Merge pull request #3169 from randaz81/returnValue_Tran

New class for return values of interface methods PART3
robotology · Jan 29, 2025 · 6970c20 · 6970c20
2 parents 331d2e0 + ebca86b
commit 6970c20
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Showing 28 changed files with 426 additions and 331 deletions.
diff --git a/src/devices/frameTransformClient/FrameTransformClient.cpp b/src/devices/frameTransformClient/FrameTransformClient.cpp
diff --git a/src/devices/frameTransformClient/FrameTransformClient.h b/src/devices/frameTransformClient/FrameTransformClient.h
@@ -106,20 +106,20 @@ class FrameTransformClient :
     bool read(yarp::os::ConnectionReader& connection) override;
 
     //IFrameTransform
-    bool     allFramesAsString(std::string &all_frames) override;
-    bool     canTransform(const std::string &target_frame, const std::string &source_frame) override;
-    bool     clear() override;
-    bool     frameExists(const std::string &frame_id) override;
-    bool     getAllFrameIds(std::vector< std::string > &ids) override;
-    bool     getParent(const std::string &frame_id, std::string &parent_frame_id) override;
-    bool     getTransform(const std::string &target_frame_id, const std::string &source_frame_id, yarp::sig::Matrix &transform) override;
-    bool     setTransform(const std::string &target_frame_id, const std::string &source_frame_id, const yarp::sig::Matrix &transform) override;
-    bool     setTransformStatic(const std::string &target_frame_id, const std::string &source_frame_id, const yarp::sig::Matrix &transform) override;
-    bool     deleteTransform(const std::string &target_frame_id, const std::string &source_frame_id) override;
-    bool     transformPoint(const std::string &target_frame_id, const std::string &source_frame_id, const yarp::sig::Vector &input_point, yarp::sig::Vector &transformed_point) override;
-    bool     transformPose(const std::string &target_frame_id, const std::string &source_frame_id, const yarp::sig::Vector &input_pose, yarp::sig::Vector &transformed_pose) override;
-    bool     transformQuaternion(const std::string &target_frame_id, const std::string &source_frame_id, const yarp::math::Quaternion &input_quaternion, yarp::math::Quaternion &transformed_quaternion) override;
-    bool     waitForTransform(const std::string &target_frame_id, const std::string &source_frame_id, const double &timeout) override;
+    yarp::dev::ReturnValue  allFramesAsString(std::string &all_frames) override;
+    yarp::dev::ReturnValue  canTransform(const std::string &target_frame, const std::string &source_frame, bool& exists) override;
+    yarp::dev::ReturnValue  clear() override;
+    yarp::dev::ReturnValue  frameExists(const std::string &frame_id, bool& exists) override;
+    yarp::dev::ReturnValue  getAllFrameIds(std::vector< std::string > &ids) override;
+    yarp::dev::ReturnValue  getParent(const std::string &frame_id, std::string &parent_frame_id) override;
+    yarp::dev::ReturnValue  getTransform(const std::string &target_frame_id, const std::string &source_frame_id, yarp::sig::Matrix &transform) override;
+    yarp::dev::ReturnValue  setTransform(const std::string &target_frame_id, const std::string &source_frame_id, const yarp::sig::Matrix &transform) override;
+    yarp::dev::ReturnValue  setTransformStatic(const std::string &target_frame_id, const std::string &source_frame_id, const yarp::sig::Matrix &transform) override;
+    yarp::dev::ReturnValue  deleteTransform(const std::string &target_frame_id, const std::string &source_frame_id) override;
+    yarp::dev::ReturnValue  transformPoint(const std::string &target_frame_id, const std::string &source_frame_id, const yarp::sig::Vector &input_point, yarp::sig::Vector &transformed_point) override;
+    yarp::dev::ReturnValue  transformPose(const std::string &target_frame_id, const std::string &source_frame_id, const yarp::sig::Vector &input_pose, yarp::sig::Vector &transformed_pose) override;
+    yarp::dev::ReturnValue  transformQuaternion(const std::string &target_frame_id, const std::string &source_frame_id, const yarp::math::Quaternion &input_quaternion, yarp::math::Quaternion &transformed_quaternion) override;
+    yarp::dev::ReturnValue  waitForTransform(const std::string &target_frame_id, const std::string &source_frame_id, const double &timeout) override;
 
