Merge branch 'serialport'

.appveyor.yml

@@ -107,7 +107,7 @@ install:
             Start-FileDownload "$env:YARP_DOWNLOAD_URL" -FileName "$env:DOWNLOADS_PATH\yarp.zip"
             7z x -y -o"$env:DOWNLOADS_PATH" "$env:DOWNLOADS_PATH\yarp.zip"
             $env:yarp_temp = "$env:DOWNLOADS_PATH\yarp-$env:YARP_LATEST"
-            cmake -H"$env:yarp_temp" -B"$env:yarp_temp\build" -A"$env:PLATFORM" -DCMAKE_INSTALL_PREFIX:PATH=C:\YARP
+            cmake -H"$env:yarp_temp" -B"$env:yarp_temp\build" -A"$env:PLATFORM" -DCMAKE_INSTALL_PREFIX:PATH=C:\YARP -DENABLE_yarpmod_serialport:BOOL=ON
             cmake --build "$env:yarp_temp\build" --config "$env:CONFIGURATION" --target INSTALL -- /m /v:m
             Set-Content C:\YARP\.version "$env:YARP_LATEST"
         }

.travis.yml

@@ -33,9 +33,6 @@ cache:
 addons:
   apt:
     packages:
-    # device deps
-    - libserial-dev
-    - libboost-dev # libserial-dev dependency (packaging bug on Xenial and later)
     - swig # bindings
     - lcov # code coverage
 
@@ -72,7 +69,7 @@ install:
     --package-name YARP
     --repo-url https://github.com/robotology/yarp
     --repo-checkout "${ROBOTOLOGY_CHECKOUT:-$YARP_CHECKOUT}"
-    --additional-cmake-options "-DSKIP_ACE:BOOL=ON"
+    --additional-cmake-options "-DENABLE_yarpmod_serialport:BOOL=ON"
     --prepend-to-linker-path lib
     --additional-export-paths "YARP_DATA_DIRS;share/yarp"
 

CMakeLists.txt

@@ -46,7 +46,6 @@ find_package(YCM 0.11 REQUIRED)
 find_package(YARP 3.5 REQUIRED COMPONENTS os dev)
 
 # Soft dependencies.
-find_package(LibSerial 0.6 QUIET)
 find_package(wiringPi QUIET)
 find_package(SWIG 3.0.12 QUIET)
 find_package(Doxygen QUIET)

doc/yarp-devices-install.md

@@ -23,9 +23,6 @@ mkdir -p repos && cd repos  # make $HOME/repos if it doesn't exist; then, enter
 git clone https://github.com/asrob-uc3m/wiringPi # Mirror of defunct git://git.drogon.net/wiringPi
 cd wiringPi
 ./build # May require sudo
-# libserial required for several devices
-sudo apt install --no-install-recommends libboost-dev # libserial, next, requires boost/scoped_ptr.hpp
-sudo apt install libserial-dev
 # Now our repo
 git clone https://github.com/asrob-uc3m/yarp-devices.git  # Download yarp-devices software from the repository
 mkdir -p yarp-devices/build && cd yarp-devices/build && cmake ..  # Configure the yarp-devices software

libraries/YarpPlugins/EcroPwmController/CMakeLists.txt

@@ -2,17 +2,12 @@
 # CopyPolicy: released under the terms of the LGPLv2.1, see LICENSE at project root.
 # URL: https://github.com/asrob-uc3m/yarp-devices
 
-if(NOT LibSerial_FOUND AND (NOT DEFINED ENABLE_EcroPwmController OR ENABLE_EcroPwmController))
-    message(WARNING "LibSerial package not found, disabling EcroPwmController device")
-endif()
-
 yarp_prepare_plugin(EcroPwmController
                     CATEGORY device
                     TYPE asrob::EcroPwmController
                     INCLUDE EcroPwmController.hpp
                     EXTRA_CONFIG WRAPPER=RobotServer
-                    DEFAULT ${_rd_packaging_defaults}
-                    DEPENDS LibSerial_FOUND)
+                    DEFAULT ${_rd_packaging_defaults})
 
 if(NOT SKIP_EcroPwmController)
 
