Rename Callbacks -> SubscriberManager; Subscriber->Type

include/core/yaml/parser_yaml.hpp

@@ -180,7 +180,7 @@ class ParserYAML {
         std::string _plugin;
         YAML::Node n;
     };
-    struct Callbacks{
+    struct SubscriberManager{
         std::string _package;
         std::string _subscriber;
         std::string _topic;
@@ -196,7 +196,7 @@ class ParserYAML {
     std::string _file;
     bool _relative_path;
     std::string _path_root;
-    std::vector<Callbacks> _callbacks;
+    std::vector<SubscriberManager> _subscriber_managers;
     YAML::Node problem;
     std::string generatePath(std::string);
     YAML::Node loadYAML(std::string);
@@ -212,7 +212,7 @@ public:
       _active_name = "";
       _paramsSens = std::vector<ParamsInitSensor>();
       _paramsProc = std::vector<ParamsInitProcessor>();
-      _callbacks = std::vector<Callbacks>();
+      _subscriber_managers = std::vector<SubscriberManager>();
       _raw_libs = std::vector<std::string>();
       _parsing_file = std::stack<std::string>();
       _file = file;
@@ -418,20 +418,19 @@ void ParserYAML::parseFirstLevel(std::string file){
       throw std::runtime_error("Error parsing processors @" + generatePath(file) + ". Please make sure that each processor has 'type', 'name', 'plugin' and 'sensor_name' entries.");
     }
     try {
-      for (const auto &kv : n_config["callbacks"]) {
-          Callbacks pCallback = {kv["package"].Scalar(), kv["subscriber"].Scalar(), kv["topic"].Scalar(), kv["sensor_name"].Scalar(), kv};
-          _callbacks.push_back(pCallback);
+      for (const auto &kv : n_config["ROS subscriber managers"]) {
+          SubscriberManager pSubscriberManager = {kv["package"].Scalar(), kv["type"].Scalar(), kv["topic"].Scalar(), kv["sensor_name"].Scalar(), kv};
+          _subscriber_managers.push_back(pSubscriberManager);
           map_container.push_back(std::map<std::string, std::string>({
                                                                       {"package", kv["package"].Scalar()},
-                                                                      {"subscriber", kv["subscriber"].Scalar()},
+                                                                      {"type", kv["type"].Scalar()},
                                                                       {"topic", kv["topic"].Scalar()},
                                                                       {"sensor_name", kv["sensor_name"].Scalar()}}));
       }
-      insert_register("callbacks",
-                      wolf::converter<std::string>::convert(map_container));
+      insert_register("ROS subscriber managers", wolf::converter<std::string>::convert(map_container));
       map_container.clear();
     } catch (YAML::InvalidNode &e) {
-        throw std::runtime_error("Error parsing callbacks @" + generatePath(file) + ". Please make sure that each callback has 'package', 'subscriber', 'topic' and 'sensor_name' entries.");
+        throw std::runtime_error("Error parsing subscriber managers @" + generatePath(file) + ". Please make sure that each manager has 'package', 'subscriber', 'topic' and 'sensor_name' entries.");
     }
 
     //TODO: Defined for testing purposes, maybe should be removed when releasing
@@ -466,7 +465,7 @@ void ParserYAML::parse(){
     std::list<std::string> plugins, packages;
     for(const auto &it : this->_paramsSens) plugins.push_back(it._plugin);
     for (const auto &it : this->_paramsProc) plugins.push_back(it._plugin);
-    for(const auto &it : this->_callbacks) packages.push_back(it._package);
+    for(const auto &it : this->_subscriber_managers) packages.push_back(it._package);
     plugins.sort();
     plugins.unique();
     packages.sort();