     //PeriodicThread
     bool     threadInit() override;

diff --git a/src/devices/frameTransformGet/FrameTransformGetMultiplexer.cpp b/src/devices/frameTransformGet/FrameTransformGetMultiplexer.cpp
@@ -75,7 +75,7 @@ bool FrameTransformGetMultiplexer::attachAll(const yarp::dev::PolyDriverList& de
 }
 
 
-bool FrameTransformGetMultiplexer::getTransforms(std::vector<yarp::math::FrameTransform>& transforms) const
+yarp::dev::ReturnValue FrameTransformGetMultiplexer::getTransforms(std::vector<yarp::math::FrameTransform>& transforms) const
 {
     for (size_t i = 0; i < m_iFrameTransformStorageGetList.size(); i++)
     {
@@ -86,10 +86,11 @@ bool FrameTransformGetMultiplexer::getTransforms(std::vector<yarp::math::FrameTr
                               localTransform.begin(),
                               localTransform.end());
         }
-        else {
+        else
+        {
             yCError(FRAMETRANSFORMGETMULTIPLEXER) << "pointer to interface IFrameTransformStorageGet not valid";
-            return false;
+            return ReturnValue::return_code::return_value_error_method_failed;
         }
     }
-    return true;
+    return ReturnValue_ok;
 }
diff --git a/src/devices/frameTransformGet/FrameTransformGetMultiplexer.h b/src/devices/frameTransformGet/FrameTransformGetMultiplexer.h
@@ -41,7 +41,7 @@ class FrameTransformGetMultiplexer:
     bool detachAll() override;
 
     // yarp::dev::IFrameTransformStorageGet
-    bool getTransforms(std::vector<yarp::math::FrameTransform>& transforms) const override;
+    yarp::dev::ReturnValue getTransforms(std::vector<yarp::math::FrameTransform>& transforms) const override;
 
 private:
     int    m_verbose{4};

diff --git a/src/devices/frameTransformGet/FrameTransformGet_nwc_yarp.cpp b/src/devices/frameTransformGet/FrameTransformGet_nwc_yarp.cpp
@@ -8,6 +8,8 @@
 #include <yarp/os/LogComponent.h>
 #include <yarp/os/LogStream.h>
 
+using namespace yarp::dev;
+
 YARP_LOG_COMPONENT(FRAMETRANSFORMGETNWCYARP, "yarp.devices.FrameTransformGet_nwc_yarp")
 
 
@@ -136,18 +138,18 @@ bool FrameTransformGet_nwc_yarp::close()
 }
 
 
-bool FrameTransformGet_nwc_yarp::getTransforms(std::vector<yarp::math::FrameTransform>& transforms) const
+ReturnValue FrameTransformGet_nwc_yarp::getTransforms(std::vector<yarp::math::FrameTransform>& transforms) const
 {
     if (!m_streaming_port_enabled)
     {
         return_getAllTransforms retrievedFromRPC = m_frameTransformStorageGetRPC.getTransformsRPC();
         if(!retrievedFromRPC.retvalue)
         {
             yCError(FRAMETRANSFORMGETNWCYARP, "Unable to get transformations");
-            return false;
+            return retrievedFromRPC.retvalue;
         }
         transforms = retrievedFromRPC.transforms_list;
-        return true;
+        return retrievedFromRPC.retvalue;
     }
     else
     {
@@ -156,10 +158,10 @@ bool FrameTransformGet_nwc_yarp::getTransforms(std::vector<yarp::math::FrameTran
             return_getAllTransforms retrievedFromSteaming;
             m_dataReader->getData(retrievedFromSteaming);
             transforms = retrievedFromSteaming.transforms_list;
-            return true;
+            return retrievedFromSteaming.retvalue;
         }
         yCError(FRAMETRANSFORMGETNWCYARP, "Unable to get transformations");
-        return false;
+        return yarp::dev::ReturnValue::return_code::return_value_error_generic;
     }
 }
 

diff --git a/src/devices/frameTransformGet/FrameTransformGet_nwc_yarp.h b/src/devices/frameTransformGet/FrameTransformGet_nwc_yarp.h
@@ -126,7 +126,7 @@ class FrameTransformGet_nwc_yarp:
     bool  close() override;
 
