├── .github └── workflows │ └── gh-pages.yml ├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── app ├── conf │ └── config.ini └── scripts │ └── how-to-document-modules.xml.template ├── how-to-document-modules.xml ├── idl_dox └── howToDocument_IDL.h └── src ├── idl.thrift └── main.cpp /.github/workflows/gh-pages.yml: -------------------------------------------------------------------------------- 1 | name: GitHub Pages 2 | 3 | on: 4 | push: 5 | branches: 6 | - 'master' 7 | 8 | jobs: 9 | docs: 10 | name: "Deploy" 11 | runs-on: ubuntu-latest 12 | 13 | steps: 14 | - name: Dependencies 15 | run: | 16 | sudo apt update 17 | sudo apt install -y xsltproc doxygen doxygen-doc texlive texlive-font-utils texlive-latex-extra ghostscript graphviz 18 | 19 | - name: Check remote 20 | run: git ls-remote --heads --exit-code https://github.com/${{ github.repository }}.git gh-pages 21 | 22 | - name: Configure Git 23 | run: | 24 | git config --global push.default upstream 25 | git config --global user.name "GitHub Actions" 26 | git config --global user.email "actions@github.com" 27 | 28 | - name: Get YARP XSL interpreter 29 | run: | 30 | cd ${GITHUB_WORKSPACE} 31 | git clone --depth 1 --branch master https://github.com/robotology/yarp.git 32 | echo "YARP_SOURCE_DIR=${GITHUB_WORKSPACE}/yarp" >> ${GITHUB_ENV} 33 | 34 | - name: Clone and rebase 35 | run: | 36 | cd ${GITHUB_WORKSPACE} 37 | git clone https://github.com/${{ github.repository }}.git gh-pages 38 | cd gh-pages 39 | git checkout gh-pages 40 | git rebase master 41 | 42 | - name: Build Doxygen 43 | run: | 44 | cd ${GITHUB_WORKSPACE}/gh-pages/doxygen 45 | ./doc-compile.sh 46 | 47 | - name: Commit and push 48 | run: | 49 | cd ${GITHUB_WORKSPACE}/gh-pages 50 | git add . 51 | git commit --amend --no-edit 52 | git remote set-url origin https://x-access-token:${{ secrets.GITHUB_TOKEN }}@github.com/${{ github.repository }}.git 53 | git push --force-with-lease 54 | 55 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # Compiled Object files 2 | *.slo 3 | *.lo 4 | *.o 5 | *.obj 6 | 7 | # Precompiled Headers 8 | *.gch 9 | *.pch 10 | 11 | # Compiled Dynamic libraries 12 | *.so 13 | *.dylib 14 | *.dll 15 | 16 | # Fortran module files 17 | *.mod 18 | 19 | # Compiled Static libraries 20 | *.lai 21 | *.la 22 | *.a 23 | *.lib 24 | 25 | # Executables 26 | *.exe 27 | *.out 28 | *.app 29 | 30 | #Build folder 31 | /build*/ 32 | 33 | 34 | 35 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # Copyright: (C) 2016 iCub Facility - Istituto Italiano di Tecnologia 2 | # Author: Giulia Vezzani 3 | # CopyPolicy: Released under the terms of the GNU GPL v2.0. 4 | 5 | cmake_minimum_required(VERSION 2.8.9) 6 | 7 | project(how-to-document-modules) 8 | 9 | find_package(YARP REQUIRED) 10 | find_package(ICUBcontrib) 11 | list(APPEND CMAKE_MODULE_PATH ${YARP_MODULE_PATH}) 12 | list(APPEND CMAKE_MODULE_PATH ${ICUBCONTRIB_MODULE_PATH}) 13 | 14 | include(YarpIDL) 15 | include(YarpInstallationHelpers) 16 | include(ICUBcontribHelpers) 17 | include(ICUBcontribOptions) 18 | icubcontrib_set_default_prefix() 19 | 20 | yarp_add_idl(IDL_GEN_FILES src/idl.thrift) 21 | source_group("IDL Files" FILES src/idl.thrift) 22 | source_group("DOC Files" FILES ${PROJECT_NAME}.xml) 23 | 24 | include_directories(${YARP_INCLUDE_DIRS}) 25 | add_definitions(${YARP_DEFINES} -D_USE_MATH_DEFINES) 26 | add_executable(${PROJECT_NAME} src/main.cpp src/idl.thrift ${PROJECT_NAME}.xml ${IDL_GEN_FILES}) 27 | target_link_libraries(${PROJECT_NAME} ${YARP_LIBRARIES}) 28 | 29 | install(TARGETS ${PROJECT_NAME} DESTINATION bin) 30 | icubcontrib_add_uninstall_target() 31 | 32 | file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/app/conf/*.ini) 33 | file(GLOB scripts ${CMAKE_CURRENT_SOURCE_DIR}/app/scripts/*.template) 34 | yarp_install(FILES ${conf} DESTINATION ${ICUBCONTRIB_CONTEXTS_INSTALL_DIR}/${PROJECT_NAME}) 35 | yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_APPLICATIONS_TEMPLATES_INSTALL_DIR}) 36 | yarp_install(FILES ${PROJECT_NAME}.xml DESTINATION ${ICUBCONTRIB_MODULES_INSTALL_DIR}) 37 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 2, June 1991 3 | 4 | Copyright (C) 1989, 1991 Free Software Foundation, Inc., 5 | 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 6 | Everyone is permitted to copy and distribute verbatim copies 7 | of this license document, but changing it is not allowed. 8 | 9 | Preamble 10 | 11 | The licenses for most software are designed to take away your 12 | freedom to share and change it. 