single value (typically within a Bottle). Values can be integers, strings,
  * doubles (floating-point numbers), lists, vocabulary, or blobs
  * (unformatted binary data).  This set is carefully chosen to have
  * good text and binary representations both for network transmission
  * and human viewing/generation.  Lists are represented as a nested
- * Bottle object.  Value objects are Searchable - but you won't
- * find anything in them unless they are actually a list.
+ * Bottle object. 
  *
  */
-class YARP_os_API Value : public Portable, public Searchable
+class YARP_os_API Value : public Portable, stringConvertible
 {
 public:
-    using Searchable::check;
-    using Searchable::findGroup;
 
     /**
      * Construct a list Value
@@ -178,6 +180,12 @@ class YARP_os_API Value : public Portable, public Searchable
      */
     virtual bool isBlob() const;
 
+    /**
+     * Checks if value is null.
+     * @return true iff value is null.
+     */
+    virtual bool isNull() const;
+
     /**
      * Get boolean value.
      * @return boolean value if value is indeed a boolean.
@@ -306,15 +314,6 @@ class YARP_os_API Value : public Portable, public Searchable
     // documented in Portable
     bool write(ConnectionWriter& connection) const override;
 
-    // documented in Searchable
-    bool check(const std::string& key) const override;
-
-    // documented in Searchable
-    Value& find(const std::string& key) const override;
-
-    // documented in Searchable
-    Bottle& findGroup(const std::string& key) const override;
-
     /**
      * Equality test.
      * @param alt the value to compare against
@@ -357,8 +356,6 @@ class YARP_os_API Value : public Portable, public Searchable
      */
     virtual std::int32_t getCode() const;
 
-    bool isNull() const override;
-
     virtual bool isLeaf() const;
 
     /**

diff --git a/src/libYARP_os/src/yarp/os/YarpNameSpace.h b/src/libYARP_os/src/yarp/os/YarpNameSpace.h
@@ -123,6 +123,10 @@ class YARP_os_API YarpNameSpace : public NameSpace
             ContactStyle style;
             ok = NetworkBase::writeToNameServer(cmd, reply, style);
         }
+////
+        std::string ss= reply.toString();
+         fprintf(stderr, ss.c_str());
+//// 
         bool fail = (reply.get(0).toString() == "fail") || !ok;
         if (fail) {
             if (!style.quiet) {

diff --git a/src/libYARP_os/src/yarp/os/YarpPlugin.cpp b/src/libYARP_os/src/yarp/os/YarpPlugin.cpp
@@ -89,9 +89,9 @@ bool YarpPluginSettings::open(SharedLibraryFactory& factory)
         // and a proper name for the DLL
         Bottle paths = selector->getSearchPath();
         for (size_t i = 0; i < paths.size(); i++) {
-            Searchable& options = paths.get(i);
-            std::string path = options.find("path").asString();
-            std::string ext = options.find("extension").asString();
+            Searchable* options = paths.get(i).asSearchable();
+            std::string path = options->find("path").asString();
+            std::string ext = options->find("extension").asString();
             std::string basename = (dll_name.find('.') != std::string::npos) ? name : dll_name;
             std::string fn = (fn_name.empty()) ? name : fn_name;
 

diff --git a/src/libYARP_os/src/yarp/os/YarpPluginSelector.h b/src/libYARP_os/src/yarp/os/YarpPluginSelector.h
@@ -84,11 +84,11 @@ class YARP_os_API YarpPluginSelector
         const yarp::os::Bottle lst = selector.getSelectedPlugins();
         for (size_t i = 0; i < lst.size(); i++) {
             const yarp::os::Value& options = lst.get(i);
-            if (name == options.check("name", yarp::os::Value("untitled")).asString()) {
+            if (name == options.asSearchable()->check("name", yarp::os::Value("untitled")).asString()) {
                 if (!type.empty()) {
                     return true;
                 }
-                if (type == options.check("type", yarp::os::Value("untitled")).asString()) {
+                if (type == options.asSearchable()->check("type", yarp::os::Value("untitled")).asString()) {
                     return true;
                 }
             }

diff --git a/src/libYARP_os/src/yarp/os/impl/Storable.cpp b/src/libYARP_os/src/yarp/os/impl/Storable.cpp
@@ -117,28 +117,6 @@ Storable* Storable::createByCode(std::int32_t id)
     return storable;
 }
 
-Value& Storable::find(const std::string& key) const
-{
-    YARP_UNUSED(key);
-    return BottleImpl::getNull();
-}
-
-Bottle& Storable::findGroup(const std::string& key) const
-{
-    YARP_UNUSED(key);
-    return Bottle::getNullBottle();
-}
-
-bool Storable::check(const std::string& key) const
-{
-    Bottle& val = findGroup(key);
-    if (!val.isNull()) {
-        return true;
-    }
-    Value& val2 = find(key);
-    return !val2.isNull();
-}
-
 bool Storable::operator==(const Value& alt) const
 {
     return toString() == alt.toString();