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.

docs/deviceAttachmentSpec.md

@@ -1,4 +1,4 @@
-# Device manager: attaching sensors and actuators.
+# Device Attachment Specification DSL: attaching sensors and actuators to SMO.
 
 ## Attaching sensors:
 
@@ -14,15 +14,17 @@ basically what conventional ML/LLM/ANN developers call an ROI ("Region of
 Interest") extraction algorithm. An Implex algorithm is used to scan a frame
 of input sensor data and detect objects and patterns within it.
 
-## Sensor device spec:
+## Sensor device attachment specification:
 
-The general format of a device-spec for a sensor is:
+The general format of a device attachment specification for a sensor is:
 ```
-sensor-type|implexor|api(api-params)|provider(provider-params)|deviceselector
+sensor-type|dev-identifier
+  |implexor|api(api-params)|provider(provider-params)|deviceselector
 ```
 
 * `sensor-type` is always either '`+idev`' (interoceptor), '`+edev`'
   (extrospector), or '`+adev`' (actuator).
+* `dev-identifier` is a user-defined name for this specific device instance.
 * `implexor` is the name of the implexor algorithm that should be used with
   the data that is provided by the `provider` via the `api`.
 * `api` is the interface that the provider uses to export perceptual data for
@@ -35,7 +37,7 @@ sensor-type|implexor|api(api-params)|provider(provider-params)|deviceselector
   which case the parenthesis will be empty, but the parentheses must always be
   written out.
 * `device selector` is the idiosyncratic label/name used by the `provider` to
-  identify the specific device you want to access via that `provider`.
+  identify the specific device you want to attach via that `provider`.
 
 ## `API-params` and `provider-params`:
 
@@ -55,7 +57,7 @@ Some examples follow:
 
 ### To attach a particular window from a window manager:
 ```
-+edev|visual-implexor|wayland()|wayland(server-socket)|window0
++edev|my-window|visual-implexor|wayland()|wayland(server-socket)|window0
 ```
 Connect to the Wayland server that's listening on `server-socket`, using the
 `wayland` api. Ask that Wayland server to give salmanoff read-access to all of
@@ -64,7 +66,7 @@ the frames composited into the window buffer for `window0`. Use salmanoff's
 
 ### To attach a window manager's entire rendered desktop:
 ```
-+edev|visual-implexor|wayland()|wayland(listen-socket)|all
++edev|my-desktop|visual-implexor|wayland()|wayland(listen-socket)|all
 ```
 In most cases, this is basically the same as attempting to attach all of the
 underlying GFX server's output.
@@ -76,7 +78,7 @@ that Wayland server's compositor data.
 
 ### To attach all of an Xorg server's gfx output to all screens:
 ```
-+edev|visual-implexor|x11()|xorg(listen-socket)|all
++edev|my-xorg-display|visual-implexor|x11()|xorg(listen-socket)|all
 ```
 
 Connect to the Xorg server that's listening on `listen-socket`, using the `x11`
@@ -93,7 +95,7 @@ WM's output.
 
 ### To attach all of an Xorg server's gfx output to a particular screen:
 ```
-+edev|visual-implexor|x11()|xorg(listen-socket)|:0
++edev|my-screen|visual-implexor|x11()|xorg(listen-socket)|:0
 ```
 Connect to the Xorg server that's listening on `listen-socket`, using the `x11`
 api. Ask that Xorg server to let Salmanoff read out all of the frames written
@@ -106,7 +108,7 @@ out to display `:0`. Use salmanoff's `visual-implexor` to implex from display
 
 ### To attach a camera device by connecting directly to its Linux driver:
 ```
-+edev|visual-implexor|v4l()|linux()|/dev/video0
++edev|my-camera|visual-implexor|v4l()|linux()|/dev/video0
 ```
 We specify that we want to use the `linux` kernel's loaded driver to connect
 to communicate with `/dev/video0`, via the `Video4Linux` API. We want salmanoff
@@ -116,7 +118,7 @@ If `/dev/video0` is already consumed by another process, this may likely fail.
 
 ### To attach a microphone that's managed by ALSA server:
 ```
-+edev|audio-implexor|alsa(shmem)|alsa()|cardname
++edev|my-microphone|audio-implexor|alsa(shmem)|alsa()|cardname
 ```
 
 Connect to the ALSA server via `shmem`, using the `alsa` API. Request access to
@@ -125,7 +127,7 @@ the microphone function of the sound card with the name `cardname`. Use the
 
 ### To attach a thermal sensor managed by Linux:
 ```
-+idev|thermal-implexor|thermal-zone()|linux()|/sys/class/thermal_zone0
++idev|my-thermal|thermal-implexor|thermal-zone()|linux()|/sys/class/thermal_zone0
 ```
 
 Use the `thermal-zone` SysFS API provided by `linux` to connect to the sensor
@@ -147,18 +149,20 @@ types of devices will require different wilzor algorithms. You need to know
 what type of wilzor algorithm needs to be used to enable salmanoff to control
 your actuator device.
 
