Rename DSL: deviceSpec => deviceAttachmentSpec

This language is used broadly to specify how to attach (and thus
also how to detach) devices to/from Salmanoff. The next bit of work
we'll do is split off the DSL parsing from the management of the
list of parsed binary attached spec objects.

We'll be creating a PipeDeviceAttachmentParser, and later on when
we support URDF, we'll create a URDFDeviceAttachmentParser.

smocore/deviceManager/deviceManager.cpp

@@ -11,11 +11,11 @@
 namespace smo {
 namespace device {
 
-std::vector<std::shared_ptr<InteroceptorDeviceSpec>>
+std::vector<std::shared_ptr<InteroceptorDevAttachmentSpec>>
     DeviceManager::interoceptorDeviceSpecs;
-std::vector<std::shared_ptr<ExtrospectorDeviceSpec>>
+std::vector<std::shared_ptr<ExtrospectorDevAttachmentSpec>>
     DeviceManager::extrospectorDeviceSpecs;
-std::vector<std::shared_ptr<SenseDeviceSpec>>
+std::vector<std::shared_ptr<DeviceAttachmentSpec>>
     DeviceManager::senseDeviceSpecs;
 
 const std::string DeviceManager::stringifyDeviceSpecs(void)

smocore/deviceManager/deviceSpecp.yy

@@ -7,7 +7,7 @@
 #include <stdexcept>
 #include <memory>
 #include <functional>
-#include <user/senseDeviceSpec.h>
+#include <user/deviceAttachmentSpec.h>
 #include <deviceManager/deviceManager.h>
 
 #ifndef yylex
@@ -46,9 +46,9 @@ void yyerror(const char *message)
 %union {
     char* str;
     char chr;
-    smo::device::SenseDeviceSpec* sensorSpec;
-    smo::device::InteroceptorDeviceSpec* interoceptorSpec;
-    smo::device::ExtrospectorDeviceSpec* extrospectorSpec;
+    smo::device::DeviceAttachmentSpec* sensorSpec;
+    smo::device::InteroceptorDevAttachmentSpec* interoceptorSpec;
+    smo::device::ExtrospectorDevAttachmentSpec* extrospectorSpec;
     std::vector<std::pair<std::string,std::string>>* paramVector;
     std::pair<std::string,std::string>* param;
 }
@@ -83,8 +83,8 @@ sensor_spec:
 
 interoceptor_spec:
     KEYWORD_SPECTYPE_INTEROSPECTOR PIPE spec_body {
-        auto spec = std::make_shared<smo::device::InteroceptorDeviceSpec>(
-            *static_cast<smo::device::InteroceptorDeviceSpec *>($3));
+        auto spec = std::make_shared<smo::device::InteroceptorDevAttachmentSpec>(
+            *static_cast<smo::device::InteroceptorDevAttachmentSpec *>($3));
 
         spec->sensorType = $1;
         smo::device::DeviceManager::interoceptorDeviceSpecs.push_back(spec);
@@ -96,8 +96,8 @@ interoceptor_spec:
 
 extrospector_spec:
     KEYWORD_SPECTYPE_EXTROSPECTOR PIPE spec_body {
-        auto spec = std::make_shared<smo::device::ExtrospectorDeviceSpec>(
-            *static_cast<smo::device::ExtrospectorDeviceSpec *>($3));
+        auto spec = std::make_shared<smo::device::ExtrospectorDevAttachmentSpec>(
+            *static_cast<smo::device::ExtrospectorDevAttachmentSpec *>($3));
 
         spec->sensorType = $1;
         smo::device::DeviceManager::extrospectorDeviceSpecs.push_back(spec);
@@ -108,17 +108,18 @@ extrospector_spec:
     ;
 
 spec_body:
-    STRING PIPE STRING LPAREN opt_params RPAREN PIPE STRING LPAREN opt_params RPAREN PIPE STRING {
-        $$ = new smo::device::SenseDeviceSpec();
-        $$->sensorType = '\0';
-        $$->implexor = std::string($1);
-        $$->api = std::string($3);
-        $$->apiParams = std::move(*$5);
-        $$->provider = std::string($8);
-        $$->providerParams = std::move(*$10);
-        $$->deviceSelector = std::string($13);
-        delete $5;
-        delete $10;
+    STRING PIPE STRING PIPE STRING LPAREN opt_params RPAREN PIPE STRING LPAREN opt_params RPAREN PIPE STRING {
+        $$ = new smo::device::DeviceAttachmentSpec();
+        $$->deviceIdentifier = std::string($1);
+        $$->sensorType = '\0';  // This will be set by the parent rule
+        $$->implexor = std::string($3);
+        $$->api = std::string($5);
+        $$->apiParams = std::move(*$7);
+        $$->provider = std::string($10);
+        $$->providerParams = std::move(*$12);
+        $$->deviceSelector = std::string($15);
+        delete $7;
+        delete $12;
     }
     ;
 

smocore/include/deviceManager/deviceManager.h

@@ -7,7 +7,7 @@
 #include <opts.h>
 #include <utility>
 #include <iostream>
-#include <user/senseDeviceSpec.h>
+#include <user/deviceAttachmentSpec.h>
 
 namespace smo {
 namespace device {
@@ -34,11 +34,11 @@ private:
 
 public:
     std::string allDeviceSpecs;
-    static std::vector<std::shared_ptr<InteroceptorDeviceSpec>>
+    static std::vector<std::shared_ptr<InteroceptorDevAttachmentSpec>>
         interoceptorDeviceSpecs;
-    static std::vector<std::shared_ptr<ExtrospectorDeviceSpec>>
+    static std::vector<std::shared_ptr<ExtrospectorDevAttachmentSpec>>
         extrospectorDeviceSpecs;
-    static std::vector<std::shared_ptr<SenseDeviceSpec>>
+    static std::vector<std::shared_ptr<DeviceAttachmentSpec>>
         senseDeviceSpecs;
 };
 

smocore/include/senseApis/senseApiManager.h

@@ -8,7 +8,7 @@
 #include <optional>
 #include <functional>
 #include <senseApis/senseApiLib.h>
-#include <user/senseDeviceSpec.h>
+#include <user/deviceAttachmentSpec.h>
 
 namespace smo {
 namespace sense_api {
@@ -39,9 +39,9 @@ public:
 
     void attachAllSenseDevicesFromSpecs(void);
     void attachSenseDevice(
-        const std::shared_ptr<device::SenseDeviceSpec>& spec);
+        const std::shared_ptr<device::DeviceAttachmentSpec>& spec);
     void detachSenseDevice(
-        const std::shared_ptr<device::SenseDeviceSpec>& spec);
+        const std::shared_ptr<device::DeviceAttachmentSpec>& spec);
     void detachAllSenseDevices(void);
 
     std::string stringifyLibs() const;

smocore/senseApis/senseApiManager.cpp

@@ -232,7 +232,7 @@ void SenseApiManager::finalizeAllSenseApiLibs(void)
 }
 
 void SenseApiManager::attachSenseDevice(
-    const std::shared_ptr<device::SenseDeviceSpec>& spec
+    const std::shared_ptr<device::DeviceAttachmentSpec>& spec
     )
 {
     auto libOpt = getSenseApiLibByApiName(spec->api);
@@ -253,7 +253,7 @@ void SenseApiManager::attachSenseDevice(
 }
 
 void SenseApiManager::detachSenseDevice(
-    const std::shared_ptr<device::SenseDeviceSpec>& spec
+    const std::shared_ptr<device::DeviceAttachmentSpec>& spec
     )
 {
     auto libOpt = getSenseApiLibByApiName(spec->api);