From 2ff7cf32d6d4dce34594026e934cd6c3d32547cc Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bartek=20=C5=81ukawski?= Date: Sat, 28 Apr 2018 00:06:28 +0200 Subject: [PATCH] Provide forward compatibility with YARP 3.x (#180) --- .../CanBusControlboard/CanBusControlboard.hpp | 48 ++++++----- .../CanBusControlboard/ITorqueControlImpl.cpp | 72 ++++++++-------- .../IVelocityControl2Impl.cpp | 6 +- .../YarpPlugins/CuiAbsolute/CuiAbsolute.hpp | 10 ++- .../CuiAbsolute/ITorqueControlRawImpl.cpp | 35 ++++---- .../CuiAbsolute/IVelocityControl2RawImpl.cpp | 2 + .../FakeControlboard/FakeControlboard.hpp | 52 +++++------ .../FakeControlboard/ITorqueControlImpl.cpp | 20 +++-- .../IVelocityControl2Impl.cpp | 2 + libraries/YarpPlugins/FakeJoint/FakeJoint.hpp | 10 ++- .../FakeJoint/ITorqueControlRawImpl.cpp | 34 ++++---- .../FakeJoint/IVelocityControl2RawImpl.cpp | 2 + .../LacqueyFetch/ITorqueControlRawImpl.cpp | 34 ++++---- .../LacqueyFetch/IVelocityControl2RawImpl.cpp | 2 + .../YarpPlugins/LacqueyFetch/LacqueyFetch.hpp | 10 ++- .../TechnosoftIpos/ITorqueControlRawImpl.cpp | 86 ++++++++++--------- .../IVelocityControl2RawImpl.cpp | 3 +- .../TechnosoftIpos/TechnosoftIpos.hpp | 10 ++- .../TextilesHand/ITorqueControlRawImpl.cpp | 34 ++++---- .../TextilesHand/IVelocityControl2RawImpl.cpp | 2 + .../YarpPlugins/TextilesHand/TextilesHand.hpp | 10 ++- 21 files changed, 269 insertions(+), 215 deletions(-) diff --git a/libraries/YarpPlugins/CanBusControlboard/CanBusControlboard.hpp b/libraries/YarpPlugins/CanBusControlboard/CanBusControlboard.hpp index 593762440..933b4e0b9 100644 --- a/libraries/YarpPlugins/CanBusControlboard/CanBusControlboard.hpp +++ b/libraries/YarpPlugins/CanBusControlboard/CanBusControlboard.hpp @@ -521,8 +521,6 @@ class CanBusControlboard : public yarp::dev::DeviceDriver, public yarp::dev::ICo */ virtual bool getTargetPositions(const int n_joint, const int *joints, double *refs); - - // ------- IPositionDirect declarations. Implementation in IPositionDirectImpl.cpp ------- /** Set new position for a single axis. @@ -581,27 +579,6 @@ class CanBusControlboard : public yarp::dev::DeviceDriver, public yarp::dev::ICo */ virtual bool setRefTorque(int j, double t); - /** Set the back-efm compensation gain for a given joint. - * @param j joint number - * @param bemf the returned bemf gain of joint j - * @return true/false on success/failure - */ - virtual bool getBemfParam(int j, double *bemf); - - /** Set the back-efm compensation gain for a given joint. - * @param j joint number - * @param bemf new value - * @return true/false on success/failure - */ - virtual bool setBemfParam(int j, double bemf); - - /** Set new pid value for a joint axis. - * @param j joint number - * @param pid new pid value - * @return true/false on success/failure - */ - virtual bool setTorquePid(int j, const yarp::dev::Pid &pid); - /** Get the value of the torque on a given joint (this is the * feedback if you have a torque sensor). * @param j joint number @@ -632,6 +609,28 @@ class CanBusControlboard : public yarp::dev::DeviceDriver, public yarp::dev::ICo */ virtual bool getTorqueRanges(double *min, double *max); +#if YARP_VERSION_MAJOR != 3 + /** Set the back-efm compensation gain for a given joint. + * @param j joint number + * @param bemf the returned bemf gain of joint j + * @return true/false on success/failure + */ + virtual bool getBemfParam(int j, double *bemf); + + /** Set the back-efm compensation gain for a given joint. + * @param j joint number + * @param bemf new value + * @return