Extended the other Analog Sensors interfaces wrapping in yarp.i

- all extensions are done as for `IThreeAxisGyroscopes`, and using
  a Swig macro defined in `macrosForMultipleAnalogSensors.i`
- all wrappers for casting from PolyDriver to specific device interfaces
  are now generated through a Swig macro.

Author: nunoguedelha

bindings/macrosForMultipleAnalogSensors.i

@@ -0,0 +1,58 @@
+// Copyright (C) 2018 Istituto Italiano di Tecnologia (IIT)
+// All rights reserved.
+//
+// This software may be modified and distributed under the terms of the
+// BSD-3-Clause license. See the accompanying LICENSE file for details.
+
+%define RESET_CONSTANTS
+#undef ThreeAxisGyroscopes_EXTENDED_INTERFACE
+#undef ThreeAxisLinearAccelerometers_EXTENDED_INTERFACE
+#undef ThreeAxisMagnetometers_EXTENDED_INTERFACE
+#undef OrientationSensors_EXTENDED_INTERFACE
+#undef TemperatureSensors_EXTENDED_INTERFACE
+#undef SixAxisForceTorqueSensors_EXTENDED_INTERFACE
+#undef ContactLoadCellArrays_EXTENDED_INTERFACE
+#undef EncoderArrays_EXTENDED_INTERFACE
+#undef SkinPatches_EXTENDED_INTERFACE
+%enddef
+
+%define EXTENDED_ANALOG_SENSOR_INTERFACE(sensor)
+
+RESET_CONSTANTS
+
+#define sensor ## _EXTENDED_INTERFACE 1
+
+    std::string get ## sensor ## Name(int sens_index) const {
+        std::string name;
+        bool ok = self->get ## sensor ## Name(sens_index,name);
+        if (!ok) return "unknown";
+        return name;
+    }
+
+#if !ContactLoadCellArray_EXTENDED_INTERFACE \
+ && !EncoderArray_EXTENDED_INTERFACE \
+ && !SkinPatch_EXTENDED_INTERFACE
+    std::string get ## sensor ## FrameName(int sens_index) const {
+        std::string frameName;
+        bool ok = self->get ## sensor ## FrameName(sens_index,frameName);
+        if (!ok) return "unknown";
+        return frameName;
+    }
+#endif
+
+#if OrientationSensor_EXTENDED_INTERFACE
+    double get ## sensor ## MeasureAsRollPitchYaw(int sens_index, yarp::sig::Vector& rpy) const {
+        double timestamp;
+        bool ok = self->get ## sensor ## MeasureAsRollPitchYaw(sens_index, rpy, timestamp);
+#else
+    double get ## sensor ## Measure(int sens_index, yarp::sig::Vector& out) const {
+        double timestamp;
+        bool ok = self->get ## sensor ## Measure(sens_index, out, timestamp);
+#endif
+        if (!ok) return -1;
+        return timestamp;
+    }
+
+#undef sensor ## _EXTENDED_INTERFACE
+
+%enddef

bindings/yarp.i

@@ -290,7 +290,10 @@ namespace yarp {
   namespace os {
     typedef int NetInt32;
   }
- }
+}
+
+// Define macros for handling the multiple analog sensors interfaces
+%include macrosForMultipleAnalogSensors.i
 
 // We skip macros from Vocab.h via SWIG_PREPROCESSOR_SHOULD_SKIP_THIS directive
 // But cannot define YARP_OS_VOCAB_H as we would miss encode/decode
@@ -453,12 +456,13 @@ MAKE_COMMS(Bottle)
   %template(DVector) std::vector<double>;
   %template(BVector) std::vector<bool>;
   %template(SVector) std::vector<std::string>;
-#ifdef SWIGMATLAB
-  // Extend IVector for handling conversion of vectors from and to Matlab
-  %include "matlab/IVector_fromTo_matlab.i"
-#endif
   %template(IVector) std::vector<int>;
 
