Merge pull request #2650 from drdanz/vocab32_part2

Deprecate *Vocab methods in favour of *Vocab32
robotology · Jul 12, 2021 · b283a07 · b283a07
2 parents 512d28a + 5eb33f1
commit b283a07
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Showing 180 changed files with 2,523 additions and 2,316 deletions.
diff --git a/bindings/lua/tests/test_vocab.lua b/bindings/lua/tests/test_vocab.lua
@@ -14,7 +14,7 @@ function test_vocab()
   assert("number" == type(vocab))
   assert(1684234849 == vocab)
   assert("abcd" == yarp.decode(vocab))
-  vocab2 = yarp.createVocab('a','b','c','d')
+  vocab2 = yarp.createVocab32('a','b','c','d')
   assert("number" == type(vocab2))
   assert (vocab == vocab2)
 end

diff --git a/doc/release/master/vocab32_part2.md b/doc/release/master/vocab32_part2.md
@@ -0,0 +1,30 @@
+vocab32_part2 {#master}
+-------------
+
+## Libraries
+
+### `os`
+
+* `yarp::os::createVocab()` is deprecated in favour of `yarp::os::createVocab32()`
+* `yarp::os::Vocab::encode()` is deprecated in favour of `yarp::os::Vocab32::encode()`
+* `yarp::os::Vocab::decode()` is deprecated in favour of `yarp::os::Vocab32::decode()`
+* `yarp::os::Value::isVocab()` is deprecated in favour of `yarp::os::Value::isVocab32()`
+* `yarp::os::Value::asVocab()` is deprecated in favour of `yarp::os::Value::asVocab32()`
+* `yarp::os::Value::makeVocab()` is deprecated in favour of `yarp::os::Value::makeVocab32()`
+* `yarp::os::Bottle::addVocab()` is deprecated in favour of `yarp::os::Bottle::addVocab32()`
+* `yarp::os::WireReader::getIsVocab()` is deprecated in favour of `yarp::os::WireReader::getIsVocab32()`
+
+
+#### `Bottle`
+
+* Added `addVocab32()` overloads accepting 4 chars and string
+
+
+#### `Value`
+
+* Added `makeVocab32()` overload accepting 4 chars
+
+
+#### `idl/WireWriter`
+
+* Add `addVocab32()` overloads accepting 4 chars and string
diff --git a/example/dev/simple_motor_client/simple_motor_client.cpp b/example/dev/simple_motor_client/simple_motor_client.cpp
diff --git a/example/dll/program.cpp b/example/dll/program.cpp
@@ -44,7 +44,7 @@ int main(int argc, char *argv[]) {
     SharedLibraryClassFactory<Hello> helloFactory2("hello","hello_there");
     //SharedLibraryClassFactory<Hello> helloFactory2("hello","hello_there");
     if (!helloFactory2.isValid()) {
-        printf("Library problem: (%s)\n", Vocab::decode(helloFactory2.getStatus()).c_str());
+        printf("Library problem: (%s)\n", Vocab32::decode(helloFactory2.getStatus()).c_str());
         return 1;
     }
 

diff --git a/example/idl/thrift/CMakeLists.txt b/example/idl/thrift/CMakeLists.txt
@@ -8,7 +8,7 @@ cmake_minimum_required(VERSION 3.12)
 project(thrift_example)
 
 find_package(YARP COMPONENTS os idl_tools REQUIRED)
-set(CMAKE_CXX_FLAGS "-Weverything -Wno-c++98-compat -Wno-padded -Wno-shadow")
+set(CMAKE_CXX_FLAGS "${YARP_CXX_FLAGS}")
 
 set(THRIFT_FILES thrift/firstInterface/PointD.thrift
                  thrift/secondInterface/demo.thrift)

diff --git a/example/idl/thrift/generated/src/PointD.cpp b/example/idl/thrift/generated/src/PointD.cpp
@@ -378,7 +378,7 @@ bool PointD::Editor::read(yarp::os::ConnectionReader& connection)
         return true;
     }
     writer.writeListHeader(1);
-    writer.writeVocab(yarp::os::createVocab('o', 'k'));
+    writer.writeVocab32('o', 'k');
     return true;
 }
 

diff --git a/example/idl/thrift/generated/src/PointDLists.cpp b/example/idl/thrift/generated/src/PointDLists.cpp
@@ -398,7 +398,7 @@ bool PointDLists::Editor::read(yarp::os::ConnectionReader& connection)
         return true;
     }
     writer.writeListHeader(1);
-    writer.writeVocab(yarp::os::createVocab('o', 'k'));
+    writer.writeVocab32('o', 'k');
     return true;
 }
 
