New class for return values of interface methods.

robotology · Jan 21, 2025 · 7ca7ff6 · 7ca7ff6
1 parent aaa7d49
commit 7ca7ff6
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Showing 18 changed files with 555 additions and 101 deletions.
diff --git a/src/devices/fake/fakeSpeechTranscription/FakeSpeechTranscription.cpp b/src/devices/fake/fakeSpeechTranscription/FakeSpeechTranscription.cpp
@@ -40,31 +40,31 @@ bool FakeSpeechTranscription::close()
     return true;
 }
 
-bool FakeSpeechTranscription::setLanguage(const std::string& language)
+yarp::dev::yarp_ret_value FakeSpeechTranscription::setLanguage(const std::string& language)
 {
     m_language=language;
     yCInfo(FAKE_SPEECHTR) << "Language set to" << language;
-    return true;
+    return yarp_ret_value_ok;
 }
 
-bool FakeSpeechTranscription::getLanguage(std::string& language)
+yarp::dev::yarp_ret_value FakeSpeechTranscription::getLanguage(std::string& language)
 {
     language = m_language;
-    return true;
+    return yarp_ret_value_ok;
 }
 
-bool FakeSpeechTranscription::transcribe(const yarp::sig::Sound& sound, std::string& transcription, double& score)
+yarp::dev::yarp_ret_value FakeSpeechTranscription::transcribe(const yarp::sig::Sound& sound, std::string& transcription, double& score)
 {
     if (sound.getSamples() == 0 ||
         sound.getChannels() == 0)
     {
         yCError(FAKE_SPEECHTR) << "Invalid Sound sample received";
         transcription = "";
         score = 0.0;
-        return false;
+        return yarp_ret_value::return_code::return_value_error_method_failed;
     }
 
     transcription = "hello world";
     score = 1.0;
-    return true;
+    return yarp_ret_value_ok;
 }
diff --git a/src/devices/fake/fakeSpeechTranscription/FakeSpeechTranscription.h b/src/devices/fake/fakeSpeechTranscription/FakeSpeechTranscription.h
@@ -41,9 +41,9 @@ class FakeSpeechTranscription :
     bool open(yarp::os::Searchable& config) override;
     bool close() override;
 
-    virtual bool setLanguage(const std::string& language) override;
-    virtual bool getLanguage(std::string& language) override;
-    virtual bool transcribe(const yarp::sig::Sound& sound, std::string& transcription, double& score) override;
+    virtual yarp::dev::yarp_ret_value setLanguage(const std::string& language) override;
+    virtual yarp::dev::yarp_ret_value getLanguage(std::string& language) override;
+    virtual yarp::dev::yarp_ret_value transcribe(const yarp::sig::Sound& sound, std::string& transcription, double& score) override;
 };
 
 #endif
diff --git a/src/devices/messages/ISpeechSynthesizerMsgs/ISpeechSynthesizerMsgs.thrift b/src/devices/messages/ISpeechSynthesizerMsgs/ISpeechSynthesizerMsgs.thrift
@@ -9,40 +9,67 @@ struct yarp_sig_Sound {
   yarp.includefile = "yarp/sig/Sound.h"
 )
 
+struct yReturnValue {
+} (
+  yarp.name = "yarp::dev::yarp_ret_value"
+  yarp.includefile = "yarp/dev/ReturnValue.h"
+)
+
+struct return_set_language {
+  1: yReturnValue ret;
+}
+
+struct return_set_voice {
+  1: yReturnValue ret;
+}
+
+struct return_set_speed {
+  1: yReturnValue ret;
+}
+
+struct return_set_pitch {
+  1: yReturnValue ret;
+}
+
+struct return_synthesize {
+  1: yReturnValue ret;
+  2: yarp_sig_Sound sound;
+}
+
 struct return_get_language {
-  1: bool ret = false;
+  1: yReturnValue ret;
   2: string language;
 }
 
 struct return_get_voice {
-  1: bool ret = false;
+  1: yReturnValue ret;
   2: string voice;
 }
 
 struct return_get_speed {
-  1: bool ret = false;
+  1: yReturnValue ret;
   2: double speed;
 }
 
 struct return_get_pitch {
-  1: bool ret = false;
+  1: yReturnValue ret;
   2: double pitch;
 }
 
 struct return_synthesize {
-  1: bool ret = false;
+  1: yReturnValue ret;
   2: yarp_sig_Sound sound;
 }
 
 service ISpeechSynthesizerMsgs
 {
-    bool                set_language (1:string language);
+    return_set_language set_language (1:string language);
     return_get_language get_language ();
-    bool                set_voice    (1:string language);
+    return_set_language set_voice    (1:string language);
     return_get_voice    get_voice    ();
-    bool                set_speed    (1:double speed);
+    return_set_language set_speed    (1:double speed);
     return_get_speed    get_speed    ();
-    bool                set_pitch    (1:double pitch);
+    return_set_language set_pitch    (1:double pitch);
     return_get_pitch    get_pitch    ();
     return_synthesize   synthesize   (1:string text);
 }
diff --git a/src/devices/messages/ISpeechTranscriptionMsgs/ISpeechTranscriptionMsgs.thrift b/src/devices/messages/ISpeechTranscriptionMsgs/ISpeechTranscriptionMsgs.thrift
@@ -9,20 +9,30 @@ struct yarp_sig_Sound {
   yarp.includefile = "yarp/sig/Sound.h"
 )
 
