From f006bb0bb1681c9bfc42e4db03c61ce6035067c2 Mon Sep 17 00:00:00 2001
From: jgvictores <jcgvicto@gmail.com>
Date: Tue, 21 Jan 2020 19:00:39 +0100
Subject: [PATCH] use explicit prefix+suffix on ports

---
 .../DeviceDriverImpl.cpp                      | 24 ++++++++++---------
 .../RealToSimControlboard/README.md           |  4 ++--
 .../RealToSimControlboard/lacqueyFetch.ini    | 14 ++++++-----
 .../RealToSimControlboard/leftDextra.ini      | 22 +++++++++--------
 4 files changed, 35 insertions(+), 29 deletions(-)

diff --git a/libraries/YarpPlugins/RealToSimControlboard/DeviceDriverImpl.cpp b/libraries/YarpPlugins/RealToSimControlboard/DeviceDriverImpl.cpp
index ae5d502..10f4692 100644
--- a/libraries/YarpPlugins/RealToSimControlboard/DeviceDriverImpl.cpp
+++ b/libraries/YarpPlugins/RealToSimControlboard/DeviceDriverImpl.cpp
@@ -26,7 +26,11 @@ bool RealToSimControlboard::open(yarp::os::Searchable& config)
     }
     CD_DEBUG("%s\n", controlledDeviceList->toString().c_str());
 
-    std::string name = config.find("name").asString();
+    std::string remotePrefix;
+    if(config.check("remotePrefix", "global prefix to remote ports"))
+    {
+        remotePrefix = config.find("remotePrefix").asString();
+    }
 
     std::map<std::string,int> controlledDeviceNameToIdx;
     for(size_t controlledDeviceIdx=0; controlledDeviceIdx< controlledDeviceList->size(); controlledDeviceIdx++)
@@ -43,18 +47,16 @@ bool RealToSimControlboard::open(yarp::os::Searchable& config)
         yarp::os::Property controlledDeviceOptions;
         controlledDeviceOptions.fromString(controlledDeviceGroup.toString());
 
-        if(controlledDeviceOptions.check("remote"))
+        if(controlledDeviceOptions.check("remoteSuffix", "suffix used for local and remote of each remote_controlboard"))
         {
-            std::string remote(name);
-            remote += controlledDeviceOptions.find("remote").asString();
-            controlledDeviceOptions.unput("remote");
+            std::string remote(remotePrefix);
+            remote += controlledDeviceOptions.find("remoteSuffix").asString();
+            controlledDeviceOptions.unput("remoteSuffix");
             controlledDeviceOptions.put("remote",remote);
-        }
-        if(controlledDeviceOptions.check("local"))
-        {
-            std::string local(name);
-            local += controlledDeviceOptions.find("local").asString();
-            controlledDeviceOptions.unput("local");
+
+            std::string local(remotePrefix);
+            local += controlledDeviceOptions.find("localSuffix").asString();
+            controlledDeviceOptions.unput("localSuffix");
             controlledDeviceOptions.put("local",local);
         }
 
diff --git a/libraries/YarpPlugins/RealToSimControlboard/README.md b/libraries/YarpPlugins/RealToSimControlboard/README.md
index 14a68ca..bcc7fbe 100644
--- a/libraries/YarpPlugins/RealToSimControlboard/README.md
+++ b/libraries/YarpPlugins/RealToSimControlboard/README.md
@@ -19,7 +19,7 @@ teoSim dextra
 ```
 
 ```bash
-yarpdev --device RealToSimControlboard --context RealToSimControlboard --from leftDextra.ini --name /teoSim/leftDextra
+yarpdev --device RealToSimControlboard --context RealToSimControlboard --from leftDextra.ini --name /teoSim/leftHand --remotePrefix /teoSim/leftDextra
 ```
 
 ## Example with Lacquey Fetch
@@ -37,5 +37,5 @@ teoSim
 ```
 
 ```bash
-yarpdev --device RealToSimControlboard --context RealToSimControlboard --from lacqueyFetch.ini --name /teoSim/leftLacqueyFetch
+yarpdev --device RealToSimControlboard --context RealToSimControlboard --from lacqueyFetch.ini --name /teoSim/leftHand --remotePrefix /teoSim/leftLacqueyFetch
 ```
diff --git a/share/contexts/RealToSimControlboard/lacqueyFetch.ini b/share/contexts/RealToSimControlboard/lacqueyFetch.ini
index 4532d64..adb97de 100644
--- a/share/contexts/RealToSimControlboard/lacqueyFetch.ini
+++ b/share/contexts/RealToSimControlboard/lacqueyFetch.ini
@@ -3,22 +3,24 @@
 name /lacqueyFetch
 period 60
 
+remotePrefix /lacqueyFetch
+
 remotes (externalFinger internalFinger thumb)
 
 [externalFinger]
 device remote_controlboard
-local /realToSimControlboard/externalFinger
-remote /externalFinger
+localSuffix /realToSimControlboard/externalFinger
+remoteSuffix /externalFinger
 
 [internalFinger]
 device remote_controlboard
-local /realToSimControlboard/internalFinger
-remote /internalFinger
+localSuffix /realToSimControlboard/internalFinger
+remoteSuffix /internalFinger
 
 [thumb]
 device remote_controlboard
-local /realToSimControlboard/thumb
-remote /thumb
+localSuffix /realToSimControlboard/thumb
+remoteSuffix /thumb
 
 [exposed_joint_0]
 externalFinger (joint 0 transformation linear m 1 b 0)
diff --git a/share/contexts/RealToSimControlboard/leftDextra.ini b/share/contexts/RealToSimControlboard/leftDextra.ini
index addad74..2166dbd 100644
--- a/share/contexts/RealToSimControlboard/leftDextra.ini
+++ b/share/contexts/RealToSimControlboard/leftDextra.ini
@@ -3,32 +3,34 @@
 name /leftDextra
 period 60
 
+remotePrefix /leftDextra
+
 remotes (thumb index middle ring pinky)
 
 [thumb]
 device remote_controlboard
-local /realToSimControlboard/thumb
-remote /thumb
+localSuffix /realToSimControlboard/thumb
+remoteSuffix /thumb
 
 [index]
 device remote_controlboard
-local /realToSimControlboard/index
-remote /index
+localSuffix /realToSimControlboard/index
+remoteSuffix /index
 
 [middle]
 device remote_controlboard
-local /realToSimControlboard/middle
-remote /middle
+localSuffix /realToSimControlboard/middle
+remoteSuffix /middle
 
 [ring]
 device remote_controlboard
-local /realToSimControlboard/ring
-remote /ring
+localSuffix /realToSimControlboard/ring
+remoteSuffix /ring
 
 [pinky]
 device remote_controlboard
-local /realToSimControlboard/pinky
-remote /pinky
+localSuffix /realToSimControlboard/pinky
+remoteSuffix /pinky
 
 [exposed_joint_0]
 thumb (joint 0 transformation linear m 1 b 0)