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Many people have made 220 | generous contributions to the wide range of software distributed 221 | through that system in reliance on consistent application of that 222 | system; it is up to the author/donor to decide if he or she is willing 223 | to distribute software through any other system and a licensee cannot 224 | impose that choice. 225 | 226 | This section is intended to make thoroughly clear what is believed to 227 | be a consequence of the rest of this License. 228 | 229 | 8. If the distribution and/or use of the Program is restricted in 230 | certain countries either by patents or by copyrighted interfaces, the 231 | original copyright holder who places the Program under this License 232 | may add an explicit geographical distribution limitation excluding 233 | those countries, so that distribution is permitted only in or among 234 | countries not thus excluded. In such case, this License incorporates 235 | the limitation as if written in the body of this License. 236 | 237 | 9. The Free Software Foundation may publish revised and/or new versions 238 | of the General Public License from time to time. Such new versions will 239 | be similar in spirit to the present version, but may differ in detail to 240 | address new problems or concerns. 241 | 242 | Each version is given a distinguishing version number. If the Program 243 | specifies a version number of this License which applies to it and "any 244 | later version", you have the option of following the terms and conditions 245 | either of that version or of any later version published by the Free 246 | Software Foundation. If the Program does not specify a version number of 247 | this License, you may choose any version ever published by the Free Software 248 | Foundation. 249 | 250 | 10. If you wish to incorporate parts of the Program into other free 251 | programs whose distribution conditions are different, write to the author 252 | to ask for permission. For software which is copyrighted by the Free 253 | Software Foundation, write to the Free Software Foundation; we sometimes 254 | make exceptions for this. Our decision will be guided by the two goals 255 | of preserving the free status of all derivatives of our free software and 256 | of promoting the sharing and reuse of software generally. 257 | 258 | NO WARRANTY 259 | 260 | 11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY 261 | FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN 262 | OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES 263 | PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED 264 | OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF 265 | MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. 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IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING 271 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR 272 | REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, 273 | INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING 274 | OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED 275 | TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY 276 | YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER 277 | PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE 278 | POSSIBILITY OF SUCH DAMAGES. 279 | 280 | END OF TERMS AND CONDITIONS 281 | 282 | How to Apply These Terms to Your New Programs 283 | 284 | If you develop a new program, and you want it to be of the greatest 285 | possible use to the public, the best way to achieve this is to make it 286 | free software which everyone can redistribute and change under these terms. 287 | 288 | To do so, attach the following notices to the program. It is safest 289 | to attach them to the start of each source file to most effectively 290 | convey the exclusion of warranty; and each file should have at least 291 | the "copyright" line and a pointer to where the full notice is found. 292 | 293 | {description} 294 | Copyright (C) {year} {fullname} 295 | 296 | This program is free software; you can redistribute it and/or modify 297 | it under the terms of the GNU General Public License as published by 298 | the Free Software Foundation; either version 2 of the License, or 299 | (at your option) any later version. 