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Removed topics from yarp::os #3241

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2 changes: 2 additions & 0 deletions doc/release/master.md
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Expand Up @@ -46,5 +46,7 @@ Breaking Changes

### libYARP_os

* Removed the following methods from `yarp::os::NameSpace` : `connectPortToTopic`, `connectTopicToPort`,
`disconnectPortFromTopic`, `disconnectTopicFromPort`
* Removed classes `yarp::os::Node`,`yarp::os::Nodes`,`yarp::os::Publisher`,`yarp::os::Subscriber`
* Removed ROS1-related management logic in YARP nameserver
44 changes: 0 additions & 44 deletions src/libYARP_os/src/yarp/os/MultiNameSpace.cpp
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Expand Up @@ -280,50 +280,6 @@ Contact MultiNameSpace::queryName(const std::string& name)
return HELPER(this).queryName(name);
}

bool MultiNameSpace::connectPortToTopic(const Contact& src,
const Contact& dest,
const ContactStyle& style)
{
NameSpace* ns = HELPER(this).getOne();
if (ns == nullptr) {
return false;
}
return ns->connectPortToTopic(src, dest, style);
}

bool MultiNameSpace::connectTopicToPort(const Contact& src,
const Contact& dest,
const ContactStyle& style)
{
NameSpace* ns = HELPER(this).getOne();
if (ns == nullptr) {
return false;
}
return ns->connectTopicToPort(src, dest, style);
}

bool MultiNameSpace::disconnectPortFromTopic(const Contact& src,
const Contact& dest,
const ContactStyle& style)
{
NameSpace* ns = HELPER(this).getOne();
if (ns == nullptr) {
return false;
}
return ns->disconnectPortFromTopic(src, dest, style);
}

bool MultiNameSpace::disconnectTopicFromPort(const Contact& src,
const Contact& dest,
const ContactStyle& style)
{
NameSpace* ns = HELPER(this).getOne();
if (ns == nullptr) {
return false;
}
return ns->disconnectTopicFromPort(src, dest, style);
}

bool MultiNameSpace::connectPortToPortPersistently(const Contact& src,
const Contact& dest,
const ContactStyle& style)
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16 changes: 0 additions & 16 deletions src/libYARP_os/src/yarp/os/MultiNameSpace.h
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Expand Up @@ -40,22 +40,6 @@ class YARP_os_API MultiNameSpace : public NameSpace

Value* getProperty(const std::string& name, const std::string& key) override;

virtual bool connectPortToTopic(const Contact& src,
const Contact& dest,
const ContactStyle& style) override;

virtual bool connectTopicToPort(const Contact& src,
const Contact& dest,
const ContactStyle& style) override;

virtual bool disconnectPortFromTopic(const Contact& src,
const Contact& dest,
const ContactStyle& style) override;

virtual bool disconnectTopicFromPort(const Contact& src,
const Contact& dest,
const ContactStyle& style) override;

virtual bool connectPortToPortPersistently(const Contact& src,
const Contact& dest,
const ContactStyle& style) override;
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28 changes: 0 additions & 28 deletions src/libYARP_os/src/yarp/os/NameSpace.h
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Expand Up @@ -122,34 +122,6 @@ class YARP_os_API NameSpace
virtual Value *getProperty(const std::string& name,
const std::string& key) = 0;

/**
* Publish a port to a topic.
*/
virtual bool connectPortToTopic(const Contact& src,
const Contact& dest,
const ContactStyle& style) = 0;

/**
* Subscribe a port to a topic.
*/
virtual bool connectTopicToPort(const Contact& src,
const Contact& dest,
const ContactStyle& style) = 0;

/**
* Stop publishing a port to a topic.
*/
virtual bool disconnectPortFromTopic(const Contact& src,
const Contact& dest,
const ContactStyle& style) = 0;

/**
* Stop subscribing a port to a topic.
*/
virtual bool disconnectTopicFromPort(const Contact& src,
const Contact& dest,
const ContactStyle& style) = 0;