+  #ifdef SWIGMATLAB
+    // Extend IVector for handling conversion of vectors from and to Matlab
+    %include "matlab/IVector_fromTo_matlab.i"
+  #endif
+
   #if defined(SWIGCSHARP)
       SWIG_STD_VECTOR_SPECIALIZE_MINIMUM(Pid,yarp::dev::Pid)
   #endif
@@ -723,84 +727,30 @@ typedef yarp::os::BufferedPort<ImageRgbFloat> BufferedPortImageRgbFloat;
 //////////////////////////////////////////////////////////////////////////
 // Deal with PolyDriver idiom that doesn't translate too well
 
-%extend yarp::dev::PolyDriver {
-    yarp::dev::IFrameGrabberImage *viewFrameGrabberImage() {
-        yarp::dev::IFrameGrabberImage *result;
+%define CAST_POLYDRIVER_TO_INTERFACE(interface)
+    yarp::dev:: ## interface *view ## interface ## () {
+        yarp::dev:: ## interface *result;
         self->view(result);
         return result;
     }
+%enddef
 
-    yarp::dev::IPositionControl *viewIPositionControl() {
-        yarp::dev::IPositionControl *result;
-        self->view(result);
-        return result;
-    }
-
-    yarp::dev::IVelocityControl *viewIVelocityControl() {
-        yarp::dev::IVelocityControl *result;
-        self->view(result);
-        return result;
-    }
-
-    yarp::dev::IEncoders *viewIEncoders() {
-        yarp::dev::IEncoders *result;
-        self->view(result);
-        return result;
-    }
-
-    yarp::dev::IMotorEncoders *viewIMotorEncoders() {
-        yarp::dev::IMotorEncoders *result;
-        self->view(result);
-        return result;
-    }
-
-    yarp::dev::IPidControl *viewIPidControl() {
-        yarp::dev::IPidControl *result;
-        self->view(result);
-        return result;
-    }
-
-    yarp::dev::IAmplifierControl *viewIAmplifierControl() {
-        yarp::dev::IAmplifierControl *result;
-        self->view(result);
-        return result;
-    }
-
-    yarp::dev::IControlLimits *viewIControlLimits() {
-        yarp::dev::IControlLimits *result;
-        self->view(result);
-        return result;
-    }
-
-    yarp::dev::ICartesianControl *viewICartesianControl() {
-        yarp::dev::ICartesianControl *result;
-        self->view(result);
-        return result;
-    }
-
-    yarp::dev::IGazeControl *viewIGazeControl() {
-      yarp::dev::IGazeControl *result;
-      self->view(result);
-      return result;
-    }
-
-    yarp::dev::IImpedanceControl *viewIImpedanceControl() {
-        yarp::dev::IImpedanceControl *result;
-        self->view(result);
-        return result;
-    }
+%extend yarp::dev::PolyDriver {
 
-    yarp::dev::ITorqueControl *viewITorqueControl() {
-        yarp::dev::ITorqueControl *result;
-        self->view(result);
-        return result;
-    }
+    CAST_POLYDRIVER_TO_INTERFACE(IFrameGrabberImage)
+    CAST_POLYDRIVER_TO_INTERFACE(IPositionControl)
+    CAST_POLYDRIVER_TO_INTERFACE(IVelocityControl)
+    CAST_POLYDRIVER_TO_INTERFACE(IEncoders)
+    CAST_POLYDRIVER_TO_INTERFACE(IMotorEncoders)
+    CAST_POLYDRIVER_TO_INTERFACE(IPidControl)
+    CAST_POLYDRIVER_TO_INTERFACE(IAmplifierControl)
+    CAST_POLYDRIVER_TO_INTERFACE(IControlLimits)
+    CAST_POLYDRIVER_TO_INTERFACE(ICartesianControl)
+    CAST_POLYDRIVER_TO_INTERFACE(IGazeControl)
+    CAST_POLYDRIVER_TO_INTERFACE(IImpedanceControl)
+    CAST_POLYDRIVER_TO_INTERFACE(ITorqueControl)
+    CAST_POLYDRIVER_TO_INTERFACE(IControlMode)
 