300 | 301 | This program is distributed in the hope that it will be useful, 302 | but WITHOUT ANY WARRANTY; without even the implied warranty of 303 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 304 | GNU General Public License for more details. 305 | 306 | You should have received a copy of the GNU General Public License along 307 | with this program; if not, write to the Free Software Foundation, Inc., 308 | 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. 309 | 310 | Also add information on how to contact you by electronic and paper mail. 311 | 312 | If the program is interactive, make it output a short notice like this 313 | when it starts in an interactive mode: 314 | 315 | Gnomovision version 69, Copyright (C) year name of author 316 | Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 317 | This is free software, and you are welcome to redistribute it 318 | under certain conditions; type `show c' for details. 319 | 320 | The hypothetical commands `show w' and `show c' should show the appropriate 321 | parts of the General Public License. Of course, the commands you use may 322 | be called something other than `show w' and `show c'; they could even be 323 | mouse-clicks or menu items--whatever suits your program. 324 | 325 | You should also get your employer (if you work as a programmer) or your 326 | school, if any, to sign a "copyright disclaimer" for the program, if 327 | necessary. Here is a sample; alter the names: 328 | 329 | Yoyodyne, Inc., hereby disclaims all copyright interest in the program 330 | `Gnomovision' (which makes passes at compilers) written by James Hacker. 331 | 332 | {signature of Ty Coon}, 1 April 1989 333 | Ty Coon, President of Vice 334 | 335 | This General Public License does not permit incorporating your program into 336 | proprietary programs. If your program is a subroutine library, you may 337 | consider it more useful to permit linking proprietary applications with the 338 | library. If this is what you want to do, use the GNU Lesser General 339 | Public License instead of this License. 340 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | ## Introduction 2 | 3 | This template repository provides a detailed guide on how your modules, and possibly their API you exposed as _IDL services_, should be documented. 4 | 5 | A clean and handy way to deal with your documentation is to exploit the [**GitHub Pages**](https://pages.github.com/), which represents a nice tool to publish software documentation online. 6 | 7 | Everything is basically done through the special branch called **`gh-pages`**. The branch must contain at the root level the **index.html** file pointing to the static documentation (generally generated via [**doxygen**](http://www.doxygen.org)) stored somewhere within the branch itself. Further, the static documentation might be composed of many products (sometimes images), thus it would be worth saving space on the repository by not retaining any history for those files. 8 | 9 | First off, we explain how to **create the infrastructure** for the documentation using _git_ and keep it **up-to-date** throughout the changes the code undergoes. Then, we will dig into how we can use **doxygen** to generate the documentation. 10 | 11 | Let's start :sparkles: 12 | 13 | ### Creating the infrastructure 14 | 15 | From `master`, create a new branch called `gh-pages` on your repository. Then, locally do: 16 | 17 | ```sh 18 | git checkout master 19 | git fetch origin 20 | git branch gh-pages --track origin/gh-pages 21 | git checkout gh-pages 22 | ``` 23 | Now you have the same branch `gh-pages` also on your machine which tracks the _remote_ `gh-pages`. 24 | 25 | Next step is to create the **static documentation locally**: 26 | - Provide thus a **sub-directory** called **`doxygen`** where you have to put the file **`generate.txt`** that tells doxygen how to produce the documentation. 27 | You can find a template `generate.txt` file [here](https://github.com/robotology/how-to-document-modules/blob/gh-pages/doxygen/generate.txt) within this repository. 28 | 29 | Inside the `generate.txt` file, the most important parameter you are required to fill in is **`INPUT`**, which specifies the directories containing your code to be documented (a recursive search is typically done). An example follows: 30 | ``` 31 | INPUT = ../src \ 32 | ../idl_dox \ 33 | generated-from-xml 34 | ``` 35 | Typically, to be neat, the file `generate.txt` contains instructions to generate the documentation under **doxygen/doc** via the parameter **`OUTPUT_DIRECTORY`**. 