+struct yReturnValue {
+} (
+  yarp.name = "yarp::dev::yarp_ret_value"
+  yarp.includefile = "yarp/dev/ReturnValue.h"
+)
+
+struct return_set_language {
+  1: yReturnValue ret;
+}
+
 struct return_get_language {
-  1: bool ret = false;
+  1: yReturnValue ret;
   2: string language;
 }
 
 struct return_transcribe {
-  1: bool ret = false;
+  1: yReturnValue ret;
   2: string transcription;
   3: double score;
 }
 
 service ISpeechTranscriptionMsgs
 {
-    bool                set_language (1:string language);
+    return_set_language set_language (1:string language);
     return_get_language get_language ();
     return_transcribe   transcribe   (1:yarp_sig_Sound sound);
 }
diff --git a/src/devices/networkWrappers/speechSynthesizer_nwc_yarp/SpeechSynthesizer_nwc_yarp.cpp b/src/devices/networkWrappers/speechSynthesizer_nwc_yarp/SpeechSynthesizer_nwc_yarp.cpp
@@ -13,6 +13,8 @@ namespace {
 YARP_LOG_COMPONENT(SPEECHSYNTH_NWC, "yarp.devices.speechSynthesizer_nwc_yarp")
 }
 
+using namespace yarp::dev;
+
 SpeechSynthesizer_nwc_yarp::~SpeechSynthesizer_nwc_yarp()
 {
     closeMain();
@@ -62,115 +64,116 @@ bool SpeechSynthesizer_nwc_yarp::closeMain()
     return true;
 }
 
-bool SpeechSynthesizer_nwc_yarp::setLanguage(const std::string& language)
+yarp_ret_value SpeechSynthesizer_nwc_yarp::setLanguage(const std::string& language)
 {
-    if(!m_thriftClient.set_language(language))
+    return_set_language result = m_thriftClient.set_language(language);
+    if(!result.ret)
     {
         yCError(SPEECHSYNTH_NWC) << "Error while setting language to" << language;
-        return false;
+        return result.ret;
     }
 
-    return true;
+    return result.ret;
 }
 
-bool SpeechSynthesizer_nwc_yarp::getLanguage(std::string& language)
+yarp_ret_value SpeechSynthesizer_nwc_yarp::getLanguage(std::string& language)
 {
     return_get_language result = m_thriftClient.get_language();
     if(!result.ret)
     {
         yCError(SPEECHSYNTH_NWC) << "Error while retrieving language";
-        return false;
+        return result.ret;
     }
 
     language = result.language;
 
-    return true;
+    return result.ret;
 }
 
-bool SpeechSynthesizer_nwc_yarp::setVoice(const std::string& voice_name)
+yarp_ret_value SpeechSynthesizer_nwc_yarp::setVoice(const std::string& voice_name)
 {
     if(!m_thriftClient.set_voice(voice_name))
     {
         yCError(SPEECHSYNTH_NWC) << "Error while setting voice to" << voice_name;
-        return false;
+        return result.ret;
     }
 
-    return true;
+    return result.ret;
 }
 
-bool SpeechSynthesizer_nwc_yarp::getVoice(std::string& voice_name)
+yarp_ret_value SpeechSynthesizer_nwc_yarp::getVoice(std::string& voice_name)
 {
     return_get_voice result = m_thriftClient.get_voice();
     if(!result.ret)
     {
         yCError(SPEECHSYNTH_NWC) << "Error while retrieving the voice name";
-        return false;
+        return result.ret;
     }
 
     voice_name = result.voice;
 
-    return true;
+    return result.ret;
 }
 
-bool SpeechSynthesizer_nwc_yarp::setSpeed(const double speed)
+yarp_ret_value SpeechSynthesizer_nwc_yarp::setSpeed(const double speed)
 {
     if(!m_thriftClient.set_speed(speed))
     {
         yCError(SPEECHSYNTH_NWC) << "Error while setting voice speed to" << speed;
-        return false;
+        return result.ret;
     }
 
-    return true;
+    return result.ret;
 }
 
-bool SpeechSynthesizer_nwc_yarp::getSpeed(double& speed)
+yarp_ret_value SpeechSynthesizer_nwc_yarp::getSpeed(double& speed)
 {
     return_get_speed result = m_thriftClient.get_speed();
     if(!result.ret)
     {
         yCError(SPEECHSYNTH_NWC) << "Error while retrieving the voice speed";
-        return false;
+        return result.ret;
     }
 
     speed = result.speed;
 