-    yarp::dev::IControlMode *viewIControlMode() {
-        yarp::dev::IControlMode *result;
-        self->view(result);
-        return result;
-    }
 #ifndef YARP_NO_DEPRECATED // Since YARP 3.0.0
     yarp::dev::IControlMode *viewIControlMode2() {
         yarp::dev::IControlMode *result;
@@ -809,114 +759,32 @@ typedef yarp::os::BufferedPort<ImageRgbFloat> BufferedPortImageRgbFloat;
     }
 #endif
 
-    yarp::dev::IInteractionMode *viewIInteractionMode() {
-        yarp::dev::IInteractionMode *result;
-        self->view(result);
-        return result;
-    }
-
-    yarp::dev::IPWMControl *viewIPWMControl() {
-            yarp::dev::IPWMControl *result;
-        self->view(result);
-        return result;
-    }
-
-    yarp::dev::ICurrentControl *viewICurrentControl() {
-            yarp::dev::ICurrentControl *result;
-        self->view(result);
-        return result;
-    }
+    CAST_POLYDRIVER_TO_INTERFACE(IInteractionMode)
+    CAST_POLYDRIVER_TO_INTERFACE(IPWMControl)
+    CAST_POLYDRIVER_TO_INTERFACE(ICurrentControl)
+    CAST_POLYDRIVER_TO_INTERFACE(IAnalogSensor)
 
-    yarp::dev::IAnalogSensor *viewIAnalogSensor() {
-        yarp::dev::IAnalogSensor *result;
-        self->view(result);
-        return result;
-    }
 #ifndef YARP_NO_DEPRECATED // Since YARP 3.0.0
     yarp::dev::IFrameGrabberControls *viewIFrameGrabberControls2() {
         yarp::dev::IFrameGrabberControls *result;
         self->view(result);
         return result;
     }
 #endif
-    yarp::dev::IFrameGrabberControls *viewIFrameGrabberControls() {
-        yarp::dev::IFrameGrabberControls *result;
-        self->view(result);
-        return result;
-    }
-
-    yarp::dev::IPositionDirect *viewIPositionDirect() {
-        yarp::dev::IPositionDirect *result;
-        self->view(result);
-        return result;
-    }
-
-    yarp::dev::IRemoteVariables *viewIRemoteVariables() {
-        yarp::dev::IRemoteVariables *result;
-        self->view(result);
-        return result;
-    }
-
-    yarp::dev::IAxisInfo *viewIAxisInfo() {
-        yarp::dev::IAxisInfo *result;
-        self->view(result);
-        return result;
-    }
-
-    yarp::dev::IThreeAxisGyroscopes *viewIThreeAxisGyroscopes() {
-        yarp::dev::IThreeAxisGyroscopes *result;
-        self->view(result);
-        return result;
-    }
-
-    yarp::dev::IThreeAxisLinearAccelerometers *viewIThreeAxisLinearAccelerometers() {
-        yarp::dev::IThreeAxisLinearAccelerometers *result;
-        self->view(result);
-        return result;
-    }
-
-    yarp::dev::IThreeAxisMagnetometers *viewIThreeAxisMagnetometers() {
-        yarp::dev::IThreeAxisMagnetometers *result;
-        self->view(result);
-        return result;
-    }
-
-    yarp::dev::IOrientationSensors *viewIOrientationSensors() {
-        yarp::dev::IOrientationSensors *result;
-        self->view(result);
-        return result;
-    }
-
-    yarp::dev::ITemperatureSensors *viewITemperatureSensors() {
-        yarp::dev::ITemperatureSensors *result;
-        self->view(result);
-        return result;
-    }
-
-    yarp::dev::ISixAxisForceTorqueSensors *viewISixAxisForceTorqueSensors() {
-        yarp::dev::ISixAxisForceTorqueSensors *result;
-        self->view(result);
-        return result;
-    }
-
-    yarp::dev::IContactLoadCellArrays *viewIContactLoadCellArrays() {
-        yarp::dev::IContactLoadCellArrays *result;
-        self->view(result);
-        return result;
-    }
-
-    yarp::dev::IEncoderArrays *viewIEncoderArrays() {
-        yarp::dev::IEncoderArrays *result;
-        self->view(result);
-        return result;
-    }
-
-    yarp::dev::ISkinPatches *viewISkinPatches() {
-        yarp::dev::ISkinPatches *result;
-        self->view(result);
-        return result;
-    }
 
