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Remote control board: remove single port compatibility #1010

Merged
merged 5 commits into from
Dec 13, 2016
Merged

Remote control board: remove single port compatibility #1010

merged 5 commits into from
Dec 13, 2016

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barbalberto
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This PR remove the backward compatibility of the remote control board with wrapper that has ONLY the state:o port.

This device is therefore expecting the wrapper to have the stateExt:o port, which was introduced in 30/07/2014.

traversaro
traversaro reviewed Dec 12, 2016
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src/libYARP_dev/src/devices/RemoteControlBoard/RemoteControlBoard.cpp
@@ -3983,11 +3393,10 @@ class yarp::dev::RemoteControlBoard :
return true;

// protocol did not match
yError("expecting protocol %d %d %d, but remotecontrolboard returned protocol version %d %d %d\n",
yError("expecting protocol %d %d %d, but the device we are connectin to has protocol version %d %d %d\n",
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typo: connectin --> connecting

@traversaro
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I can't withdraw my review, but there is an important point that I think we already discussed some time ago but I forgot about the outcome of that discussion.
This PR (by changing the protocol number) will break the YARP-level compatibility between master and devel (even if, bypassing the protocol check) everything will be working fine.
As the protocol on the stateExt:o did not change, perhaps we can think about avoiding this unnecessary incompatibility?

@barbalberto
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I changed the protocol number to have a clear error message.
Without it, if a user tries to connect a remotecontrolboard after this change to a controlboardwrapper that only has state:o port, he/she will get a connection error whitout knowing why or what to do about it.
I think this PR does change the protocol, in the sense that some data was going through a port, and now goes though a different port (if you see from the perspective of a CBW with only state:o to a CBW with the stateExt:o)
It works if both client/server are updated enough, it will not work anymore if thay are old (pre compatibility hack was introduced). Since this hack it is what I'm removing, for them it is a change of protocol.

Anyway the next change I'm working on will change the protocol for sure since I'm gonna change the data structure of stateExt :-P

For sure it is annoying to break master / devel compatibility.
I don't see any other way, but I'm open to suggestions

@traversaro
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I see, then I agree that a protocol version change is inevitable, especially if you plan to change it again in a short time.. Can we wait at least tomorrow for merging this? : (

@barbalberto
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Yes, no rush in merging it

@drdanz
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drdanz commented Dec 13, 2016

Please add a line or two (for this PR, but in general for any PR on yarp) in the relative release notes file (in this case doc/release/v2_3_70.md)

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I documented the necessary steps to use devel with the superbuild in https://github.com/robotology/codyco-superbuild#handling-the-devel-branch , for what it concerns that problem the PR can be merged.

Alberto Cardellino added 2 commits December 13, 2016 15:14
@barbalberto
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Updated doc and fixed typo in error message.
Can we merge?

drdanz
drdanz approved these changes Dec 13, 2016
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doc/release/v2_3_70.md
@@ -11,6 +11,10 @@ Important Changes
* YARP_math can no longer be built using GSL. The `CREATE_LIB_MATH_USING_GSL`
option was removed. Only Eigen is supported. `FindGSL.cmake` is no longer
installed.
* 31/12/2016: `RemoteControlBoard` device is no longer compatible with `ControlBoardWrapper2`
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31/12/2016 30/07/2014? Just forget about the dates next time, nobody cares... 😆

@drdanz drdanz merged commit 01f205a into robotology:devel Dec 13, 2016
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drdanz commented Dec 13, 2016

Merged, thanks!

@barbalberto barbalberto deleted the CBW2_remove_singlePort_compatibility branch December 13, 2016 15:20
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@traversaro traversaro traversaro approved these changes

@drdanz drdanz drdanz approved these changes

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Component: Deprecated Component: Devices Resolution: Merged Target: YARP v2.3.70 Type: Cleanup Involves cleaning up some part of YARP
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3 participants
@barbalberto @traversaro @drdanz