true/false on success/failure + */ + virtual bool setBemfParam(int j, double bemf); + + /** Set new pid value for a joint axis. + * @param j joint number + * @param pid new pid value + * @return true/false on success/failure + */ + virtual bool setTorquePid(int j, const yarp::dev::Pid &pid); + /** Set new pid value on multiple axes. * @param pids pointer to a vector of pids * @return true/false upon success/failure @@ -729,6 +728,7 @@ class CanBusControlboard : public yarp::dev::DeviceDriver, public yarp::dev::ICo * @return true/false on success/failure */ virtual bool setTorqueOffset(int j, double v); +#endif // YARP_VERSION_MAJOR != 3 // --------- IVelocityControl Declarations. Implementation in IVelocityControl2Impl.cpp --------- @@ -805,6 +805,7 @@ class CanBusControlboard : public yarp::dev::DeviceDriver, public yarp::dev::ICo */ // virtual bool stop(const int n_joint, const int *joints); +#if YARP_VERSION_MAJOR != 3 /** Set new velocity pid value for a joint * @param j joint number * @param pid new pid value @@ -830,6 +831,7 @@ class CanBusControlboard : public yarp::dev::DeviceDriver, public yarp::dev::ICo * @return success/failure */ virtual bool getVelPids(yarp::dev::Pid *pids); +#endif // YARP_VERSION_MAJOR != 3 // -----------IInteracionMode Declarations. Implementation in IInteracionModeImpl.cpp -------------- /** diff --git a/libraries/YarpPlugins/CanBusControlboard/ITorqueControlImpl.cpp b/libraries/YarpPlugins/CanBusControlboard/ITorqueControlImpl.cpp index 3f152ccb2..723126fc5 100644 --- a/libraries/YarpPlugins/CanBusControlboard/ITorqueControlImpl.cpp +++ b/libraries/YarpPlugins/CanBusControlboard/ITorqueControlImpl.cpp @@ -57,90 +57,91 @@ bool roboticslab::CanBusControlboard::setRefTorque(int j, double t) // ----------------------------------------------------------------------------- -bool roboticslab::CanBusControlboard::getBemfParam(int j, double *bemf) +bool roboticslab::CanBusControlboard::getTorque(int j, double *t) { - CD_DEBUG("(%d)\n",j); + //CD_INFO("(%d)\n",j); //-- Too verbose in controlboardwrapper2 stream. //-- Check index within range if ( ! this->indexWithinRange(j) ) return false; - return iTorqueControlRaw[j]->getBemfParamRaw( 0, bemf );; + return iTorqueControlRaw[j]->getTorqueRaw( 0, t );; } // ----------------------------------------------------------------------------- -bool roboticslab::CanBusControlboard::setBemfParam(int j, double bemf) +bool roboticslab::CanBusControlboard::getTorques(double *t) { - CD_DEBUG("(%d,%f)\n",j,bemf); - - //-- Check index within range - if ( ! this->indexWithinRange(j) ) return false; + CD_DEBUG("\n"); - return iTorqueControlRaw[j]->setBemfParamRaw( 0, bemf );; + bool ok = true; + for(int j=0; jgetTorque(j, &(t[j])); + } + return ok; } // ----------------------------------------------------------------------------- -bool roboticslab::CanBusControlboard::setTorquePid(int j, const yarp::dev::Pid &pid) +bool roboticslab::CanBusControlboard::getTorqueRange(int j, double *min, double *max) { CD_DEBUG("(%d)\n",j); //-- Check index within range if ( ! this->indexWithinRange(j) ) return false; - return iTorqueControlRaw[j]->setTorquePidRaw( 0, pid );; -} - -// ----------------------------------------------------------------------------- - -bool roboticslab::CanBusControlboard::getTorque(int j, double *t) -{ - //CD_INFO("(%d)\n",j); //-- Too verbose in controlboardwrapper2 stream. - - //-- Check index within range - if ( ! this->indexWithinRange(j) ) return false; - - return iTorqueControlRaw[j]->getTorqueRaw( 