+    CAST_POLYDRIVER_TO_INTERFACE(IFrameGrabberControls)
+    CAST_POLYDRIVER_TO_INTERFACE(IPositionDirect)
+    CAST_POLYDRIVER_TO_INTERFACE(IRemoteVariables)
+    CAST_POLYDRIVER_TO_INTERFACE(IAxisInfo)
+    CAST_POLYDRIVER_TO_INTERFACE(IThreeAxisGyroscopes)
+    CAST_POLYDRIVER_TO_INTERFACE(IThreeAxisLinearAccelerometers)
+    CAST_POLYDRIVER_TO_INTERFACE(IThreeAxisMagnetometers)
+    CAST_POLYDRIVER_TO_INTERFACE(IOrientationSensors)
+    CAST_POLYDRIVER_TO_INTERFACE(ITemperatureSensors)
+    CAST_POLYDRIVER_TO_INTERFACE(ISixAxisForceTorqueSensors)
+    CAST_POLYDRIVER_TO_INTERFACE(IContactLoadCellArrays)
+    CAST_POLYDRIVER_TO_INTERFACE(IEncoderArrays)
+    CAST_POLYDRIVER_TO_INTERFACE(ISkinPatches)
     // you'll need to add an entry for every interface you wish
     // to use
 }
@@ -1200,28 +1068,15 @@ typedef yarp::os::BufferedPort<ImageRgbFloat> BufferedPortImageRgbFloat;
     }
 }
 
-%extend yarp::dev::IThreeAxisGyroscopes {
-    std::string getThreeAxisGyroscopeName(int sens_index) const {
-        std::string name;
-        bool ok = self->getThreeAxisGyroscopeName(sens_index,name);
-        if (!ok) return "unknown";
-        return name;
-    }
-
-    std::string getThreeAxisGyroscopeFrameName(int sens_index) const {
-        std::string frameName;
-        bool ok = self->getThreeAxisGyroscopeFrameName(sens_index,frameName);
-        if (!ok) return "unknown";
-        return frameName;
-    }
-
-    double getThreeAxisGyroscopeMeasure(int sens_index, yarp::sig::Vector& out) const {
-        double timestamp;
-        bool ok = self->getThreeAxisGyroscopeMeasure(sens_index, out, timestamp);
-        if (!ok) return -1;
-        return timestamp;
-    }
-}
+%extend yarp::dev::IThreeAxisGyroscopes {EXTENDED_ANALOG_SENSOR_INTERFACE(ThreeAxisGyroscope)}
+%extend yarp::dev::IThreeAxisLinearAccelerometers {EXTENDED_ANALOG_SENSOR_INTERFACE(ThreeAxisLinearAccelerometer)}
+%extend yarp::dev::IThreeAxisMagnetometers {EXTENDED_ANALOG_SENSOR_INTERFACE(ThreeAxisMagnetometer)}
+%extend yarp::dev::IOrientationSensors {EXTENDED_ANALOG_SENSOR_INTERFACE(OrientationSensor)}
+%extend yarp::dev::ITemperatureSensors {EXTENDED_ANALOG_SENSOR_INTERFACE(TemperatureSensor)}
+%extend yarp::dev::ISixAxisForceTorqueSensors {EXTENDED_ANALOG_SENSOR_INTERFACE(SixAxisForceTorqueSensor)}
+%extend yarp::dev::IContactLoadCellArrays {EXTENDED_ANALOG_SENSOR_INTERFACE(ContactLoadCellArray)}
+%extend yarp::dev::IEncoderArrays {EXTENDED_ANALOG_SENSOR_INTERFACE(EncoderArray)}
+%extend yarp::dev::ISkinPatches {EXTENDED_ANALOG_SENSOR_INTERFACE(SkinPatch)}
 
 %extend yarp::sig::Vector {