Allow IWearRemapper to attach and remap IWear interfaces

[lrapetti]

Until now, the IWear remapper had the dual role of network client (converting yarp port to interface) and remapper (merging multiple signals).

This PR extend the IWearRemapper capabilities concerning the second role (remapping) enabling it to merge multiple interfaces (until now it was only capable of merging signals from ports). In the future the other role (network client) might be delegated to a dedicated device.

As a consequence of this change:

• The IWearRemapper inherit from IMultipleWrapper (see here and can be attached to IWear interfaces (see here)
• The WearableDataPorts option becomes optional (see here)

[lrapetti]

Previously this device was in the status WaitingForFirstRead until some data are read from the input port in onRead method.

As discussed with @RiccardoGrieco, now the remapper should wait for:

• data being read on the port (first call of onRead)
• interfaces are attached (attachAll is concluded)

As far as I see there is not a predefined order in which the onRead and attachAll are called. The easiest thing would be to have two flags detecting the two methods to be executed. The point is that attachAll is not called if there is nothing to attach to, so we can not distinguish the case in which there are only ports to which we should connect and we do not have to wait for the attach all. Am I missing something? Is there a way to know if the attach is present in the configuration file? cc @traversaro @RiccardoGrieco @S-Dafarra

[traversaro]

Am I missing something? Is there a way to know if the attach is present in the configuration file? cc @traversaro @RiccardoGrieco @S-Dafarra

I do not think so. I think the easiest solution (even if it is not ideal) is to add a specific parameter to the device to set if no device is attached to it, or a parameter that specifies if the device should wait for attachAll or not.

[RiccardoGrieco]

Am I missing something? Is there a way to know if the attach is present in the configuration file? cc @traversaro @RiccardoGrieco @S-Dafarra

I do not think so. I think the easiest solution (even if it is not ideal) is to add a specific parameter to the device to set if no device is attached to it, or a parameter that specifies if the device should wait for attachAll or not.

I agree! It was also one of the possibilities that came up discussing with @lrapetti.

[lrapetti]

With https://github.com/robotology/wearables/pull/170/commits/6026b0c29cfc9d76d4484b7247acb6de09a03fa2 I have added the flag waitForAttachAll as you both proposed. Moreover, in case no there are no input ports, I am avoiding starting the loop (which was used only for initializing the onRead() callback).

[lrapetti]

For reference, this PR has been tested with the following configuration file Human.xml.txt that modifies https://github.com/robotology/human-dynamics-estimation/blob/master/conf/xml/Human.xml adding the IWearRemapper that remaps directly the interface

[lrapetti]

LGTM! Just don't fortget to update the CHANGELOG before merging

Done!