@@ -565,8 +565,8 @@ bool PointDLists::read_firstList(yarp::os::idl::WireReader& reader)
     yarp::os::idl::WireState _etype3;
     reader.readListBegin(_etype3, _size0);
     firstList.resize(_size0);
-    for (auto& _elem4 : firstList) {
-        if (!reader.readNested(_elem4)) {
+    for (size_t _i4 = 0; _i4 < _size0; ++_i4) {
+        if (!reader.readNested(firstList[_i4])) {
             reader.fail();
             return false;
         }
@@ -600,8 +600,8 @@ bool PointDLists::nested_read_firstList(yarp::os::idl::WireReader& reader)
     yarp::os::idl::WireState _etype9;
     reader.readListBegin(_etype9, _size6);
     firstList.resize(_size6);
-    for (auto& _elem10 : firstList) {
-        if (!reader.readNested(_elem10)) {
+    for (size_t _i10 = 0; _i10 < _size6; ++_i10) {
+        if (!reader.readNested(firstList[_i10])) {
             reader.fail();
             return false;
         }
@@ -635,8 +635,8 @@ bool PointDLists::read_secondList(yarp::os::idl::WireReader& reader)
     yarp::os::idl::WireState _etype15;
     reader.readListBegin(_etype15, _size12);
     secondList.resize(_size12);
-    for (auto& _elem16 : secondList) {
-        if (!reader.readNested(_elem16)) {
+    for (size_t _i16 = 0; _i16 < _size12; ++_i16) {
+        if (!reader.readNested(secondList[_i16])) {
             reader.fail();
             return false;
         }
@@ -670,8 +670,8 @@ bool PointDLists::nested_read_secondList(yarp::os::idl::WireReader& reader)
     yarp::os::idl::WireState _etype21;
     reader.readListBegin(_etype21, _size18);
     secondList.resize(_size18);
-    for (auto& _elem22 : secondList) {
-        if (!reader.readNested(_elem22)) {
+    for (size_t _i22 = 0; _i22 < _size18; ++_i22) {
+        if (!reader.readNested(secondList[_i22])) {
             reader.fail();
             return false;
         }

diff --git a/example/idl/thrift/generated/src/PointWithQuality.cpp b/example/idl/thrift/generated/src/PointWithQuality.cpp
@@ -326,7 +326,7 @@ bool PointWithQuality::Editor::read(yarp::os::ConnectionReader& connection)
         return true;
     }
     writer.writeListHeader(1);
-    writer.writeVocab(yarp::os::createVocab('o', 'k'));
+    writer.writeVocab32('o', 'k');
     return true;
 }
 

diff --git a/example/os/browse_bottle/browse_bottle.cpp b/example/os/browse_bottle/browse_bottle.cpp
@@ -38,7 +38,7 @@ void showBottle(Bottle& anUnknownBottle, int indentation = 0)
             printf("binary blob of length %zd\n", element.asBlobLength());
             break;
         case BOTTLE_TAG_VOCAB32:
-            printf("vocab [%s]\n", yarp::os::Vocab::decode(element.asVocab()).c_str());
+            printf("vocab [%s]\n", yarp::os::Vocab32::decode(element.asVocab32()).c_str());
             break;
         default:
             if (element.isList()) {

diff --git a/example/os/database/database.cpp b/example/os/database/database.cpp
@@ -61,7 +61,7 @@ int main(int argc, char* argv[])
         tmp.add(cmd.get(1));
         std::string key = tmp.toString();
 
-        switch (yarp::os::Vocab::encode(cmd.get(0).toString())) {
+        switch (cmd.get(0).asVocab32()) {
         case VOCAB_SET:
             state.put(key, cmd.get(2));
             break;
@@ -72,7 +72,7 @@ int main(int argc, char* argv[])
             break;
         }
         Value& v = state.find(key);
-        response.addVocab(v.isNull() ? VOCAB_NOT : VOCAB_IS);
+        response.addVocab32(v.isNull() ? VOCAB_NOT : VOCAB_IS);
         response.add(cmd.get(1));
         if (!v.isNull()) {
             response.add(v);

diff --git a/example/os/queue_manager/queue_manager.cpp b/example/os/queue_manager/queue_manager.cpp
@@ -83,7 +83,7 @@ class QueueManager : public DeviceResponder
 
