Permit to interop plugins to define glue code to be automatically applied between requested interface and available interface

[traversaro]

The code added in #36 permits us to write open any YARP device as a dinrail device, i.e.:

#include <dinrail/Device.h>
#include <dinrail/Parameters.h>
#include <yarp/dev/IAxisInfo.h>

dinrail::Parameters options;
options.put("device", "fakeMotionControl");
options.addGroup("GENERAL").put("Joints", 3);

dinrail::Device device;
device.open(options);

// Native yarp::dev::* interfaces of the wrapped device are resolved by view().
yarp::dev::IAxisInfo* axisInfo = nullptr;
device.view(axisInfo);

However, this is still not ideal, as while we do not depend on YARP anymore for opening the device, we need it for using the yarp::dev::IAxisInfo interface, and all YARP devices only implement YARP interfaces.

A better alternatives would be that the following worked, and it was possible to directly use dinrail::IAxisInfo with fakeMotionControl, even if fakeMotionControl only implemented yarp::dev::IAxisInfo:

#include <dinrail/Device.h>
#include <dinrail/Parameters.h>
#include <yarp/dev/IAxisInfo.h>

dinrail::Parameters options;
options.put("device", "fakeMotionControl");
options.addGroup("GENERAL").put("Joints", 3);

dinrail::Device device;
device.open(options);

// Native yarp::dev::* interfaces of the wrapped device are resolved by view().
dinrail::IAxisInfo* axisInfo = nullptr;
device.view(axisInfo);

This is probably possible by extending the interop plugins permitting them to also provide "bridge" between interface with similar functionality, and modifying Device::view to automatically instantiate such bridges if necessary.

Implementing this functionality is tracked by this issue.

[traversaro]

First attemp done during GitHub downtime: https://github.com/gbionics/dinrail/tree/addinterfacetranslation . I think we need a few other dinrail interfaces added in the repo before, to have a bunch of interfaces to add to the interop plugin.

[traversaro]

First attemp done during GitHub downtime: https://github.com/gbionics/dinrail/tree/addinterfacetranslation . I think we need a few other dinrail interfaces added in the repo before, to have a bunch of interfaces to add to the interop plugin.

First PR: #42 .