Rename AmorControlboard device to AmorControlBoard

doc/yarp-devices-install.md

@@ -9,7 +9,7 @@ For unit testing, you'll need the googletest source package. Refer to [Install g
 
 ### Components with known additional/specific dependencies
 
-- [../libraries/YarpPlugins/AmorControlboard](../libraries/YarpPlugins/AmorControlboard#requirements)
+- [../libraries/YarpPlugins/AmorControlBoard](../libraries/YarpPlugins/AmorControlBoard#requirements)
 - [../libraries/YarpPlugins/AravisGigE](../libraries/YarpPlugins/AravisGigE#requirements)
 - [../libraries/YarpPlugins/CanBusHico](../libraries/YarpPlugins/CanBusHico#requirements)
 - [../libraries/YarpPlugins/CanBusPeak](../libraries/YarpPlugins/CanBusPeak#requirements)

libraries/YarpPlugins/AmorControlboard/AmorControlboard.cpp → libraries/YarpPlugins/AmorControlBoard/AmorControlBoard.cpp

@@ -1,6 +1,6 @@
 // -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
-#include "AmorControlboard.hpp"
+#include "AmorControlBoard.hpp"
 
 #define _USE_MATH_DEFINES
 #include <cmath>
@@ -13,7 +13,7 @@ using namespace roboticslab;
 
 // -----------------------------------------------------------------------------
 
-bool AmorControlboard::indexWithinRange(const int& idx)
+bool AmorControlBoard::indexWithinRange(const int& idx)
 {
     if (idx >= AMOR_NUM_JOINTS)
     {
@@ -26,7 +26,7 @@ bool AmorControlboard::indexWithinRange(const int& idx)
 
 // -----------------------------------------------------------------------------
 
-bool AmorControlboard::batchWithinRange(const int& n_joint)
+bool AmorControlBoard::batchWithinRange(const int& n_joint)
 {
     if (n_joint == 0)
     {
@@ -45,14 +45,14 @@ bool AmorControlboard::batchWithinRange(const int& n_joint)
 
 // -----------------------------------------------------------------------------
 
-double AmorControlboard::toDeg(double rad)
+double AmorControlBoard::toDeg(double rad)
 {
     return rad * 180 / M_PI;
 }
 
 // -----------------------------------------------------------------------------
 
-double AmorControlboard::toRad(double deg)
+double AmorControlBoard::toRad(double deg)
 {
     return deg * M_PI / 180;
 }