/**
* Connect two ports with persistence.
*/
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36 changes: 0 additions & 36 deletions src/libYARP_os/src/yarp/os/Network.cpp
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Expand Up @@ -490,42 +490,6 @@ static int metaConnect(const std::string& src,
destIsTopic = true;
}

if (srcIsTopic || destIsTopic) {
Bottle cmd;
Bottle reply;
NameSpace& ns = getNameSpace();

bool ok = false;
if (srcIsTopic) {
if (mode == YARP_ENACT_CONNECT) {
ok = ns.connectTopicToPort(staticSrc, staticDest, style);
} else if (mode == YARP_ENACT_DISCONNECT) {
ok = ns.disconnectTopicFromPort(staticSrc, staticDest, style);
} else {
yCError(NETWORK, "Failure: cannot check subscriptions yet");
return 1;
}
} else {
if (mode == YARP_ENACT_CONNECT) {
ok = ns.connectPortToTopic(staticSrc, staticDest, style);
} else if (mode == YARP_ENACT_DISCONNECT) {
ok = ns.disconnectPortFromTopic(staticSrc, staticDest, style);
} else {
yCError(NETWORK, "Failure: cannot check subscriptions yet");
return 1;
}
}
if (!ok) {
return 1;
}
if (!style.quiet) {
if (style.verboseOnSuccess) {
yCInfo(NETWORK, "Success: connection to topic %s.", mode == YARP_ENACT_CONNECT ? "added" : "removed");
}
}
return 0;
}

yCTrace(NETWORK,
"dynamicSrc.getCarrier() = %s",
dynamicSrc.getCarrier().c_str());
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38 changes: 0 additions & 38 deletions src/libYARP_os/src/yarp/os/YarpNameSpace.cpp
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Expand Up @@ -57,49 +57,11 @@ Contact YarpNameSpace::registerContact(const Contact& contact)
Contact address = nic.registerName(contact.getName(), contact);
yCDebug(YARPNAMESPACE, "Registered address: %s", address.toURI().c_str());

if (address.isValid()) {
NestedContact nc;
nc.fromString(address.getRegName());
std::string cat = nc.getCategory();
if (!nc.getNestedName().empty()) {
//bool service = (cat.find("1") != std::string::npos);
bool publish = (cat.find('+') != std::string::npos);
bool subscribe = (cat.find('-') != std::string::npos);
ContactStyle style;
Contact c1(nc.getFullName());
Contact c2(std::string("topic:/") + nc.getNestedName());
if (subscribe) {
style.persistenceType = ContactStyle::END_WITH_TO_PORT;
connectPortToTopic(c2, c1, style);
}
if (publish) {
style.persistenceType = ContactStyle::END_WITH_FROM_PORT;
connectPortToTopic(c1, c2, style);
}
}
}
return address;
}

Contact YarpNameSpace::unregisterName(const std::string& name)
{
NestedContact nc;
nc.fromString(name);
std::string cat = nc.getCategory();
if (!nc.getNestedName().empty()) {
//bool service = (cat.find("1") != std::string::npos);
bool publish = (cat.find('+') != std::string::npos);
bool subscribe = (cat.find('-') != std::string::npos);
ContactStyle style;
Contact c1(nc.getFullName());
Contact c2(std::string("topic:/") + nc.getNestedName());
if (subscribe) {
disconnectPortFromTopic(c2, c1, style);
}
if (publish) {
disconnectPortFromTopic(c1, c2, style);
}
}
NameClient& nic = HELPER(this);
return nic.unregisterName(name);
}
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28 changes: 0 additions & 28 deletions src/libYARP_os/src/yarp/os/YarpNameSpace.h
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Expand Up @@ -41,34 +41,6 @@ class YARP_os_API YarpNameSpace : public NameSpace
virtual Value* getProperty(const std::string& name,
const std::string& key) override;

virtual bool connectPortToTopic(const Contact& src,
const Contact& dest,
const ContactStyle& style) override
{
return connectTopic("subscribe", false, true, src, dest, style);
}

virtual bool connectTopicToPort(const Contact& src,
const Contact& dest,
const ContactStyle& style) override
{
return connectTopic("subscribe", true, false, src, dest, style);
}

virtual bool disconnectPortFromTopic(const Contact& src,
const Contact& dest,
const ContactStyle& style) override
{
return connectTopic("unsubscribe", false, true, src, dest, style);
}

virtual bool disconnectTopicFromPort(const Contact& src,
const Contact& dest,
const ContactStyle& style) override
{
return connectTopic("unsubscribe", true, false, src, dest, style);
}

virtual bool connectPortToPortPersistently(const Contact& src,
const Contact& dest,
const ContactStyle& style) override
Expand Down
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