36 | 37 | To find out more about other doxygen parameters, we suggest you to look directly at the online guide. 38 | 39 | - Now type: 40 | ```sh 41 | cd doxygen 42 | doxygen ./generate.txt 43 | ``` 44 | This will generate your documentation. The new directory **doxygen/doc** will appear containing all your documentation. 45 | 46 | - Create the `index.html` file at the root level of your repository that provides the entry point to your documentation. This is an [**example**](https://github.com/robotology/how-to-document-modules/blob/gh-pages/index.html) you have to tailor to your specific repository. 47 | 48 | - Stage, commit and push: 49 | ```sh 50 | git add ./doxygen 51 | git add ./index.html 52 | git commit -m "provided doxygen documentation" 53 | git push origin gh-pages 54 | ``` 55 | 56 | After publishing the changes, you can visit the page https://robotology.github.io/how-to-document-modules (of course use your github account and repository name in the url) and you will be redirected to the online documentation. 57 | 58 | Finally, it is also a good practice to cite that url from within the `README.md` file. 59 | 60 | ### Updating the documentation 61 | 62 | By creation, the special `gh-pages` branch should always mirror the `master` branch and should contain two things more: the doxygen directory along with the `index.html` file. Regarding the commit history, `gh-pages` should be always [one commit ahead of `master`](https://github.com/robotology/how-to-document-modules/network). 63 | 64 | Whenever you update `master` branch then, do the following to update the documentation accordingly: 65 | ```sh 66 | git checkout gh-pages 67 | git rebase master 68 | cd doxygen 69 | rm -rf ./doc 70 | doxygen ./generate.txt 71 | git add ./doc 72 | git log -1 73 | git commit --amend 74 | git push --force-with-lease 75 | git checkout master 76 | ``` 77 | 78 | The **`git log -1`** command serves as verification and does display the very last commit message on the `gh-pages` branch, which must be "*provided doxygen documentation*", that is the one specified initially at creation time. The combination of **`git commit --amend`** and **`git push --force-with-lease`** aim to modify the latest stored commit instead of creating a brand new one and eventually force publishing it. This way, we always retain only one commit for the documentation instead of dealing with its whole history. 79 | 80 | ### :octocat: Automatic documentation (a.k.a. let GitHub do the job for us!) 81 | 82 | All the steps we have covered so far can be conveniently improved and automatized using [GitHub Actions](https://github.com/features/actions). 83 | 84 | To do so, just drop the file [.github/workflows/gh-pages.yml](.github/workflows/gh-pages.yml) in your repository, keeping the path unchanged. 85 | 86 | Finally, copy out this badge within your main README.md file. 87 | 88 | ![gh-pages](https://github.com/robotology/how-to-document-modules/workflows/GitHub%20Pages/badge.svg) 89 | 90 | ### How to write the documentation 91 | 92 | You have to provide the documentation of your module through an _xml file_: 93 | 94 | - [**modulename.xml**](https://github.com/robotology/how-to-document-modules/blob/master/how-to-document-modules.xml) for the general description. 95 | 96 | Moreover, if your module also exposes an IDL generated API, then the corresponding services should be documented in the relative _thrift file_: 97 | 98 | - [**idl.thrift**](https://github.com/robotology/how-to-document-modules/blob/master/src/idl.thrift) listing and documenting all the available services. 99 | 100 | We don't go here into more details since at the following links you'll find official guidelines on how to write the documentation for: 101 | - [xml description of your module](http://wiki.icub.org/brain/xml_module_documentation.html). 102 | - [Thrift services](http://www.yarp.it/thrift_tutorial_simple.html). 103 | 104 | Of course, aside from the documentation generated automatically from the code, you should also fill the `README.md` file with information about **installation instructions**, **dependencies**, so as descriptions regarding the **goal of your module**, the **theory behind your implementation**, **tutorials** to make the learning curve of your software more gentle, and everything is necessary to help the user :smile:. 