     // yarp::dev::IFrameTransformStorageGet
-    bool getTransforms(std::vector<yarp::math::FrameTransform>& transforms) const override;
+    yarp::dev::ReturnValue getTransforms(std::vector<yarp::math::FrameTransform>& transforms) const override;
 
 private:
     int            m_verbose{4};

diff --git a/src/devices/frameTransformGet/FrameTransformGet_nws_yarp.cpp b/src/devices/frameTransformGet/FrameTransformGet_nws_yarp.cpp
@@ -7,7 +7,9 @@
 
 #include <yarp/os/LogComponent.h>
 #include <yarp/os/LogStream.h>
+#include <yarp/dev/ReturnValue.h>
 
+using namespace yarp::dev;
 
 YARP_LOG_COMPONENT(FRAMETRANSFORMGETNWSYARP, "yarp.devices.FrameTransformGet_nws_yarp")
 
@@ -143,26 +145,37 @@ bool FrameTransformGet_nws_yarp::attach( yarp::dev::PolyDriver* deviceToAttach)
 return_getAllTransforms FrameTransformGet_nws_yarp::getTransformsRPC()
 {
     std::lock_guard<std::mutex> m_lock(m_mutex);
-    if (m_iFrameTransformStorageGet != nullptr) {
+
+    return_getAllTransforms ret;
+    if (m_iFrameTransformStorageGet != nullptr)
+    {
         std::vector<yarp::math::FrameTransform> localTransform;
-        if (m_iFrameTransformStorageGet->getTransforms(localTransform)) {
-            return return_getAllTransforms(true, localTransform);
+        if (m_iFrameTransformStorageGet->getTransforms(localTransform))
+        {
+            ret.transforms_list = localTransform;
+            ret.retvalue = ReturnValue_ok;
+            return ret;
         }
     }
     yCError(FRAMETRANSFORMGETNWSYARP) << "error getting transform from interface";
-    return return_getAllTransforms(false, std::vector<yarp::math::FrameTransform>());;
+    ret.transforms_list = std::vector<yarp::math::FrameTransform>();
+    ret.retvalue = ReturnValue::return_code::return_value_error_method_failed;
+    return ret;
 
 }
 
 void FrameTransformGet_nws_yarp::run()
 {
     std::lock_guard<std::mutex> m_lock(m_mutex);
+
     if (m_iFrameTransformStorageGet != nullptr)
     {
         std::vector<yarp::math::FrameTransform> localTransform;
         if (m_iFrameTransformStorageGet->getTransforms(localTransform))
         {
-            return_getAllTransforms rgt(true, localTransform);
+            return_getAllTransforms rgt;
+            rgt.retvalue = ReturnValue_ok;
+            rgt.transforms_list = localTransform;
             m_streaming_port.write(rgt);
         }
     }

diff --git a/src/devices/frameTransformSet/FrameTransformSetMultiplexer.cpp b/src/devices/frameTransformSet/FrameTransformSetMultiplexer.cpp
@@ -78,38 +78,40 @@ bool FrameTransformSetMultiplexer::attachAll(const yarp::dev::PolyDriverList& de
 }
 
