Remove or hide deprecated YARP CB methods

roboticslab-uc3m/yarp-devices#180
roboticslab-uc3m · Aug 2, 2018 · 20ad5b5 · 20ad5b5
1 parent ebca8bd
commit 20ad5b5
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Showing 4 changed files with 50 additions and 338 deletions.
diff --git a/libraries/YarpPlugins/YarpOpenraveControlboard/IControlMode2Impl.cpp b/libraries/YarpPlugins/YarpOpenraveControlboard/IControlMode2Impl.cpp
@@ -6,48 +6,6 @@
 
 // ------------------- IControlMode Related ------------------------------------
 
-bool roboticslab::YarpOpenraveControlboard::setPositionMode(int j) {
-    CD_INFO("(%d)\n",j);
-    return setControlMode(j, VOCAB_CM_POSITION);
-}
-
-// -----------------------------------------------------------------------------
-
-bool roboticslab::YarpOpenraveControlboard::setVelocityMode(int j) {
-    CD_INFO("(%d)\n",j);
-    return setControlMode(j, VOCAB_CM_VELOCITY);
-}
-
-// -----------------------------------------------------------------------------
-
-bool roboticslab::YarpOpenraveControlboard::setTorqueMode(int j)  {
-    CD_INFO("(%d)\n",j);
-    return setControlMode(j, VOCAB_CM_TORQUE);
-}
-
-// -----------------------------------------------------------------------------
-
-bool roboticslab::YarpOpenraveControlboard::setImpedancePositionMode(int j) {
-    CD_INFO("(%d)\n",j);
-    return setControlMode(j, VOCAB_CM_IMPEDANCE_POS);
-}
-
-// -----------------------------------------------------------------------------
-
-bool roboticslab::YarpOpenraveControlboard::setImpedanceVelocityMode(int j) {
-    CD_INFO("(%d)\n",j);
-    return setControlMode(j, VOCAB_CM_IMPEDANCE_VEL);
-}
-
-// -----------------------------------------------------------------------------
-
-bool roboticslab::YarpOpenraveControlboard::setOpenLoopMode(int j) {
-    CD_ERROR("(%d)\n",j);  //-- Removed in YARP 2.3.70
-    return false;
-}
-
-// -----------------------------------------------------------------------------
-
 bool roboticslab::YarpOpenraveControlboard::getControlMode(int j, int *mode) {
     //CD_DEBUG("Doing nothing.\n");  //-- Way too verbose.
 

diff --git a/libraries/YarpPlugins/YarpOpenraveControlboard/ITorqueControlImpl.cpp b/libraries/YarpPlugins/YarpOpenraveControlboard/ITorqueControlImpl.cpp
@@ -34,21 +34,26 @@ bool roboticslab::YarpOpenraveControlboard::setRefTorque(int j, double t) {
 
 // -----------------------------------------------------------------------------
 
-bool roboticslab::YarpOpenraveControlboard::getBemfParam(int j, double *bemf) {
-    CD_INFO("\n");
-    return true;
+bool roboticslab::YarpOpenraveControlboard::setRefTorques(const int n_joint, const int *joints, const double *t) {
+    CD_INFO("joint: %d.\n",n_joint);
+    bool ok = true;
+    for(int j=0; j<n_joint; j++)
+    {
+        ok &= this->setRefTorque(joints[j],t[j]);
+    }
+    return ok;
 }
 
 // -----------------------------------------------------------------------------
 
-bool roboticslab::YarpOpenraveControlboard::setBemfParam(int j, double bemf) {
+bool roboticslab::YarpOpenraveControlboard::getMotorTorqueParams(int j,  yarp::dev::MotorTorqueParameters *params) {
     CD_INFO("\n");
     return true;
 }
 
 // -----------------------------------------------------------------------------
 
-bool roboticslab::YarpOpenraveControlboard::setTorquePid(int j, const yarp::dev::Pid &pid) {
+bool roboticslab::YarpOpenraveControlboard::setMotorTorqueParams(int j, const yarp::dev::MotorTorqueParameters params) {
     CD_INFO("\n");
     return true;
 }
@@ -84,107 +89,38 @@ bool roboticslab::YarpOpenraveControlboard::getTorqueRanges(double *min, double
 