-    return true;
+    return result.ret;
 }
 
-bool SpeechSynthesizer_nwc_yarp::setPitch(const double pitch)
+yarp_ret_value SpeechSynthesizer_nwc_yarp::setPitch(const double pitch)
 {
     if(!m_thriftClient.set_pitch(pitch))
     {
         yCError(SPEECHSYNTH_NWC) << "Error while setting voice pitch to" << pitch;
-        return false;
+        return result.ret;
     }
 
-    return true;
+    return result.ret;
 }
 
-bool SpeechSynthesizer_nwc_yarp::getPitch(double& pitch)
+yarp_ret_value SpeechSynthesizer_nwc_yarp::getPitch(double& pitch)
 {
     return_get_pitch result = m_thriftClient.get_pitch();
     if(!result.ret)
     {
         yCError(SPEECHSYNTH_NWC) << "Error while retrieving the voice pitch";
-        return false;
+        return result.ret;
     }
 
     pitch = result.pitch;
 
-    return true;
+    return result.ret;
 }
 
-bool SpeechSynthesizer_nwc_yarp::synthesize(const std::string& text, yarp::sig::Sound& sound)
+yarp_ret_value SpeechSynthesizer_nwc_yarp::synthesize(const std::string& text, yarp::sig::Sound& sound)
 {
     return_synthesize result = m_thriftClient.synthesize(text);
     if(!result.ret)
     {
         yCError(SPEECHSYNTH_NWC) << "Error while performing voice synthesis";
-        return false;
+        return result.ret;
     }
     sound = result.sound;
 
-    return true;
+    return result.ret;
 }
diff --git a/src/devices/networkWrappers/speechSynthesizer_nwc_yarp/SpeechSynthesizer_nwc_yarp.h b/src/devices/networkWrappers/speechSynthesizer_nwc_yarp/SpeechSynthesizer_nwc_yarp.h
@@ -20,6 +20,7 @@
 #include <yarp/os/Bottle.h>
 #include <yarp/os/RpcServer.h>
 #include <yarp/dev/WrapperSingle.h>
+#include <yarp/dev/ReturnValue.h>
 #include "ISpeechSynthesizerMsgs.h"
 #include "SpeechSynthesizer_nwc_yarp_ParamsParser.h"
 
@@ -56,15 +57,15 @@ class SpeechSynthesizer_nwc_yarp :
     bool close() override;
 
     // yarp::dev::ISpeechSynthesizer
-    bool setLanguage(const std::string& language="auto") override;
-    bool getLanguage(std::string& language) override;
-    bool setVoice(const std::string& voice_name = "auto") override;
-    bool getVoice(std::string& voice_name) override;
-    bool setSpeed(const double speed=0) override;
-    bool getSpeed(double& speed) override;
-    bool setPitch(const double pitch) override;
-    bool getPitch(double& pitch) override;
-    bool synthesize(const std::string& text, yarp::sig::Sound& sound) override;
+    yarp::dev::yarp_ret_value setLanguage(const std::string& language="auto") override;
+    yarp::dev::yarp_ret_value getLanguage(std::string& language) override;
+    yarp::dev::yarp_ret_value setVoice(const std::string& voice_name = "auto") override;
+    yarp::dev::yarp_ret_value getVoice(std::string& voice_name) override;
+    yarp::dev::yarp_ret_value setSpeed(const double speed=0) override;
+    yarp::dev::yarp_ret_value getSpeed(double& speed) override;
+    yarp::dev::yarp_ret_value setPitch(const double pitch) override;
+    yarp::dev::yarp_ret_value getPitch(double& pitch) override;
+    yarp::dev::yarp_ret_value synthesize(const std::string& text, yarp::sig::Sound& sound) override;
 
     // Parameters
 private:

diff --git a/src/devices/networkWrappers/speechSynthesizer_nws_yarp/SpeechSynthesizer_nws_yarp.h b/src/devices/networkWrappers/speechSynthesizer_nws_yarp/SpeechSynthesizer_nws_yarp.h
@@ -55,13 +55,13 @@ class ISpeechSynthesizerMsgsd : public ISpeechSynthesizerMsgs
     yarp::os::Port* m_output_port{ nullptr };
 
 public:
-    virtual bool                set_language(const std::string& language) override;
+    virtual return_set_language set_language(const std::string& language) override;
     virtual return_get_language get_language() override;
-    virtual bool                set_voice(const std::string& language) override;
+    virtual return_set_voice    set_voice(const std::string& language) override;
     virtual return_get_voice    get_voice() override;
-    virtual bool                set_speed(double speed) override;
+    virtual return_set_speed    set_speed(double speed) override;
     virtual return_get_speed    get_speed() override;
-    virtual bool                set_pitch(double pitch) override;
+    virtual return_set_pitch    set_pitch(double pitch) override;
     virtual return_get_pitch    get_pitch() override;
     virtual return_synthesize   synthesize(const std::string& text) override;