     void addQueue(Bottle& status)
     {
-        status.add(Value::makeVocab("q"));
+        status.addVocab32('q');
         for (const auto& entry : q) {
             std::string name = entry.name;
             status.addString(name.c_str());
@@ -116,31 +116,31 @@ class QueueManager : public DeviceResponder
                  yarp::os::Bottle& reply) override
     {
         mutex.lock();
-        switch (command.get(0).asVocab()) {
-        case yarp::os::createVocab('a', 'd', 'd'): {
+        switch (command.get(0).asVocab32()) {
+        case yarp::os::createVocab32('a', 'd', 'd'): {
             std::string name = command.get(1).asString();
             if (!name.empty()) {
                 removeName(name.c_str());
                 Entry entry;
                 entry.name = name;
                 q.push_back(entry);
                 reply.clear();
-                reply.add(Value::makeVocab("add"));
+                reply.addVocab32("add");
                 reply.addString(name.c_str());
                 addQueue(reply);
             }
         } break;
-        case yarp::os::createVocab('d', 'e', 'l'): {
+        case yarp::os::createVocab32('d', 'e', 'l'): {
             if (command.get(1).isInt32()) {
                 int idx = command.get(1).asInt32();
                 bool acted = removeName(idx);
                 if (acted) {
                     reply.clear();
-                    reply.add(Value::makeVocab("del"));
+                    reply.addVocab32("del");
                     reply.addInt32(idx);
                 } else {
                     reply.clear();
-                    reply.add(Value::makeVocab("no"));
+                    reply.addVocab32("no");
                     reply.addInt32(idx);
                 }
                 addQueue(reply);
@@ -150,18 +150,18 @@ class QueueManager : public DeviceResponder
                     bool acted = removeName(name.c_str());
                     if (acted) {
                         reply.clear();
-                        reply.add(Value::makeVocab("del"));
+                        reply.addVocab32("del");
                         reply.addString(name.c_str());
                     } else {
                         reply.clear();
-                        reply.add(Value::makeVocab("no"));
+                        reply.addVocab32("no");
                         reply.addString(name.c_str());
                     }
                     addQueue(reply);
                 }
             }
         } break;
-        case yarp::os::createVocab('l', 'i', 's', 't'): {
+        case yarp::os::createVocab32('l', 'i', 's', 't'): {
             reply.clear();
             addQueue(reply);
         } break;

diff --git a/example/remote_check/main.cpp b/example/remote_check/main.cpp
@@ -37,15 +37,15 @@ class FakeFrameGrabber : public Thread, PortReader {
         Bottle cmd, response;
         cmd.read(connection);
         printf("command received: %s\n", cmd.toString().c_str());
-        int code = cmd.get(0).asVocab();
+        int code = cmd.get(0).asVocab32();
         switch (code) {
-        case yarp::os::createVocab('s','e','t'):
+        case yarp::os::createVocab32('s','e','t'):
             printf("set command received\n");
             prop.put(cmd.get(1).asString().c_str(),cmd.get(2));
             break;
-        case yarp::os::createVocab('g','e','t'):
+        case yarp::os::createVocab32('g','e','t'):
             printf("get command received\n");
-            response.addVocab(yarp::os::createVocab('i','s'));
+            response.addVocab32('i','s');
             response.add(cmd.get(1));
             response.add(prop.find(cmd.get(1).asString().c_str()));
             break;

diff --git a/example/stressTests/testcase-client-server/client/src/client.cpp b/example/stressTests/testcase-client-server/client/src/client.cpp
@@ -76,7 +76,7 @@ void CollatzClient::run()
     while (!isStopping())
     {
         out.clear();
-        out.addVocab(COLLATZ_VOCAB_REQ_ITEM);
+        out.addVocab32(COLLATZ_VOCAB_REQ_ITEM);
         out.addInt32(replyField);
 
         fprintf(stdout,"Requiring item: %s\n",out.toString().c_str());
@@ -86,7 +86,7 @@ void CollatzClient::run()
 
         if (in.size()>0)
         {
-            if (in.get(0).asVocab()==COLLATZ_VOCAB_ITEM)
+            if (in.get(0).asVocab32()==COLLATZ_VOCAB_ITEM)
             {
                 // process the reply
                 const unsigned int num=(unsigned int)in.get(1).asInt32();

diff --git a/example/stressTests/testcase-client-server/common/vocabs.h b/example/stressTests/testcase-client-server/common/vocabs.h
@@ -12,8 +12,8 @@
 
 #include <yarp/os/Vocab.h>
 
-#define COLLATZ_VOCAB_REQ_ITEM      yarp::os::createVocab('r','e','q')
-#define COLLATZ_VOCAB_ITEM          yarp::os::createVocab('i','t','e','m')
+#define COLLATZ_VOCAB_REQ_ITEM      yarp::os::createVocab32('r','e','q')
+#define COLLATZ_VOCAB_ITEM          yarp::os::createVocab32('i','t','e','m')
 