 // -----------------------------------------------------------------------------
 
-bool roboticslab::YarpOpenraveControlboard::setTorquePids(const yarp::dev::Pid *pids) {
-    CD_INFO("\n");
-    return true;
-}
-
-// -----------------------------------------------------------------------------
-
-bool roboticslab::YarpOpenraveControlboard::setTorqueErrorLimit(int j, double limit) {
-    CD_INFO("\n");
-    return true;
-}
-
-// -----------------------------------------------------------------------------
-
-bool roboticslab::YarpOpenraveControlboard::setTorqueErrorLimits(const double *limits) {
-    CD_INFO("\n");
-    return true;
-}
-
-// -----------------------------------------------------------------------------
-
-bool roboticslab::YarpOpenraveControlboard::getTorqueError(int j, double *err) {
-    CD_INFO("\n");
-    return true;
-}
-
-// -----------------------------------------------------------------------------
-
-bool roboticslab::YarpOpenraveControlboard::getTorqueErrors(double *errs) {
-    CD_INFO("\n");
-    return true;
-}
-
-// -----------------------------------------------------------------------------
-
-bool roboticslab::YarpOpenraveControlboard::getTorquePidOutput(int j, double *out) {
-    CD_INFO("\n");
-    return true;
-}
-
-// -----------------------------------------------------------------------------
-
-bool roboticslab::YarpOpenraveControlboard::getTorquePidOutputs(double *outs) {
-    CD_INFO("\n");
-    return true;
-}
-
-// -----------------------------------------------------------------------------
-
-bool roboticslab::YarpOpenraveControlboard::getTorquePid(int j, yarp::dev::Pid *pid) {
-    CD_INFO("\n");
-    return true;
-}
-
-// -----------------------------------------------------------------------------
-
-bool roboticslab::YarpOpenraveControlboard::getTorquePids(yarp::dev::Pid *pids){
-    CD_INFO("\n");
-    return true;
-}
-
-// -----------------------------------------------------------------------------
-
-bool roboticslab::YarpOpenraveControlboard::getTorqueErrorLimit(int j, double *limit) {
-    CD_INFO("\n");
-    return true;
-}
+#if YARP_VERSION_MAJOR != 3
+bool roboticslab::YarpOpenraveControlboard::getBemfParam(int j, double *bemf) {
+    CD_INFO("joint: %d.\n",j);
 
-// -----------------------------------------------------------------------------
+    yarp::dev::MotorTorqueParameters params;
 
-bool roboticslab::YarpOpenraveControlboard::getTorqueErrorLimits(double *limits) {
-    CD_INFO("\n");
-    return true;
-}
+    if (!getMotorTorqueParams(j, &params))
+    {
+        return false;
+    }
 
-// -----------------------------------------------------------------------------
+    *bemf = params.bemf;
 
-bool roboticslab::YarpOpenraveControlboard::resetTorquePid(int j) {
-    CD_INFO("\n");
     return true;
 }
 
 // -----------------------------------------------------------------------------
 
-bool roboticslab::YarpOpenraveControlboard::disableTorquePid(int j) {
-    CD_INFO("\n");
-    return true;
-}
+bool roboticslab::YarpOpenraveControlboard::setBemfParam(int j, double bemf) {
+    CD_INFO("joint: %d, bemf: %f.\n",j,bemf);
 
-// -----------------------------------------------------------------------------
+    yarp::dev::MotorTorqueParameters params;
 
-bool roboticslab::YarpOpenraveControlboard::enableTorquePid(int j) {
-    CD_INFO("\n");
-    return true;
-}
+    if (!getMotorTorqueParams(j, &params))
+    {
+        return false;
+    }
 
-// -----------------------------------------------------------------------------
+    params.bemf = bemf;
 
-bool roboticslab::YarpOpenraveControlboard::setTorqueOffset(int j, double v) {
-    CD_INFO("\n");
-    return true;
+    return setMotorTorqueParams(j, params);
 }
 
 // -----------------------------------------------------------------------------
+#endif // YARP_VERSION_MAJOR != 3
diff --git a/libraries/YarpPlugins/YarpOpenraveControlboard/IVelocityControl2Impl.cpp b/libraries/YarpPlugins/YarpOpenraveControlboard/IVelocityControl2Impl.cpp
@@ -40,35 +40,3 @@ bool roboticslab::YarpOpenraveControlboard::getRefVelocities(const int n_joint,
 }
 
 // -----------------------------------------------------------------------------
-
-bool roboticslab::YarpOpenraveControlboard::setVelPid(int j, const yarp::dev::Pid &pid)
-{
-    CD_ERROR("Not implemented yet.\n");
-    return true;
-}
-
-// -----------------------------------------------------------------------------
-
-bool roboticslab::YarpOpenraveControlboard::setVelPids(const yarp::dev::Pid *pids)
-{
-    CD_ERROR("Not implemented yet.\n");
-    return true;
-}
-
-// -----------------------------------------------------------------------------
-
-bool roboticslab::YarpOpenraveControlboard::getVelPid(int j, yarp::dev::Pid *pid)
-{
-    CD_ERROR("Not implemented yet.\n");
-    return true;
-}
-
-// -----------------------------------------------------------------------------
-
-bool roboticslab::YarpOpenraveControlboard::getVelPids(yarp::dev::Pid *pids)
-{
-    CD_ERROR("Not implemented yet.\n");
-    return true;
-}
-
-// -----------------------------------------------------------------------------