-The general format for an actuator's device spec is:
+The general format for an actuator's device attachment specification is:
 ```
 WIP: TBD.
 ```
 
-## Device specification files:
+## Device attachment specification files:
 
-Inside of a device spec file, you can list any number of device specs.
-Separate individual device specs with two consecutive h-bar characters (`||`),
+Inside of a device attachment specification file, you can list any number of
+device attachment specifications.
+Separate individual device attachment specifications with two consecutive h-bar
+characters (`||`),
 like this:
 ```
-+edev|visual-implexor|wayland()|wayland(server-socket)|window0
-|| +edev|visual-implexor|x11()|xorg(listen-socket)|all
-|| +idev|thermal-implexor|thermal-zone()|linux()|/sys/class/thermal_zone0
++edev|my-window|visual-implexor|wayland()|wayland(server-socket)|window0
+|| +edev|my-xorg-display|visual-implexor|x11()|xorg(listen-socket)|all
+|| +idev|my-thermal|thermal-implexor|thermal-zone()|linux()|/sys/class/thermal_zone0
 ```

include/user/deviceAttachmentSpec.h

@@ -9,24 +9,26 @@
 namespace smo {
 namespace device {
 
-class SenseDeviceSpec
+class DeviceAttachmentSpec
 {
 public:
     friend std::ostream& operator<<(
-        std::ostream& os, const SenseDeviceSpec& spec)
+        std::ostream& os, const DeviceAttachmentSpec& spec)
     {
         os << spec.stringify();
         return os;
     }
 
-    bool operator==(const SenseDeviceSpec& other) const
+    bool operator==(const DeviceAttachmentSpec& other) const
     {
-        return sensorType == other.sensorType &&
+        return deviceIdentifier == other.deviceIdentifier &&
+               sensorType == other.sensorType &&
                provider == other.provider &&
                deviceSelector == other.deviceSelector;
     }
 
 public:
+    std::string deviceIdentifier;
     char sensorType;
     std::string implexor;
     std::string api;
@@ -38,8 +40,10 @@ public:
     std::string stringify() const
     {
         std::ostringstream os;
-        os << "Device: " << sensorType << ", Implexor: "
-           << implexor << ", API: " << api << ", API Params: (";
+        os << "Device Identifier: " << deviceIdentifier
+            << ", Sensor Type: " << sensorType
+            << ", Implexor: " << implexor << ", API: " << api
+            << ", API Params: (";
         for (const auto& param : apiParams)
         {
             os << param.first;
@@ -63,11 +67,11 @@ public:
     }
 };
 
-class InteroceptorDeviceSpec : public SenseDeviceSpec
+class InteroceptorDevAttachmentSpec : public DeviceAttachmentSpec
 {
 };
 
-class ExtrospectorDeviceSpec : public SenseDeviceSpec
+class ExtrospectorDevAttachmentSpec : public DeviceAttachmentSpec
 {
 };
 

include/user/senseApiDesc.h

@@ -1,12 +1,12 @@
 #ifndef __USER_SENSE_API_LIB_H__
 #define __USER_SENSE_API_LIB_H__
 
-#include <preprocessor.h>
 #include <stdbool.h>
-#include <user/senseDeviceSpec.h>
 #include <optional>
 #include <string>
 #include <memory>
+#include <preprocessor.h>
+#include <user/deviceAttachmentSpec.h>
 
 namespace smo {
 namespace sense_api {
@@ -14,9 +14,9 @@ namespace sense_api {
 typedef int (sal_mlo_initializeIndFn)(void);
 typedef int (sal_mlo_finalizeIndFn)(void);
 typedef int (sal_mlo_attachDeviceReqFn)(
-    const std::shared_ptr<device::SenseDeviceSpec>& desc);
+    const std::shared_ptr<device::DeviceAttachmentSpec>& desc);
 typedef int (sal_mlo_detachDeviceReqFn)(
-    const std::shared_ptr<device::SenseDeviceSpec>& desc);
+    const std::shared_ptr<device::DeviceAttachmentSpec>& desc);
 
 /**
  * @brief Hooks provided by Salmanoff to senseApi libraries.