 
-bool FrameTransformSetMultiplexer::setTransforms(const std::vector<yarp::math::FrameTransform>& transforms)
+yarp::dev::ReturnValue FrameTransformSetMultiplexer::setTransforms(const std::vector<yarp::math::FrameTransform>& transforms)
 {
     for (size_t i = 0; i < m_iFrameTransformStorageSetList.size(); i++)
     {
         if (m_iFrameTransformStorageSetList[i] != nullptr) {
             m_iFrameTransformStorageSetList[i]->setTransforms(transforms);
         }
-        else {
+        else
+        {
             yCError(FRAMETRANSFORMSETMULTIPLEXER) << "pointer to interface IFrameTransformStorageSet not valid";
-            return false;
+            return ReturnValue::return_code::return_value_error_method_failed;
         }
     }
-    return true;
+    return ReturnValue_ok;
 }
 
 
-bool FrameTransformSetMultiplexer::setTransform(const yarp::math::FrameTransform& transform)
+yarp::dev::ReturnValue FrameTransformSetMultiplexer::setTransform(const yarp::math::FrameTransform& transform)
 {
     for (size_t i = 0; i < m_iFrameTransformStorageSetList.size(); i++)
     {
         if (m_iFrameTransformStorageSetList[i] != nullptr) {
             m_iFrameTransformStorageSetList[i]->setTransform(transform);
         }
-        else {
+        else
+        {
             yCError(FRAMETRANSFORMSETMULTIPLEXER) << "pointer to interface IFrameTransformStorageSet not valid";
-            return false;
+            return ReturnValue::return_code::return_value_error_method_failed;
         }
     }
-    return true;
+    return ReturnValue_ok;
 }
 
-bool FrameTransformSetMultiplexer::deleteTransform(std::string t1, std::string t2)
+yarp::dev::ReturnValue FrameTransformSetMultiplexer::deleteTransform(std::string t1, std::string t2)
 {
     //stopThreads();
 
@@ -121,18 +123,21 @@ bool FrameTransformSetMultiplexer::deleteTransform(std::string t1, std::string t
         {
             frame_deleted &= m_iFrameTransformStorageSetList[i]->deleteTransform(t1,t2);
         }
-        else {
+        else
+        {
             yCError(FRAMETRANSFORMSETMULTIPLEXER) << "pointer to interface IFrameTransformStorageSet not valid";
-            return false;
+            return ReturnValue::return_code::return_value_error_method_failed;
         }
     }
 
     //startThreads();
 
-    return frame_deleted;
+    if (frame_deleted) { return ReturnValue_ok; }
+
+    return ReturnValue::return_code::return_value_error_method_failed;
 }
 
-bool FrameTransformSetMultiplexer::clearAll()
+yarp::dev::ReturnValue FrameTransformSetMultiplexer::clearAll()
 {
     //stopThreads();
 
@@ -141,15 +146,16 @@ bool FrameTransformSetMultiplexer::clearAll()
         if (m_iFrameTransformStorageSetList[i] != nullptr) {
             m_iFrameTransformStorageSetList[i]->clearAll();
         }
-        else {
+        else
+        {
             yCError(FRAMETRANSFORMSETMULTIPLEXER) << "pointer to interface IFrameTransformStorageSet not valid";
-            return false;
+            return ReturnValue::return_code::return_value_error_method_failed;
         }
     }
 
     //startThreads();
 
-    return true;
+    return ReturnValue_ok;
 }
 
 void FrameTransformSetMultiplexer::stopThreads()

diff --git a/src/devices/frameTransformSet/FrameTransformSetMultiplexer.h b/src/devices/frameTransformSet/FrameTransformSetMultiplexer.h
@@ -41,10 +41,10 @@ class FrameTransformSetMultiplexer:
     bool detachAll() override;
 
     // yarp::dev::IFrameTransformStorageSet
-    bool setTransform(const yarp::math::FrameTransform& transform) override;
-    bool setTransforms(const std::vector<yarp::math::FrameTransform>& transforms) override;
-    virtual bool deleteTransform(std::string t1, std::string t2) override;
-    virtual bool clearAll() override;
+    yarp::dev::ReturnValue setTransform(const yarp::math::FrameTransform& transform) override;
+    yarp::dev::ReturnValue setTransforms(const std::vector<yarp::math::FrameTransform>& transforms) override;
+    yarp::dev::ReturnValue deleteTransform(std::string t1, std::string t2) override;
+    yarp::dev::ReturnValue clearAll() override;
 
     void startThreads();
     void stopThreads();

diff --git a/src/devices/frameTransformSet/FrameTransformSet_nwc_yarp.cpp b/src/devices/frameTransformSet/FrameTransformSet_nwc_yarp.cpp
@@ -91,46 +91,54 @@ bool FrameTransformSet_nwc_yarp::close()
     return true;
 }
 
