Merge pull request #337 from dic-iit/fix/yarp_dev

Various fixes for the yarp devices
ami-iit · Jun 14, 2021 · 9b766a1 · 9b766a1
2 parents b7adab2 + 5f33564
commit 9b766a1
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Showing 5 changed files with 29 additions and 19 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -75,6 +75,7 @@ All notable changes to this project are documented in this file.
 - Avoid to use the default copy-constructor and copy-assignment operator in `ContactPhaseList` class (https://github.com/dic-iit/bipedal-locomotion-framework/pull/295)
 - Fix `toString()` method of `VariablesHandler` class (https://github.com/dic-iit/bipedal-locomotion-framework/pull/302)
 - Fix in `YarpUtilities::getVectorFromSearchable` when a vector of boolean is passed as input (https://github.com/dic-iit/bipedal-locomotion-framework/pull/313)
+- Various fixes for the yarp devices (https://github.com/dic-iit/bipedal-locomotion-framework/pull/337)
 
 ## [0.1.1] - 2021-05-08
 ### Fix

diff --git a/cmake/AddBipedalLocomotionYARPDevice.cmake b/cmake/AddBipedalLocomotionYARPDevice.cmake
@@ -42,27 +42,30 @@ function(add_bipedal_yarp_device)
                               TYPE ${type}
                               INCLUDE ${public_headers})
 
-  yarp_add_plugin(${name} ${sources} ${public_headers})
+  if(NOT SKIP_${name})
 
-  target_link_libraries(${name} PUBLIC ${public_link_libraries})
-  target_compile_features(${name} PUBLIC cxx_std_17)
+    yarp_add_plugin(${name} ${sources} ${public_headers})
 
-  # Specify include directories for both compilation and installation process.
-  # The $<INSTALL_PREFIX> generator expression is useful to ensure to create
-  # relocatable configuration files, see https://cmake.org/cmake/help/latest/manual/cmake-packages.7.html#creating-relocatable-packages
-  target_include_directories(${name} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-    "<INSTALLINTERFACE:<INSTALL_PREFIX>/${CMAKE_INSTALL_INCLUDEDIR}>")
+    target_link_libraries(${name} PUBLIC ${public_link_libraries})
+    target_compile_features(${name} PUBLIC cxx_std_17)
 
-  # Specify installation targets, typology and destination folders.
-  yarp_install(TARGETS ${name}
-               COMPONENT runtime
-               LIBRARY DESTINATION ${YARP_DYNAMIC_PLUGINS_INSTALL_DIR}
-               ARCHIVE DESTINATION ${YARP_STATIC_PLUGINS_INSTALL_DIR}
-               YARP_INI DESTINATION ${YARP_PLUGIN_MANIFESTS_INSTALL_DIR})
+    # Specify include directories for both compilation and installation process.
+    # The $<INSTALL_PREFIX> generator expression is useful to ensure to create
+    # relocatable configuration files, see https://cmake.org/cmake/help/latest/manual/cmake-packages.7.html#creating-relocatable-packages
+    target_include_directories(${name} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+      "<INSTALLINTERFACE:<INSTALL_PREFIX>/${CMAKE_INSTALL_INCLUDEDIR}>")
 
-  add_subdirectory(app)
+    # Specify installation targets, typology and destination folders.
+    yarp_install(TARGETS ${name}
+      COMPONENT runtime
+      LIBRARY DESTINATION ${YARP_DYNAMIC_PLUGINS_INSTALL_DIR}
+      ARCHIVE DESTINATION ${YARP_STATIC_PLUGINS_INSTALL_DIR}
+      YARP_INI DESTINATION ${YARP_PLUGIN_MANIFESTS_INSTALL_DIR})
 
+    add_subdirectory(app)
 
-  message(STATUS "Created device ${name}.")
+    message(STATUS "Created device ${name} for export ${PROJECT_NAME}.")
+
+  endif()
 
 endfunction()
diff --git a/devices/FloatingBaseEstimatorDevice/include/BipedalLocomotion/FloatingBaseEstimatorDevice.h b/devices/FloatingBaseEstimatorDevice/include/BipedalLocomotion/FloatingBaseEstimatorDevice.h
@@ -34,7 +34,9 @@ class BipedalLocomotion::FloatingBaseEstimatorDevice : public yarp::dev::DeviceD
                                                        public yarp::os::PeriodicThread
 {
 public:
-    explicit FloatingBaseEstimatorDevice(double period, yarp::os::ShouldUseSystemClock useSystemClock = yarp::os::ShouldUseSystemClock::No);
+    FloatingBaseEstimatorDevice(double period,
+                                yarp::os::ShouldUseSystemClock useSystemClock
+                                = yarp::os::ShouldUseSystemClock::No);
     FloatingBaseEstimatorDevice();
     ~FloatingBaseEstimatorDevice();
 

diff --git a/devices/examples/FTIMULoggerDevice/include/BipedalLocomotion/FTIMULoggerDevice.h b/devices/examples/FTIMULoggerDevice/include/BipedalLocomotion/FTIMULoggerDevice.h
@@ -25,7 +25,9 @@ class BipedalLocomotion::FTIMULoggerDevice : public yarp::dev::DeviceDriver,
                                              public yarp::os::PeriodicThread
 {
 public:
-    explicit FTIMULoggerDevice(double period, yarp::os::ShouldUseSystemClock useSystemClock = yarp::os::ShouldUseSystemClock::No);
+    FTIMULoggerDevice(double period,
+                      yarp::os::ShouldUseSystemClock useSystemClock
+                      = yarp::os::ShouldUseSystemClock::No);
     FTIMULoggerDevice();
     ~FTIMULoggerDevice();
 

diff --git a/devices/examples/ROSPublisherTestDevice/include/BipedalLocomotion/ROSPublisherTestDevice.h b/devices/examples/ROSPublisherTestDevice/include/BipedalLocomotion/ROSPublisherTestDevice.h
@@ -24,7 +24,9 @@ class BipedalLocomotion::ROSPublisherTestDevice : public yarp::dev::DeviceDriver
                                                   public yarp::os::PeriodicThread
 {
 public:
-    explicit ROSPublisherTestDevice(double period, yarp::os::ShouldUseSystemClock useSystemClock = yarp::os::ShouldUseSystemClock::No);
+    ROSPublisherTestDevice(double period,
+                           yarp::os::ShouldUseSystemClock useSystemClock
+                           = yarp::os::ShouldUseSystemClock::No);
     ROSPublisherTestDevice();
     ~ROSPublisherTestDevice();