 #define COLLATZ_EMPTY_FIELD         0
 

diff --git a/example/stressTests/testcase-client-server/server/src/server.cpp b/example/stressTests/testcase-client-server/server/src/server.cpp
@@ -73,7 +73,7 @@ void CollatzServer::run()
         {
      //       fprintf(stdout,"Request received\n");
 #if 0
-            if (in.get(0).asVocab()==COLLATZ_VOCAB_REQ_ITEM)
+            if (in.get(0).asVocab32()==COLLATZ_VOCAB_REQ_ITEM)
             {
                 unsigned int num=in.get(1).asInt32();
 
@@ -91,7 +91,7 @@ void CollatzServer::run()
             //generateItem(num,thres);
 
             out.clear();
-            out.addVocab(COLLATZ_VOCAB_ITEM);
+            out.addVocab32(COLLATZ_VOCAB_ITEM);
             out.addInt32((int)num);
             out.addInt32((int)thres);
 

diff --git a/example/yarpros_examples/src/waggler.cpp b/example/yarpros_examples/src/waggler.cpp
@@ -9,14 +9,28 @@
 
 #include <ros/ros.h>
 #include <yarpros_examples/VocabVocabDoubles.h>
-#include <stdio.h>
+#include <cstdio>
+#include <cstdint>
 
 // A few YARP defines
 #define BOTTLE_TAG_INT32 1
 #define BOTTLE_TAG_VOCAB32 (1+8)
 #define BOTTLE_TAG_FLOAT64 (2+8)
 #define BOTTLE_TAG_LIST 256
-#define yarp::os::createVocab(a,b,c,d) ((((int)(d))<<24)+(((int)(c))<<16)+(((int)(b))<<8)+((int)(a)))
+namespace yarp {
+namespace conf {
+using vocab32_t = std::int32_t;
+} // namespace conf
+namespace os {
+constexpr yarp::conf::vocab32_t createVocab32(char a, char b = 0, char c = 0, char d = 0)
+{
+    return (static_cast<yarp::conf::vocab32_t>(a))       +
+           (static_cast<yarp::conf::vocab32_t>(b) << 8)  +
+           (static_cast<yarp::conf::vocab32_t>(c) << 16) +
+           (static_cast<yarp::conf::vocab32_t>(d) << 24);
+}
+} // namespace os
+} // namespace yarp
 // YARP defines over
 
 int main(int argc, char** argv) {
@@ -38,9 +52,9 @@ int main(int argc, char** argv) {
     msg.list_tag = BOTTLE_TAG_LIST;
     msg.list_len = 3;
     msg.vocab1_tag = BOTTLE_TAG_VOCAB32;
-    msg.vocab1_val = yarp::os::createVocab('s','e','t',0);
+    msg.vocab1_val = yarp::os::createVocab32('s','e','t',0);
     msg.vocab2_tag = BOTTLE_TAG_VOCAB32;
-    msg.vocab2_val = yarp::os::createVocab('p','o','s','s');
+    msg.vocab2_val = yarp::os::createVocab32('p','o','s','s');
     msg.setpoints_tag = BOTTLE_TAG_LIST+BOTTLE_TAG_FLOAT64;
     msg.setpoints.resize(joint_count);
     for (int i=0; i<joint_count; i++) {

diff --git a/src/carriers/tcpros_carrier/yarpros.cpp b/src/carriers/tcpros_carrier/yarpros.cpp
@@ -141,7 +141,7 @@ string showFormat(Bottle& b, string root) {
         char val_name[1000];
         sprintf(tag_name,"%s%zu_tag", root.c_str(), i);
         sprintf(val_name,"%s%zu", root.c_str(), i);
-        if (v.isVocab()) {
+        if (v.isVocab32()) {
             if (!specialized) {
                 r += addPart("int32",tag_name,BOTTLE_TAG_VOCAB32,nullptr,
                              "BOTTLE_TAG_VOCAB32");
@@ -430,7 +430,7 @@ int main(int argc, char *argv[]) {
         Bottle b;
         p.read(b);
         string r;
-        if (in&&b.get(0).asVocab()==yarp::os::createVocab('r','p','c')&&b.get(1).isList()) {
+        if (in&&b.get(0).asVocab32()==yarp::os::createVocab32('r','p','c')&&b.get(1).isList()) {
 
             r = showFormat(*b.get(1).asList(),"v");
         } else {

diff --git a/src/carriers/xmlrpc_carrier/XmlRpcCarrier.cpp b/src/carriers/xmlrpc_carrier/XmlRpcCarrier.cpp
@@ -36,7 +36,7 @@ void toXmlRpcValue(Value& vin, XmlRpcValue& vout)
         vout = vin.asFloat64();
     } else if (vin.isString()) {
         vout = std::string(vin.asString());
-    } else if (vin.isVocab()) {
+    } else if (vin.isVocab32()) {
         vout = std::string("[") + std::string(vin.toString()) + "]";
     } else if (vin.isList()) {
         Bottle *bot = vin.asList();