Merge pull request #1737 from drdanz/cleanup_pre_const

Cleanup

doc/cmd_yarpdev.dox

@@ -8,13 +8,13 @@ them for network visibility.  This is useful in cases where you
 wish to control devices on remote machines.
 
 The devices available to "yarpdev" depend on the options set
-when compiling YARP.  To choose the devices you want compiled,
-run "ccmake ." (on UNIX) or "cmake" (on Windows) on the
-root directory of the YARP source code and select the
-"YARP_COMPILE_DEVICE_PLUGINS" option.
-After you configure, new "ENABLE_*"
-options will appear that permit you to choose what devices you want
-to try and compile.  Often this will require that you install
+when compiling YARP.
+The most important devices are enabled by default.
+To disable all device plugins, you can set to `OFF` the
+`YARP_COMPILE_DEVICE_PLUGINS` option in CMake.
+You can select and deselect each device using the relative `ENABLE_*`
+options in CMake.
+Often this will require that you install
 particular libraries or operating system device drivers.
 
 

doc/release/v3_0_0.md

@@ -180,12 +180,15 @@ Important Changes
   `IPositionDirectRaw::setPositionsRaw(const int, const int*, const double*)`.
 * `IPositionDirect::setPositions(const int, const int*, double*)` became
   `IPositionDirect::setPositions(const int, const int*, const double*)`(#1351).
+* The file `yarp/dev/ControlBoardInterfacesImpl.inl` was renamed
+  `yarp/dev/ControlBoardInterfacesImpl-inl.h`
 
 #### `YARP_sig`
 
 * The file `yarp/sig/IplImage.h` is deprecated, use opencv headers instead.
 * Added the `yarp::sig::PointCloud` class. See the documentation for details.
-* if libjpeg is found, namespace yarp::sig::file implements a write method to save jpeg images.
+* if libjpeg is found, namespace yarp::sig::file implements a write method to
+  save jpeg images.
 
 #### `YARP_manager`
 
@@ -312,8 +315,12 @@ New Features
 
 #### IMotorEncoders interface bindings
 
-* `IMotorEncoders` interface methods can be used to directly monitor the motor shaft position and speed or even to control the motor positions individually when estimating coupled motors friction parameters.
-* Added bindings for the interface IMotorEncoders. The change extends the `yarp::dev::PolyDriver` and the `yarp::dev::IMotorEncoders` classes.
+* `IMotorEncoders` interface methods can be used to directly monitor the motor
+  shaft position and speed or even to control the motor positions individually
+  when estimating coupled motors friction parameters.
+* Added bindings for the interface IMotorEncoders.
+  The change extends the `yarp::dev::PolyDriver` and the
+  `yarp::dev::IMotorEncoders` classes.
 
 
 Bug Fixes

example/game/game_client/keyboard.cpp

@@ -22,12 +22,12 @@ using namespace yarp;
 static String dir = "right";
 static String msg = "";
 static int mode = 0;
-static Semaphore mutex(1);
+static Mutex mutex();
 
 String getPreparation() {
-    mutex.wait();
+    mutex.lock();
     String result = msg;
-    mutex.post();
+    mutex.unlock();
     return result;
 }
 
@@ -121,11 +121,11 @@ String getCommand() {
     default:
         //cprintf("KEY is %d\n", key);
         if (mode==0) {
-            mutex.wait();
+            mutex.lock();
             if (key>=32 && key<=126) {
                 msg += ((char)key);
             }
-            mutex.post();
+            mutex.unlock();
         }
         mode = 0;
         break;

example/game/game_client/main.cpp

@@ -35,15 +35,15 @@ String pad(const String& src, int len = 70) {
 	return result;
 }
 
-Semaphore broadcastMutex(1);
+Mutex broadcastMutex();
 String broadcast = "";
 
 class BroadcastHandler : public TypedReaderCallback<Bottle> {
 public:
     virtual void onRead(Bottle& bot) {
-        broadcastMutex.wait();
+        broadcastMutex.lock();
         broadcast = bot.toString().c_str();
-        broadcastMutex.post();
+        broadcastMutex.unlock();
     }
 } handler;
 
@@ -54,9 +54,9 @@ class UpdateThread : public Thread {
     Port p;
     String name;
     PortReaderBuffer<Bottle> reader;
-    Semaphore mutex;
+    Mutex mutex;
 
-    UpdateThread() : mutex(1) {
+    UpdateThread() : mutex() {
     }
 
     void setName(const char *name) {
@@ -87,13 +87,13 @@ class UpdateThread : public Thread {
     void show() {
         int xx = 0;
         int yy = 1;
-        mutex.wait();
+        mutex.lock();
         Bottle send("look");
         Property prop;
         p.write(send,prop);
         gotoxy(0,0);
         Bottle& map = prop.findGroup("look").findGroup("map");
-        broadcastMutex.wait();
+        broadcastMutex.lock();
         String prep = getPreparation().c_str();
         if (prep.length()>0) {
             long int t = (long int)Time::now();
@@ -106,7 +106,7 @@ class UpdateThread : public Thread {
                 pad("").c_str(),
                 pad(prep).c_str(),
                 pad(broadcast).c_str());
-        broadcastMutex.post();
+        broadcastMutex.unlock();
         int i;
         for (i=1; i<map.size(); i++) {
             cprintf("  %s\n", map.get(i).asString().c_str());
@@ -135,13 +135,13 @@ class UpdateThread : public Thread {
         }
 
         gotoxy(xx,yy);
-        mutex.post();
+        mutex.unlock();
     }
 
     void apply(const String& str) {
         Bottle send, recv;
         send.fromString(str.c_str());
-        mutex.wait();
+        mutex.lock();
         p.write(send,recv);
         if (recv.get(0).asString()=="error") {
             cprintf("PROBLEM:\n");
@@ -150,7 +150,7 @@ class UpdateThread : public Thread {
             refresh();
             Time::delay(2);
         }
-        mutex.post();
+        mutex.unlock();
         //show();
     }
 