libraries/YarpPlugins/AmorControlBoard/AmorControlBoard.hpp

@@ -0,0 +1,181 @@
+// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
+
+#ifndef __AMOR_CONTROL_BOARD_HPP__
+#define __AMOR_CONTROL_BOARD_HPP__
+
+#include <mutex>
+#include <vector>
+
+#include <yarp/dev/ControlBoardInterfaces.h>
+#include <yarp/dev/PolyDriver.h>
+
+#include <amor.h>
+
+namespace roboticslab
+{
+
+/**
+ * @ingroup YarpPlugins
+ * @defgroup AmorControlBoard
+ * @brief Contains roboticslab::AmorControlBoard.
+ */
+
+/**
+* @ingroup AmorControlBoard
+* @brief Implements several yarp::dev:: control board interfaces.
+*/
+class AmorControlBoard : public yarp::dev::DeviceDriver,
+                         public yarp::dev::IAxisInfo,
+                         public yarp::dev::IControlLimits,
+                         public yarp::dev::IControlMode,
+                         public yarp::dev::ICurrentControl,
+                         public yarp::dev::IEncodersTimed,
+                         public yarp::dev::IPositionControl,
+                         public yarp::dev::IVelocityControl
+{
+public:
+
+    ~AmorControlBoard() override
+    { close(); }
+
+    // -------- DeviceDriver declarations. Implementation in IDeviceDriverImpl.cpp --------
+
+    bool open(yarp::os::Searchable& config) override;
+    bool close() override;
+
+    // ------- IPositionControl declarations. Implementation in IPositionControlImpl.cpp -------
+
+    bool getAxes(int *ax) override;
+    bool positionMove(int j, double ref) override;
+    bool positionMove(const double *refs) override;
+    bool relativeMove(int j, double delta) override;
+    bool relativeMove(const double *deltas) override;
+    bool checkMotionDone(int j, bool *flag) override;
+    bool checkMotionDone(bool *flag) override;
+    bool setRefSpeed(int j, double sp) override;
+    bool setRefSpeeds(const double *spds) override;
+    bool setRefAcceleration(int j, double acc) override;
+    bool setRefAccelerations(const double *accs) override;
+    bool getRefSpeed(int j, double *ref) override;
+    bool getRefSpeeds(double *spds) override;
+    bool getRefAcceleration(int j, double *acc) override;
+    bool getRefAccelerations(double *accs) override;
+    bool stop(int j) override;
+    bool stop() override;
+    bool positionMove(int n_joint, const int *joints, const double *refs) override;
+    bool relativeMove(int n_joint, const int *joints, const double *deltas) override;
+    bool checkMotionDone(int n_joint, const int *joints, bool *flags) override;
+    bool setRefSpeeds(int n_joint, const int *joints, const double *spds) override;
+    bool setRefAccelerations(int n_joint, const int *joints, const double *accs) override;
+    bool getRefSpeeds(int n_joint, const int *joints, double *spds) override;
+    bool getRefAccelerations(int n_joint, const int *joints, double *accs) override;
+    bool stop(int n_joint, const int *joints) override;
+    bool getTargetPosition(int joint, double *ref) override;
+    bool getTargetPositions(double *refs) override;
+    bool getTargetPositions(int n_joint, const int *joints, double *refs) override;
+
+    // ---------- IEncoders declarations. Implementation in IEncodersImpl.cpp ----------
+
+    bool resetEncoder(int j) override;
+    bool resetEncoders() override;
+    bool setEncoder(int j, double val) override;
+    bool setEncoders(const double *vals) override;
+    bool getEncoder(int j, double *v) override;
+    bool getEncoders(double *encs) override;
+    bool getEncoderSpeed(int j, double *sp) override;
+    bool getEncoderSpeeds(double *spds) override;
+    bool getEncoderAcceleration(int j, double *spds) override;
+    bool getEncoderAccelerations(double *accs) override;
+
+    // --------- IEncodersTimed declarations. Implementation in IEncodersTimedImpl.cpp ---------
+
+   bool getEncodersTimed(double *encs, double *time) override;
+   bool getEncoderTimed(int j, double *encs, double *time) override;
+
+    // --------- IVelocityControl Declarations. Implementation in IVelocityControlImpl.cpp ---------
+
+    bool velocityMove(int j, double sp) override;
+    bool velocityMove(const double *sp) override;
+    bool velocityMove(const int n_joint, const int *joints, const double *spds) override;
+    bool getRefVelocity(int joint, double *vel) override;
+    bool getRefVelocities(double *vels) override;
+    bool getRefVelocities(int n_joint, const int *joints, double *vels) override;
+
+    // --------- IControlLimits declarations. Implementation in IControlLimitsImpl.cpp ---------
+
+    bool setLimits(int axis, double min, double max) override;
+    bool getLimits(int axis, double *min, double *max) override;
+    bool setVelLimits(int axis, double min, double max) override;
+    bool getVelLimits(int axis, double *min, double *max) override;
+
+    // --------- IControlMode declarations. Implementation in IControlModeImpl.cpp ---------
+
+    bool getControlMode(int j, int *mode) override;
+    bool getControlModes(int *modes) override;
+    bool getControlModes(int n_joint, const int *joints, int *modes) override;
+    bool setControlMode(int j, int mode) override;
+    bool setControlModes(int n_joint, const int *joints, int *modes) override;
+    bool setControlModes(int *modes) override;
+
+    // -------- IAxisInfo declarations. Implementation in IAxisInfoImpl.cpp --------
+
+    bool getAxisName(int axis, std::string& name) override;
+    bool getJointType(int axis, yarp::dev::JointTypeEnum& type) override;
+
+    // --------- ICurrentControl Declarations. Implementation in ICurrentControlImpl.cpp ---------
+
+    bool getNumberOfMotors(int *ax) override;
+    bool getCurrent(int m, double *curr) override;
+    bool getCurrents(double *currs) override;
+    bool getCurrentRange(int m, double *min, double *max) override;
+    bool getCurrentRanges(double *min, double *max) override;
+    bool setRefCurrents(const double *currs) override;
+    bool setRefCurrent(int m, double curr) override;
+    bool setRefCurrents(int n_motor, const int *motors, const double *currs) override;
+    bool getRefCurrents(double *currs) override;
+    bool getRefCurrent(int m, double *curr) override;
+
+    // ------------------------------- Protected -------------------------------------
+
+protected:
+
+    /**
+     * Check if index is within range (referred to driver vector size).
+     * @param idx index to check.
+     * @return true/false on success/failure.
+     */
+    bool indexWithinRange(const int& idx);
+
+    /**
+     * Check if number of joints is within range.
+     * @param n_joint index to check.
+     * @return true/false on success/failure.
+     */
+    bool batchWithinRange(const int& n_joint);
+
+    /**
+     * Convert from radians to degrees.
+     * @param rad radians
+     * @return degrees
+     */
+    static double toDeg(double rad);
+
+    /**
+     * Convert from degrees to radians.
+     * @param deg degrees
+     * @return radians
+     */
+    static double toRad(double deg);
+
+private:
+
+    AMOR_HANDLE handle {AMOR_INVALID_HANDLE};
+    mutable std::mutex handleMutex;
+    yarp::dev::PolyDriver cartesianControllerDevice;
+    bool usingCartesianController {false};
+    int controlMode {VOCAB_CM_POSITION};
+};
+
+} // namespace roboticslab
+
+#endif // __AMOR_CONTROL_BOARD_HPP__