@@ -24,16 +19,11 @@ if(NOT SKIP_EcroPwmController)
 
     target_link_libraries(EcroPwmController YARP::YARP_os
                                             YARP::YARP_dev
-                                            LibSerial::serial
                                             ASROB::RobotInterfaces)
 
     yarp_install(TARGETS EcroPwmController
                  LIBRARY DESTINATION ${ASROB-YARP-DEVICES_DYNAMIC_PLUGINS_INSTALL_DIR}
                  ARCHIVE DESTINATION ${ASROB-YARP-DEVICES_STATIC_PLUGINS_INSTALL_DIR}
                  YARP_INI DESTINATION ${ASROB-YARP-DEVICES_PLUGIN_MANIFESTS_INSTALL_DIR})
 
-else()
-
-    set(ENABLE_EcroPwmController OFF CACHE BOOL "Enable/disable EcroPwmController device" FORCE)
-
 endif()

libraries/YarpPlugins/EcroPwmController/DeviceDriverImpl.cpp

@@ -3,6 +3,7 @@
 #include "EcroPwmController.hpp"
 
 #include <yarp/os/LogStream.h>
+#include <yarp/os/Property.h>
 
 #include "LogComponent.hpp"
 
@@ -12,38 +13,32 @@ constexpr auto DEFAULT_SERIAL_PORT_NAME = "/dev/ttyUSB0";
 
 bool EcroPwmController::open(yarp::os::Searchable& config)
 {
-    std::string serialPortName = config.check("serialPortName", yarp::os::Value(DEFAULT_SERIAL_PORT_NAME), "serialPortName").asString();
+    auto serialPortName = config.check("serialPortName", yarp::os::Value(DEFAULT_SERIAL_PORT_NAME), "serialPortName").asString();
 
-    yCInfo(EPC) << "EcroPwmController options:";
-    yCInfo(EPC) << "--serialPortName" << serialPortName;
+    yarp::os::Property serialDeviceOptions {
+        {"device", yarp::os::Value("serialport")},
+        {"comport", yarp::os::Value(serialPortName)},
+        {"baudrate", yarp::os::Value(57600)},
+        {"paritymode", yarp::os::Value("NONE")},
+        {"databits", yarp::os::Value(8)}
+    };
 
-    yCDebug(EPC) << "Init Serial Port";
-    serialPort = new SerialPort(serialPortName); // "/dev/ttyUSB0"
-
-    try
+    if (!serialDevice.open(serialDeviceOptions))
     {
-        serialPort->Open(SerialPort::BAUD_57600, SerialPort::CHAR_SIZE_8,
-                         SerialPort::PARITY_NONE, SerialPort::STOP_BITS_1,
-                         SerialPort::FLOW_CONTROL_NONE);
+        yCError(EPC) << "Could not open serial device";
+        return false;
     }
-    catch (SerialPort::OpenFailed e)
+
+    if (!serialDevice.view(serial))
     {
-        yCError(EPC) << "Error opening the serial port" << serialPortName;
+        yCError(EPC) << "Could not view serial interface";
         return false;
     }
 
-    yCInfo(EPC) << "Ok Serial Port:" << serialPortName << "(without check)";
-
-    leftMotorVelocity = leftMotorInitial;
-    rightMotorVelocity = rightMotorInitial;
-
     return true;
 }
 
 bool EcroPwmController::close()
 {
-    serialPort->Close();
-    delete serialPort;
-    serialPort = nullptr;
-    return true;
+    return serialDevice.close();
 }

libraries/YarpPlugins/EcroPwmController/EcroPwmController.cpp

@@ -8,6 +8,15 @@
 
 using namespace asrob;
 