senseApis/xcbWindow/xcbWindow.cpp

@@ -7,7 +7,7 @@
 #include <dlfcn.h>
 #include <xcb/xcb.h>
 #include <user/senseApiDesc.h>
-#include <user/senseDeviceSpec.h>
+#include <user/deviceAttachmentSpec.h>
 #include <xcbXorg/xcbXorg.h>
 #include "xcbWindow.h"
 
@@ -55,9 +55,9 @@ std::string WindowSelector::stringify() const
 }
 
 AttachedWindow::AttachedWindow(
-    const std::shared_ptr<smo::device::SenseDeviceSpec>& spec
+    const std::shared_ptr<smo::device::DeviceAttachmentSpec>& spec
     )
-    : deviceSpec(spec)
+    : deviceAttachmentSpec(spec)
 {
     // Validate required function pointers are available
     if (!xcbXorg.fns.getOrCreateConnection ||
@@ -106,7 +106,7 @@ AttachedWindow::AttachedWindow(
 }
 
 void AttachedWindow::parseWindowSelector(
-    const smo::device::SenseDeviceSpec& spec
+    const smo::device::DeviceAttachmentSpec& spec
     )
 {
     // Default match type
@@ -148,7 +148,7 @@ void AttachedWindow::parseWindowSelector(
     }
 }
 
-int AttachedWindow::getRequiredParamAsInt(const smo::device::SenseDeviceSpec& spec,
+int AttachedWindow::getRequiredParamAsInt(const smo::device::DeviceAttachmentSpec& spec,
                                          const std::string& paramName)
 {
     auto it = std::find_if(
@@ -296,7 +296,7 @@ static int xcbWindow_finalizeInd(void)
 }
 
 static int xcbWindow_attachDeviceReq(
-    const std::shared_ptr<smo::device::SenseDeviceSpec>& desc
+    const std::shared_ptr<smo::device::DeviceAttachmentSpec>& desc
     )
 {
     g_attachedWindows.emplace_back(
@@ -309,12 +309,12 @@ static int xcbWindow_attachDeviceReq(
 }
 
 static int xcbWindow_detachDeviceReq(
-    const std::shared_ptr<smo::device::SenseDeviceSpec>& spec
+    const std::shared_ptr<smo::device::DeviceAttachmentSpec>& spec
     )
 {
     auto it = std::find_if(g_attachedWindows.begin(), g_attachedWindows.end(),
         [&spec](const std::unique_ptr<xcb_window::AttachedWindow>& window) {
-            return window->getDeviceSpec() == spec;
+            return window->getDeviceAttachmentSpec() == spec;
         }
     );
 

senseApis/xcbWindow/xcbWindow.h

@@ -5,7 +5,7 @@
 #include <vector>
 #include <memory>
 #include <user/senseApiDesc.h>
-#include <user/senseDeviceSpec.h>
+#include <user/deviceAttachmentSpec.h>
 #include <xcbXorg/xcbXorg.h>
 
 namespace xcb_window {
@@ -30,23 +30,25 @@ struct WindowSelector
 class AttachedWindow
 {
 public:
-    AttachedWindow(const std::shared_ptr<smo::device::SenseDeviceSpec>& spec);
+    AttachedWindow(
+        const std::shared_ptr<smo::device::DeviceAttachmentSpec>& spec);
     ~AttachedWindow();
 
-    const std::shared_ptr<smo::device::SenseDeviceSpec>& getDeviceSpec() const
-        { return deviceSpec; }
+    const std::shared_ptr<smo::device::DeviceAttachmentSpec>&
+    getDeviceAttachmentSpec() const
+        { return deviceAttachmentSpec; }
     const WindowSelector& getWindowSelector() const { return windowSelector; }
     const std::string& getActualWindowName() const { return actualWindowName; }
     void* getXcbConnection() const { return xcbConnectionShared.get(); }
     std::string stringify() const;
 
 private:
-    void parseWindowSelector(const smo::device::SenseDeviceSpec& spec);
+    void parseWindowSelector(const smo::device::DeviceAttachmentSpec& spec);
     int getRequiredParamAsInt(
-        const smo::device::SenseDeviceSpec& spec,
+        const smo::device::DeviceAttachmentSpec& spec,
         const std::string& paramName);
 
-    std::shared_ptr<smo::device::SenseDeviceSpec> deviceSpec;
+    std::shared_ptr<smo::device::DeviceAttachmentSpec> deviceAttachmentSpec;
     WindowSelector windowSelector;
     std::string actualWindowName;
     std::shared_ptr<xcb_xorg::XcbConnection> xcbConnectionShared;

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);