libraries/YarpPlugins/AmorControlboard/CMakeLists.txt → libraries/YarpPlugins/AmorControlBoard/CMakeLists.txt

@@ -1,22 +1,19 @@
-# Copyright: (C) 2017 Universidad Carlos III de Madrid
-# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
-
-if(NOT AMOR_API_FOUND AND (NOT DEFINED ENABLE_AmorControlboard OR ENABLE_AmorControlboard))
-    message(WARNING "AMOR_API package not found, disabling AmorControlboard")
+if(NOT AMOR_API_FOUND AND (NOT DEFINED ENABLE_AmorControlBoard OR ENABLE_AmorControlBoard))
+    message(WARNING "AMOR_API package not found, disabling AmorControlBoard")
 endif()
 
-yarp_prepare_plugin(AmorControlboard
+yarp_prepare_plugin(AmorControlBoard
                     CATEGORY device
-                    TYPE roboticslab::AmorControlboard
-                    INCLUDE AmorControlboard.hpp
+                    TYPE roboticslab::AmorControlBoard
+                    INCLUDE AmorControlBoard.hpp
                     DEFAULT ON
                     DEPENDS AMOR_API_FOUND
                     EXTRA_CONFIG WRAPPER=controlBoard_nws_yarp)
 
-if(NOT SKIP_AmorControlboard)
+if(NOT SKIP_AmorControlBoard)
 
-    yarp_add_plugin(AmorControlboard AmorControlboard.cpp
-                                     AmorControlboard.hpp
+    yarp_add_plugin(AmorControlBoard AmorControlBoard.cpp
+                                     AmorControlBoard.hpp
                                      DeviceDriverImpl.cpp
                                      IAxisInfoImpl.cpp
                                      IControlLimitsImpl.cpp
@@ -28,17 +25,17 @@ if(NOT SKIP_AmorControlboard)
                                      LogComponent.hpp
                                      LogComponent.cpp)
 
-    target_link_libraries(AmorControlboard YARP::YARP_os
+    target_link_libraries(AmorControlBoard YARP::YARP_os
                                            YARP::YARP_dev
                                            AMOR::amor_api)
 
-    yarp_install(TARGETS AmorControlboard
+    yarp_install(TARGETS AmorControlBoard
                  LIBRARY DESTINATION ${ROBOTICSLAB-YARP-DEVICES_DYNAMIC_PLUGINS_INSTALL_DIR}
                  ARCHIVE DESTINATION ${ROBOTICSLAB-YARP-DEVICES_STATIC_PLUGINS_INSTALL_DIR}
                  YARP_INI DESTINATION ${ROBOTICSLAB-YARP-DEVICES_PLUGIN_MANIFESTS_INSTALL_DIR})
 
 else()
 