+constexpr int leftMotorRangeMin = 0;
+constexpr int leftMotorRangeMax = 90;
+
+constexpr int rightMotorRangeMin = 0;
+constexpr int rightMotorRangeMax = 90;
+
+constexpr int leftMotorOffset = 90;
+constexpr int rightMotorOffset = 90;
+
 bool EcroPwmController::moveForward(double value)
 {
     yCDebug(EPC) << "moveForward" << value;
@@ -67,20 +76,13 @@ bool EcroPwmController::stopCameraMovement()
 
 bool EcroPwmController::sendCurrentJointValues()
 {
-    if (serialPort->IsOpen())
-    {
-        SerialPort::DataBuffer outputBuff;
-        outputBuff.push_back(0x50); //-- 0x50 -> Set pos to all joints
+    char msg[] = {0x50, static_cast<char>(leftMotorVelocity), static_cast<char>(rightMotorVelocity)};
 
-        outputBuff.push_back((char) leftMotorVelocity);
-        outputBuff.push_back((char) rightMotorVelocity);
-        serialPort->Write( outputBuff );
-
-        return true;
-    }
-    else
+    if (!serial->send(msg, sizeof(msg)))
     {
-        yCWarning(EPC) << "Robot could not send joints (because it is not connected)";
+        yCError(EPC) << "Error sending message";
         return false;
     }
+
+    return true;
 }

libraries/YarpPlugins/EcroPwmController/EcroPwmController.hpp

@@ -4,8 +4,8 @@
 #define __ECRO_PWM_CONTROLLER__
 
 #include <yarp/dev/DeviceDriver.h>
-
-#include <SerialStream.h>
+#include <yarp/dev/ISerialDevice.h>
+#include <yarp/dev/PolyDriver.h>
 
 #include "IRobotManager.hpp"
 
@@ -37,22 +37,13 @@ class EcroPwmController : public yarp::dev::DeprecatedDeviceDriver,
     bool close() override;
 
 private:
-    SerialPort * serialPort;
     bool sendCurrentJointValues();
 
-    int leftMotorVelocity;
-    int rightMotorVelocity;
-
-    static const int leftMotorRangeMin = 0;
-    static const int leftMotorRangeMax = 90;
-    static const int leftMotorInitial = 0;
-
-    static const int rightMotorRangeMin = 0;
-    static const int rightMotorRangeMax = 90;
-    static const int rightMotorInitial = 0;
+    yarp::dev::PolyDriver serialDevice;
+    yarp::dev::ISerialDevice * serial;
 
-    static const int leftMotorOffset = 90;
-    static const int rightMotorOffset = 90;
+    int leftMotorVelocity {0};
+    int rightMotorVelocity {0};
 };
 
 } // namespace asrob

libraries/YarpPlugins/EcroWheelController/CMakeLists.txt

@@ -2,17 +2,12 @@
 # CopyPolicy: released under the terms of the LGPLv2.1, see LICENSE at project root.
 # URL: https://github.com/asrob-uc3m/yarp-devices
 
-if(NOT LibSerial_FOUND AND (NOT DEFINED ENABLE_EcroWheelController OR ENABLE_EcroWheelController))
-    message(WARNING "LibSerial package not found, disabling EcroWheelController device")
-endif()
-
 yarp_prepare_plugin(EcroWheelController
                     CATEGORY device
                     TYPE asrob::EcroWheelController
                     INCLUDE EcroWheelController.hpp
                     EXTRA_CONFIG WRAPPER=RobotServer
-                    DEFAULT ${_rd_packaging_defaults}
-                    DEPENDS LibSerial_FOUND)
+                    DEFAULT ${_rd_packaging_defaults})
 
 if(NOT SKIP_EcroWheelController)
 
