Merge pull request robotology#1696 from jgvictores/swig-vocab-global-…

…scope

Fix and test SWIG wrapper generation of VOCABs defined in the global scope

bindings/lua/tests/test_vocab.lua

@@ -20,6 +20,14 @@ function test_vocab_pixel_types_enum()
   assert(909209453 == yarp.VOCAB_PIXEL_MONO16) -- VOCAB4 with '1' and '6'
 end
 
+function test_vocab_global_scope()
+  assert("number" == type(yarp.VOCAB_CM_POSITION))
+  assert(7565168 == yarp.VOCAB_CM_POSITION) -- VOCAB3
+  assert(1685286768 == yarp.VOCAB_CM_POSITION_DIRECT) -- VOCAB4
+  assert(845375334 == yarp.VOCAB_FRAMEGRABBER_CONTROL2) -- VOCAB4 with '2'
+end
+
 test_vocab()
 test_vocab_pixel_types_enum()
+--test_vocab_global_scope() -- Requires SWIG_VERSION >= 0x030011 (3.0.11), see yarp.i
 

bindings/yarp.i

@@ -282,20 +282,24 @@ namespace yarp {
   }
  }
 
-#if defined(SWIGCSHARP)
-    %define YARP_OS_VOCAB_H 1
-    %enddef
-    %define VOCAB(a,b,c,d) 0
-    %enddef
-    %define VOCAB4(a,b,c,d) VOCAB((a),(b),(c),(d))
-    %enddef
-    %define VOCAB3(a,b,c) VOCAB((a),(b),(c),(0))
-    %enddef
-    %define VOCAB2(a,b) VOCAB((a),(b),(0),(0))
+// We skip macros from Vocab.h via SWIG_PREPROCESSOR_SHOULD_SKIP_THIS directive
+// But cannot define YARP_OS_VOCAB_H as we would miss encode/decode
+#if (SWIG_VERSION >= 0x030011) && (!defined(SWIGCSHARP))
+    %define VOCAB(x1,x2,x3,x4) x4*16777216+x3*65536+x2*256+x1 // Tested on Lua and Python
     %enddef
-    %define VOCAB1(a) VOCAB((a),(0),(0),(0))
+#elif defined(SWIGCSHARP)
+    // We'd rather no VOCAB vs a defective VOCAB (value 0), but required for CSHARP.
+    %define VOCAB(x1,x2,x3,x4) 0 // VOCABs in enum should be generated in Lua and Python, not C#
     %enddef
-#endif
+#endif // If old SWIG and not CSHARP, no global defined (but enum should be) VOCABs wrappers generated
+%define VOCAB4(x1,x2,x3,x4) VOCAB(x1,x2,x3,x4)
+%enddef
+%define VOCAB3(x1,x2,x3) VOCAB(x1,x2,x3,0)
+%enddef
+%define VOCAB2(x1,x2) VOCAB(x1,x2,0,0)
+%enddef
+%define VOCAB1(x1) VOCAB(x1,0,0,0)
+%enddef
 
 %define YARP_BEGIN_PACK
 %enddef

doc/release/v2_3_72_1.md

@@ -85,10 +85,11 @@ yarpserver is launched with `--ros` option. (#722)
 
 * Fixed out of source builds.
 * Added `SWIG_PREPROCESSOR_SHOULD_SKIP_THIS` to avoid the SWIG preprocessor from
-  parsing `VOCAB`. This avoids hacks required for compilation of bindings (hacks
-  removed), and enables the correct generation of `VOCAB`s inside `enum`s.
+  parsing `VOCAB`. Introduced SWIG-compliant working `VOCAB` definitions in
+  `yarp.i`, with required checks on target language and SWIG version.
+* Removed related hacks required for compilation from YARP internals.
 * Added `test_vocab.lua` to catch regressions on `VOCAB` in the future.
-* Rename `test_string.lua` to more representative `test_port.lua`, enable it to
+* Renamed `test_string.lua` to more representative `test_port.lua`, enabled it to
   run without the `yarpserver`, and integrate it in the test infrastructure.
 
 Contributors

src/libYARP_OS/include/yarp/os/Vocab.h

@@ -18,14 +18,14 @@ namespace yarp {
 }
 
 // We need a macro for efficient switching.
-// Use as, for example, VOCAB('s','e','t')
+// Use as, for example, VOCAB3('s','e','t')
 #ifndef SWIG_PREPROCESSOR_SHOULD_SKIP_THIS
 #define VOCAB(a,b,c,d) ((((int)(d))<<24)+(((int)(c))<<16)+(((int)(b))<<8)+((int)(a)))
-#endif // SWIG_PREPROCESSOR_SHOULD_SKIP_THIS
 #define VOCAB4(a,b,c,d) VOCAB((a),(b),(c),(d))
 #define VOCAB3(a,b,c) VOCAB((a),(b),(c),(0))
 #define VOCAB2(a,b) VOCAB((a),(b),(0),(0))
 #define VOCAB1(a) VOCAB((a),(0),(0),(0))
+#endif // SWIG_PREPROCESSOR_SHOULD_SKIP_THIS
 
 /**
  * Short readable codes.  They are integers, for efficient switching,