105 | 106 | #### Documentation generated from xml 107 | 108 | The xml file containing the general description of the modules cannot be automatically digested by doxygen, requiring first a conversion into the dox language by means of a style sheet parser shipped with Yarp. To this end, you can profitably rely on scripts we made for you, which automate this operation: 109 | - [doc-compile.sh](https://github.com/robotology/how-to-document-modules/blob/gh-pages/doxygen/doc-compile.sh): a bash script for Linux. 110 | - [doc-compile.ps1](https://github.com/robotology/how-to-document-modules/blob/gh-pages/doxygen/doc-compile.ps1): a powershell script for Windows. 111 | 112 | Dependencies to run these scripts are: 113 | - [**doxygen**](http://www.doxygen.org), of course :smile: 114 | - [**xsltproc**](http://www.sagehill.net/docbookxsl/InstallingAProcessor.html), on Linux you can get it via `sudo apt-get install xsltproc`. 115 | - **`YARP_SOURCE_DIR`** environment variable set (but you can customize the scripts as you like) 116 | 117 | These scripts need to be located within the doxygen directory. When run, they replace the `rm -rf ./doc` and `doxygen ./generate.txt` instructions in the flow above by applying style sheet conversion and then producing documentation in one go. The final products will be then put under the **doxygen/generated-from-xml** directory. Therefore, doxygen must be aware of the latter path when collecting all the files we want to document. For this reason, this path is declared in the **`INPUT`** section of the `generate.txt` file. 118 | 119 | #### Why do we also specify the **idl_dox** directory as further input? 120 | 121 | This directory is necessary only if you provide Thrift services using the `yarp_add_idl` cmake directive. In this case, the header file **modulename_IDL.h** (or any equivalent name according to your setting) will be generated automatically inside the **build**, which is generally ignored by doxygen in its search. Thereby, as **temporary workaround solution**, we suggest to `copy and paste` the header file from the build into the **idl_dox** stub and make doxygen aware of its presence by filling the **`INPUT`** parameter. 122 | -------------------------------------------------------------------------------- /app/conf/config.ini: -------------------------------------------------------------------------------- 1 | parameter-0 desired-value-0 2 | parameter-1 desired-value-1 3 | -------------------------------------------------------------------------------- /app/scripts/how-to-document-modules.xml.template: -------------------------------------------------------------------------------- 1 | 2 | how-to-document-modules 3 | 4 | 5 | /icub/camcalib/left/out 6 | 7 | 8 | 9 | how-to-document-modules 10 | node0 11 | 12 | 13 | yarpview 14 | --name /viewer --p 200 15 | node1 16 | 17 | 18 | 19 | /icub/camcalib/left/out 20 | /how-to-document-modules/data:i 21 | tcp 22 | 23 | 24 | 25 | /how-to-document-modules/data:o 26 | /viewer 27 | tcp 28 | 29 | 30 | -------------------------------------------------------------------------------- /how-to-document-modules.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | how-to-document-modules 6 | 7 | Short description of your work. 8 | License terms, for example: released under the terms of the GNU GPL v2.0 . 9 | version of your code 10 | 11 | 12 | Here you can provide a detailed description of what your module does, how it is structured, how it works, how to use it and so on. 13 | 14 | 15 | 16 | parameter-0 17 | parameter-1 18 | 19 | 20 | 21 | Name Surname 22 | 23 | 24 | 25 | 26 | data type 27 | /how-to-document-modules/data:i 28 | 29 | Short description of your port behaviour. 30 | 31 | 32 | 33 | data type 34 | /how-to-document-modules/data:o 35 | 36 | Short description of your port behaviour. 37 | 38 | 39 | 40 | 41 | 42 | 43 | howToDocument_IDL 44 | idl.thrift 45 | /how-to-document-modules/rpc 46 | service port 47 | 48 | 49 | 50 | 51 | -------------------------------------------------------------------------------- /idl_dox/howToDocument_IDL.h: -------------------------------------------------------------------------------- 1 | // This is an automatically-generated file. 2 | // It could get re-generated if the ALLOW_IDL_GENERATION flag is on. 3 | 4 | #ifndef YARP_THRIFT_GENERATOR_howToDocument_IDL 5 | #define YARP_THRIFT_GENERATOR_howToDocument_IDL 6 | 7 | #include 8 | #include 9 | 10 | class howToDocument_IDL; 11 | 12 | 13 | /** 14 | * howToDocument_IDL 15 | * IDL Interface to \ref how-to-document-modules services. 