@@ -159,9 +159,9 @@ class UpdateThread : public Thread {
             Time::delay(0.25);
             show();
         }
-        mutex.wait();
+        mutex.lock();
         p.close();
-        mutex.post();
+        mutex.unlock();
     }
 
 } update_thread;

example/game/game_clientmt/main.cpp

@@ -55,7 +55,7 @@ class MyPlayer: public PeriodicThread
 
     void doInit()
     {
-        mutex.wait();
+        mutex.lock();
 
         printf("Connecting with game server\n");
         Network::connect(port.getName(), SERVER_NAME);
@@ -64,30 +64,30 @@ class MyPlayer: public PeriodicThread
 
         randengine.seed(0);
 
-        mutex.post();
+        mutex.unlock();
     }
 
     // void doLoop()
     void run()
     {
-        mutex.wait();
+        mutex.lock();
 
         look();
         rndMove();
         if(shooterF)
             rndShoot();
 
-        mutex.post();
+        mutex.unlock();
     }
 
     void doRelease()
     {
-        mutex.wait();
+        mutex.lock();
 
         printf("Disconnecting\n");
         Network::disconnect(port.getName(), SERVER_NAME);
 
-        mutex.post();
+        mutex.unlock();
     }
 
     void look()
@@ -159,38 +159,38 @@ class MyPlayer: public PeriodicThread
 
     void getWorld(Bottle &w)
     {
-        mutex.wait();
+        mutex.lock();
 
         w=world;
 
-        mutex.post();
+        mutex.unlock();
     }
 
     int getLife()
     {
         int ret;
-        mutex.wait();
+        mutex.lock();
         ret=myLife;
-        mutex.post();
+        mutex.unlock();
 
         return ret;
     }
 
     int getX()
     {
         int ret;
-        mutex.wait();
+        mutex.lock();
         ret=myX;
-        mutex.post();
+        mutex.unlock();
         return ret;
     }
 
     int getY()
     {
         int ret;
-        mutex.wait();
+        mutex.lock();
         ret=myY;
-        mutex.post();
+        mutex.unlock();
         return ret;
     }
 
@@ -206,7 +206,7 @@ class MyPlayer: public PeriodicThread
 
     double prev;
     double now;
-    Semaphore mutex;
+    Mutex mutex;
 };
 
 int main(int argc, char **argv)

example/game/game_server/Game.cpp

@@ -10,7 +10,7 @@
 #include <stdio.h>
 #include <assert.h>
 
-#include <yarp/os/Semaphore.h>
+#include <yarp/os/Mutex.h>
 #include <yarp/os/Time.h>
 
 #include "Thing.h"
@@ -38,9 +38,9 @@ class GameHelper {
     Matrix game_matrix;
     DMatrix transient_matrix;
     Things game_things;
-    yarp::os::Semaphore game_mutex;
+    yarp::os::Mutex game_mutex;
 
-    GameHelper() : game_mutex(1) {
+    GameHelper() : game_mutex() {
     }
 };
 
@@ -214,11 +214,11 @@ void Game::load() {
 }
 
 void Game::wait() {
-    SYS(system_resource).game_mutex.wait();
+    SYS(system_resource).game_mutex.lock();
 }
 
 void Game::post() {
-    SYS(system_resource).game_mutex.post();
+    SYS(system_resource).game_mutex.unlock();
 }
 
 

example/game/game_server/Player.h

@@ -12,7 +12,7 @@
 
 #include <stdlib.h>
 
-#include <yarp/os/Semaphore.h>
+#include <yarp/os/Mutex.h>
 #include "Thing.h"
 #include "Login.h"
 
@@ -25,7 +25,7 @@ class Replier {
 
 class Player : public Replier {
 public:
-    Player() : mutex(1) {
+    Player() : mutex() {
 
     }
 
@@ -37,27 +37,27 @@ class Player : public Replier {
 
     // this sets a callback, to pass messages back to the user
     void setReplier(Replier *n_replier) {
-        mutex.wait();
+        mutex.lock();
         replier = n_replier;
-        mutex.post();
+        mutex.unlock();
     }
 
     // anything that needs to be said is said via the replier callback
     virtual void send(const char *msg) {
-        mutex.wait();
+        mutex.lock();
         if (replier!=NULL) {
             replier->send(msg);
         }
-        mutex.post();
+        mutex.unlock();
     }
 
     // anything that needs to be broadcast is done via the replier callback
     virtual void broadcast(const char *msg) {
-        mutex.wait();
+        mutex.lock();
         if (replier!=NULL) {
             replier->broadcast(msg);
         }
-        mutex.post();
+        mutex.unlock();
     }
 
     // request a move for the player
@@ -95,7 +95,7 @@ class Player : public Replier {
 private:
 
     Replier *replier;
-    yarp::os::Semaphore mutex;
+    yarp::os::Mutex mutex;
 
     ID id;
     Login login;