@@ -24,16 +19,11 @@ if(NOT SKIP_EcroWheelController)
 
     target_link_libraries(EcroWheelController YARP::YARP_os
                                               YARP::YARP_dev
-                                              LibSerial::serial
                                               ASROB::RobotInterfaces)
 
     yarp_install(TARGETS EcroWheelController
                  LIBRARY DESTINATION ${ASROB-YARP-DEVICES_DYNAMIC_PLUGINS_INSTALL_DIR}
                  ARCHIVE DESTINATION ${ASROB-YARP-DEVICES_STATIC_PLUGINS_INSTALL_DIR}
                  YARP_INI DESTINATION ${ASROB-YARP-DEVICES_PLUGIN_MANIFESTS_INSTALL_DIR})
 
-else()
-
-    set(ENABLE_EcroWheelController OFF CACHE BOOL "Enable/disable EcroWheelController device" FORCE)
-
 endif()

libraries/YarpPlugins/EcroWheelController/DeviceDriverImpl.cpp

@@ -5,7 +5,7 @@
 #include "EcroWheelController.hpp"
 
 #include <yarp/os/LogStream.h>
-#include <yarp/os/Time.h>
+#include <yarp/os/Property.h>
 
 #include "LogComponent.hpp"
 
@@ -15,41 +15,31 @@ constexpr auto DEFAULT_SERIAL_PORT_NAME = "/dev/ttyUSB0";
 
 bool EcroWheelController::open(yarp::os::Searchable& config)
 {
-    std::string serialPortName = config.check("serialPortName", yarp::os::Value(DEFAULT_SERIAL_PORT_NAME), "serialPortName").asString();
+    auto serialPortName = config.check("serialPortName", yarp::os::Value(DEFAULT_SERIAL_PORT_NAME), "serialPortName").asString();
 
-    yCInfo(EWC) << "EcroWheelController options:";
-    yCInfo(EWC) << "--serialPortName" << serialPortName;
+    yarp::os::Property serialDeviceOptions {
+        {"device", yarp::os::Value("serialport")},
+        {"comport", yarp::os::Value(serialPortName)},
+        {"baudrate", yarp::os::Value(19200)},
+        {"paritymode", yarp::os::Value("NONE")},
+        {"databits", yarp::os::Value(8)}
+    };
 
-    yCDebug(EWC) << "Init Serial Port";
-    serialPort = new SerialPort(serialPortName); // "/dev/ttyUSB0"
-
-    try
-    {
-        serialPort->Open(SerialPort::BAUD_19200, SerialPort::CHAR_SIZE_8,
-                         SerialPort::PARITY_NONE, SerialPort::STOP_BITS_1,
-                         SerialPort::FLOW_CONTROL_NONE);
-    }
-    catch (SerialPort::OpenFailed e)
+    if (!serialDevice.open(serialDeviceOptions))
     {
-        yCError(EWC) << "Error opening the serial port" << serialPortName;
+        yCError(EWC) << "Could not open serial device";
         return false;
     }
 
-    if (serialPort->IsOpen())
+    if (!serialDevice.view(serial))
     {
-        SerialPort::DataBuffer outputBuff;
-        outputBuff.push_back(0x32); // Invert motor 1
-        serialPort->Write( outputBuff );
-        yarp::os::Time::delay(0.5);
-
-        outputBuff.clear();
-        outputBuff.push_back(0x28); // Este ambos, 29 limpiaria 1, 30 el 2 ?
-        serialPort->Write( outputBuff );
-        yarp::os::Time::delay(0.5);
+        yCError(EWC) << "Could not view serial interface";
+        return false;
     }
-    else
+
+    if (!stopMovement())
     {
-        yWarning(EWC) << "Robot could not revert wheel command (because it is not connected)";
+        yCError(EWC) << "Could not stop movement during initial config";
         return false;
     }
 
@@ -58,8 +48,5 @@ bool EcroWheelController::open(yarp::os::Searchable& config)
 
 bool EcroWheelController::close()
 {
-    serialPort->Close();
-    delete serialPort;
-    serialPort = nullptr;
-    return true;
+    return serialDevice.close();
 }