16 | * This is a fake thrift service, just to show how to structure your repo 17 | * and how to document your code. 18 | */ 19 | class howToDocument_IDL : public yarp::os::Wire { 20 | public: 21 | howToDocument_IDL(); 22 | /** 23 | * This an example service that just prints a sentence. 24 | * Put here meaningful information about input/output parameters. 25 | * @return true 26 | */ 27 | virtual bool exampleService(); 28 | virtual bool read(yarp::os::ConnectionReader& connection); 29 | virtual std::vector help(const std::string& functionName="--all"); 30 | }; 31 | 32 | #endif 33 | -------------------------------------------------------------------------------- /src/idl.thrift: -------------------------------------------------------------------------------- 1 | # Copyright: (C) 2016 iCub Facility - Istituto Italiano di Tecnologia 2 | # Authors: Giulia Vezzani 3 | # CopyPolicy: Released under the terms of the GNU GPL v2.0. 4 | # 5 | # idl.thrift 6 | 7 | /** 8 | * howToDocument_IDL 9 | * 10 | * IDL Interface to \ref how-to-document-modules services. 11 | * This is a fake thrift service, just to show how to structure your repo 12 | * and how to document your code. 13 | */ 14 | 15 | service howToDocument_IDL 16 | { 17 | /** 18 | * This an example service that just prints a sentence. 19 | * Put here meaningful information about input/output parameters. 20 | * @return true 21 | */ 22 | bool exampleService() 23 | } 24 | -------------------------------------------------------------------------------- /src/main.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright (C) 2016 iCub Facility - Istituto Italiano di Tecnologia 3 | * Author: Giulia Vezzani 4 | * email: giulia.vezzani@iit.it 5 | * Permission is granted to copy, distribute, and/or modify this program 6 | * under the terms of the GNU General Public License, version 2 or any 7 | * later version published by the Free Software Foundation. 8 | * 9 | * A copy of the license can be found at 10 | * http://www.robotcub.org/icub/license/gpl.txt 11 | * 12 | * This program is distributed in the hope that it will be useful, but 13 | * WITHOUT ANY WARRANTY; without even the implied warranty of 14 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General 15 | * Public License for more details 16 | */ 17 | 18 | #include 19 | #include 20 | 21 | #include 22 | 23 | #include "src/howToDocument_IDL.h" 24 | 25 | using namespace std; 26 | using namespace yarp::os; 27 | 28 | class FakeModule : public RFModule, 29 | public howToDocument_IDL 30 | { 31 | protected: 32 | BufferedPort portOut; 33 | BufferedPort portIn; 34 | 35 | /************************************************************************/ 36 | bool attach(RpcServer &source) 37 | { 38 | return this->yarp().attachAsServer(source); 39 | } 40 | 41 | /************************************************************************/ 42 | bool exampleService() 43 | { 44 | yInfo()<<"This is an example thrift service"; 45 | return true; 46 | } 47 | 48 | public: 49 | 50 | /***********************************************************************/ 51 | double getPeriod() 52 | { 53 | return 1.0; 54 | } 55 | 56 | /***********************************************************************/ 57 | bool updateModule() 58 | { 59 | yInfo()<<"updateModule is running fine"; 60 | return true; 61 | } 62 | 63 | /***********************************************************************/ 64 | bool configure(ResourceFinder &rf) 65 | { 66 | portOut.open("/how-to-document-modules/data:o"); 67 | portIn.open("/how-to-document-modules/data:i"); 68 | return true; 69 | } 70 | 71 | /***********************************************************************/ 72 | bool close() 73 | { 74 | if (!portOut.isClosed()) 75 | portOut.close(); 76 | 77 | if (!portIn.isClosed()) 78 | portIn.close(); 79 | 80 | return true; 81 | } 82 | }; 83 | 84 | 85 | /**********************************************************************/ 86 | int main(int argc,char *argv[]) 87 | { 88 | Network yarp; 89 | if (!yarp.checkNetwork()) 90 | { 91 | yError("unable to find YARP server!"); 92 | return 1; 93 | } 94 | 95 | FakeModule mod; 96 | ResourceFinder rf; 97 | rf.setDefaultContext("how-to-document-modules"); 98 | rf.configure(argc,argv); 99 | return mod.runModule(rf); 100 | } 101 | --------------------------------------------------------------------------------