-bool FrameTransformSet_nwc_yarp::setTransform(const yarp::math::FrameTransform& transform)
+ReturnValue FrameTransformSet_nwc_yarp::setTransform(const yarp::math::FrameTransform& transform)
 {
     std::lock_guard <std::mutex> lg(m_pd_mutex);
-    if(!m_setRPC.setTransformRPC(transform))
+
+    auto ret = m_setRPC.setTransformRPC(transform);
+    if(!ret)
     {
         yCError(FRAMETRANSFORMSETNWCYARP, "Unable to set transformation");
-        return false;
+        return ret;
     }
-    return true;
+    return ret;
 }
 
-bool FrameTransformSet_nwc_yarp::setTransforms(const std::vector<yarp::math::FrameTransform>& transforms)
+ReturnValue FrameTransformSet_nwc_yarp::setTransforms(const std::vector<yarp::math::FrameTransform>& transforms)
 {
     std::lock_guard <std::mutex> lg(m_pd_mutex);
-    if(!m_setRPC.setTransformsRPC(transforms))
+
+    auto ret = m_setRPC.setTransformsRPC(transforms);
+    if(!ret)
     {
         yCError(FRAMETRANSFORMSETNWCYARP, "Unable to set transformations");
-        return false;
+        return ret;
     }
-    return true;
+    return ret;
 }
 
-bool FrameTransformSet_nwc_yarp::deleteTransform(std::string t1, std::string t2)
+ReturnValue FrameTransformSet_nwc_yarp::deleteTransform(std::string t1, std::string t2)
 {
     std::lock_guard <std::mutex> lg(m_pd_mutex);
-    if (!m_setRPC.deleteTransformRPC(t1,t2))
+
+    auto ret = m_setRPC.deleteTransformRPC(t1, t2);
+    if (!ret)
     {
         yCError(FRAMETRANSFORMSETNWCYARP, "Unable to delete transformation");
-        return false;
+        return ret;
     }
-    return true;
+    return ret;
 }
 
-bool FrameTransformSet_nwc_yarp::clearAll()
+ReturnValue FrameTransformSet_nwc_yarp::clearAll()
 {
     std::lock_guard <std::mutex> lg(m_pd_mutex);
-    if (!m_setRPC.clearAllRPC())
+
+    auto ret = m_setRPC.clearAllRPC();
+    if (!ret)
     {
         yCError(FRAMETRANSFORMSETNWCYARP, "Unable to clear all transformations");
-        return false;
+        return ret;
     }
-    return true;
+    return ret;
 }
diff --git a/src/devices/frameTransformSet/FrameTransformSet_nwc_yarp.h b/src/devices/frameTransformSet/FrameTransformSet_nwc_yarp.h
@@ -80,10 +80,10 @@ class FrameTransformSet_nwc_yarp :
     bool close() override;
 
     //FrameTransformStorageSetRPC functions
-    bool setTransforms(const std::vector<yarp::math::FrameTransform>& transforms) override;
-    bool setTransform(const yarp::math::FrameTransform& transform) override;
-    bool deleteTransform(std::string t1, std::string t2) override;
-    bool clearAll() override;
+    yarp::dev::ReturnValue setTransforms(const std::vector<yarp::math::FrameTransform>& transforms) override;
+    yarp::dev::ReturnValue setTransform(const yarp::math::FrameTransform& transform) override;
+    yarp::dev::ReturnValue deleteTransform(std::string t1, std::string t2) override;
+    yarp::dev::ReturnValue clearAll() override;
 
 private:
     mutable std::mutex          m_trf_mutex;