-    set(ENABLE_AmorControlboard OFF CACHE BOOL "Enable/disable AmorControlboard device" FORCE)
+    set(ENABLE_AmorControlBoard OFF CACHE BOOL "Enable/disable AmorControlBoard device" FORCE)
 
 endif()

libraries/YarpPlugins/AmorControlboard/DeviceDriverImpl.cpp → libraries/YarpPlugins/AmorControlBoard/DeviceDriverImpl.cpp

@@ -1,6 +1,6 @@
 // -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
-#include "AmorControlboard.hpp"
+#include "AmorControlBoard.hpp"
 
 #include <vector>
 
@@ -15,7 +15,7 @@ constexpr auto DEFAULT_CAN_PORT = 0;
 
 // ------------------- DeviceDriver related ------------------------------------
 
-bool AmorControlboard::open(yarp::os::Searchable& config)
+bool AmorControlBoard::open(yarp::os::Searchable& config)
 {
     int major, minor, build;
     amor_get_library_version(&major, &minor, &build);
@@ -103,7 +103,7 @@ bool AmorControlboard::open(yarp::os::Searchable& config)
 
 // -----------------------------------------------------------------------------
 
-bool AmorControlboard::close()
+bool AmorControlBoard::close()
 {
     if (usingCartesianController)
     {

libraries/YarpPlugins/AmorControlboard/IAxisInfoImpl.cpp → libraries/YarpPlugins/AmorControlBoard/IAxisInfoImpl.cpp

@@ -1,6 +1,6 @@
 // -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
-#include "AmorControlboard.hpp"
+#include "AmorControlBoard.hpp"
 
 #include <yarp/os/Log.h>
 
@@ -10,7 +10,7 @@ using namespace roboticslab;
 
 // ------------------- IAxisInfo related ------------------------------------
 
-bool AmorControlboard::getAxisName(int axis, std::string& name)
+bool AmorControlBoard::getAxisName(int axis, std::string& name)
 {
     yCTrace(AMOR, "%d", axis);
 
@@ -52,7 +52,7 @@ bool AmorControlboard::getAxisName(int axis, std::string& name)
 
 // -----------------------------------------------------------------------------
 
-bool AmorControlboard::getJointType(int axis, yarp::dev::JointTypeEnum& type)
+bool AmorControlBoard::getJointType(int axis, yarp::dev::JointTypeEnum& type)
 {
     yCTrace(AMOR, "%d", axis);
 

libraries/YarpPlugins/AmorControlboard/IControlLimitsImpl.cpp → libraries/YarpPlugins/AmorControlBoard/IControlLimitsImpl.cpp

@@ -1,6 +1,6 @@
 // -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
-#include "AmorControlboard.hpp"
+#include "AmorControlBoard.hpp"
 
 #include <yarp/os/Log.h>
 
@@ -10,15 +10,15 @@ using namespace roboticslab;
 
 // ------------------- IControlLimits related ------------------------------------
 
-bool AmorControlboard::setLimits(int axis, double min, double max)
+bool AmorControlBoard::setLimits(int axis, double min, double max)
 {
     yCError(AMOR, "setLimits() not available");
     return false;
 }
 
 // -----------------------------------------------------------------------------
 
-bool AmorControlboard::getLimits(int axis, double *min, double *max)
+bool AmorControlBoard::getLimits(int axis, double *min, double *max)
 {
     yCTrace(AMOR, "%d", axis);
 
@@ -51,15 +51,15 @@ bool AmorControlboard::getLimits(int axis, double *min, double *max)
 
 // -----------------------------------------------------------------------------
 
-bool AmorControlboard::setVelLimits(int axis, double min, double max)
+bool AmorControlBoard::setVelLimits(int axis, double min, double max)
 {
     yCError(AMOR, "setVelLimits() not available");
     return false;
 }
 
 // -----------------------------------------------------------------------------
 
-bool AmorControlboard::getVelLimits(int axis, double *min, double *max)
+bool AmorControlBoard::getVelLimits(int axis, double *min, double *max)
 {
     yCTrace(AMOR, "%d", axis);