Eliminate the C FFI; Namespace lib API and DeviceManager

We decided to get rid of the C FFI for libs. It was becoming too intricate
and complicated. It was becoming a technical burden and expanding into
too much extra code. It's unfortunate, but we'll have to give up on getting
out-of-tree hot-loadable libraries the easy way.

It's possible to still do it with cross compilation or by keeping track
of the libstdc++ version that the running harikoff binary was compiled
against. Then we can ensure that our loadable lib code is linked against
that same libstdc++ code and this should ensure ABI stability.

hcore/deviceManager/deviceManager.cpp

@@ -8,6 +8,9 @@
 #include <opts.h>
 #include <deviceManager/deviceManager.h>
 
+namespace hk {
+namespace device {
+
 std::vector<std::shared_ptr<InteroceptorDeviceSpec>>
     DeviceManager::interoceptorDeviceSpecs;
 std::vector<std::shared_ptr<ExtrospectorDeviceSpec>>
@@ -20,12 +23,15 @@ const std::string DeviceManager::stringifyDeviceSpecs(void)
     std::ostringstream oss;
 
     for (const auto& spec : DeviceManager::interoceptorDeviceSpecs) {
-        oss << "Interoceptor " << CSenseDeviceSpec(*spec);
+        oss << "Interoceptor " << spec->stringify();
     }
 
     for (const auto& spec : DeviceManager::extrospectorDeviceSpecs) {
-        oss << "Extrospector " << CSenseDeviceSpec(*spec);
+        oss << "Extrospector " << spec->stringify();
     }
 
     return oss.str();
 }
+
+} // namespace device
+} // namespace hk

hcore/deviceManager/deviceSpecParser.cpp

@@ -10,6 +10,9 @@
 #include "deviceSpecp.hh"
 #include "deviceSpecl.hh"
 
+namespace hk {
+namespace device {
+
 std::string DeviceManager::readDeviceFile(const std::string& filename)
 {
     std::ifstream file(filename);
@@ -61,3 +64,6 @@ void DeviceManager::parseAllDeviceSpecs(void)
             "Check specs for errors");
     }
 }
+
+} // namespace device
+} // namespace hk

hcore/deviceManager/deviceSpecp.yy

@@ -39,9 +39,9 @@ void yyerror(const char *message)
 %union {
     char* str;
     char chr;
-    SenseDeviceSpec* sensorSpec;
-    InteroceptorDeviceSpec* interoceptorSpec;
-    ExtrospectorDeviceSpec* extrospectorSpec;
+    hk::device::SenseDeviceSpec* sensorSpec;
+    hk::device::InteroceptorDeviceSpec* interoceptorSpec;
+    hk::device::ExtrospectorDeviceSpec* extrospectorSpec;
     std::vector<std::string>* stringVector;
 }
 
@@ -73,12 +73,12 @@ sensor_spec:
 
 interoceptor_spec:
     KEYWORD_SPECTYPE_INTEROSPECTOR PIPE spec_body {
-        auto spec = std::make_shared<InteroceptorDeviceSpec>(
-            *static_cast<InteroceptorDeviceSpec *>($3));
+        auto spec = std::make_shared<hk::device::InteroceptorDeviceSpec>(
+            *static_cast<hk::device::InteroceptorDeviceSpec *>($3));
 
         spec->sensorType = $1;
-        DeviceManager::interoceptorDeviceSpecs.push_back(spec);
-        DeviceManager::senseDeviceSpecs.push_back(spec);
+        hk::device::DeviceManager::interoceptorDeviceSpecs.push_back(spec);
+        hk::device::DeviceManager::senseDeviceSpecs.push_back(spec);
 
         delete $3;
     }
@@ -86,12 +86,12 @@ interoceptor_spec:
 
 extrospector_spec:
     KEYWORD_SPECTYPE_EXTROSPECTOR PIPE spec_body {
-        auto spec = std::make_shared<ExtrospectorDeviceSpec>(
-            *static_cast<ExtrospectorDeviceSpec *>($3));
+        auto spec = std::make_shared<hk::device::ExtrospectorDeviceSpec>(
+            *static_cast<hk::device::ExtrospectorDeviceSpec *>($3));
 
         spec->sensorType = $1;
-        DeviceManager::extrospectorDeviceSpecs.push_back(spec);
-        DeviceManager::senseDeviceSpecs.push_back(spec);
+        hk::device::DeviceManager::extrospectorDeviceSpecs.push_back(spec);
+        hk::device::DeviceManager::senseDeviceSpecs.push_back(spec);
 
         delete $3;
     }
@@ -99,7 +99,7 @@ extrospector_spec:
 
 spec_body:
     STRING PIPE STRING LPAREN opt_params RPAREN PIPE STRING LPAREN opt_params RPAREN PIPE STRING {
-        $$ = new SenseDeviceSpec();
+        $$ = new hk::device::SenseDeviceSpec();
         $$->sensorType = '\0';
         $$->implexor = std::string($1);
         $$->api = std::string($3);