0, t );; + return iTorqueControlRaw[j]->getTorqueRangeRaw( 0, min, max ); } // ----------------------------------------------------------------------------- -bool roboticslab::CanBusControlboard::getTorques(double *t) +bool roboticslab::CanBusControlboard::getTorqueRanges(double *min, double *max) { CD_DEBUG("\n"); bool ok = true; for(int j=0; jgetTorque(j, &(t[j])); + ok &= this->getTorqueRange(j, min, max); } return ok; } // ----------------------------------------------------------------------------- -bool roboticslab::CanBusControlboard::getTorqueRange(int j, double *min, double *max) +#if YARP_VERSION_MAJOR != 3 +bool roboticslab::CanBusControlboard::getBemfParam(int j, double *bemf) { CD_DEBUG("(%d)\n",j); //-- Check index within range if ( ! this->indexWithinRange(j) ) return false; - return iTorqueControlRaw[j]->getTorqueRangeRaw( 0, min, max ); + return iTorqueControlRaw[j]->getBemfParamRaw( 0, bemf );; } // ----------------------------------------------------------------------------- -bool roboticslab::CanBusControlboard::getTorqueRanges(double *min, double *max) +bool roboticslab::CanBusControlboard::setBemfParam(int j, double bemf) { - CD_DEBUG("\n"); + CD_DEBUG("(%d,%f)\n",j,bemf); - bool ok = true; - for(int j=0; jgetTorqueRange(j, min, max); - } - return ok; + //-- Check index within range + if ( ! this->indexWithinRange(j) ) return false; + + return iTorqueControlRaw[j]->setBemfParamRaw( 0, bemf );; +} + +// ----------------------------------------------------------------------------- + +bool roboticslab::CanBusControlboard::setTorquePid(int j, const yarp::dev::Pid &pid) +{ + CD_DEBUG("(%d)\n",j); + + //-- Check index within range + if ( ! this->indexWithinRange(j) ) return false; + + return iTorqueControlRaw[j]->setTorquePidRaw( 0, pid );; } // ----------------------------------------------------------------------------- @@ -336,3 +337,4 @@ bool roboticslab::CanBusControlboard::setTorqueOffset(int j, double v) } // ----------------------------------------------------------------------------- +#endif // YARP_VERSION_MAJOR != 3 diff --git a/libraries/YarpPlugins/CanBusControlboard/IVelocityControl2Impl.cpp b/libraries/YarpPlugins/CanBusControlboard/IVelocityControl2Impl.cpp index ee7d340d6..3a5fc7f4b 100644 --- a/libraries/YarpPlugins/CanBusControlboard/IVelocityControl2Impl.cpp +++ b/libraries/YarpPlugins/CanBusControlboard/IVelocityControl2Impl.cpp @@ -9,7 +9,7 @@ bool roboticslab::CanBusControlboard::velocityMove(int j, double sp) CD_DEBUG("(%d), (%f)\n",j , sp); //-- Check index within range - if ( ! this->indexWithinRange(j) ) return false; + if ( ! this->indexWithinRange(j) ) return false; return iVelocityControl2Raw[j]->velocityMoveRaw( 0, sp ); } @@ -85,6 +85,7 @@ bool roboticslab::CanBusControlboard::getRefVelocities(const int n_joint, const // ----------------------------------------------------------------------------- +#if YARP_VERSION_MAJOR != 3 bool roboticslab::CanBusControlboard::setVelPid(int j, const yarp::dev::Pid &pid) { return true; @@ -110,3 +111,6 @@ bool roboticslab::CanBusControlboard::getVelPids(yarp::dev::Pid *pids) { return true; } + +// ----------------------------------------------------------------------------- +#endif // YARP_VERSION_MAJOR != 3 diff --git a/libraries/YarpPlugins/CuiAbsolute/CuiAbsolute.hpp b/libraries/YarpPlugins/CuiAbsolute/CuiAbsolute.hpp index 3796de7d1..ccb341918 100644 --- a/libraries/YarpPlugins/CuiAbsolute/CuiAbsolute.hpp +++ b/libraries/YarpPlugins/CuiAbsolute/CuiAbsolute.hpp @@ -155,13 +155,14 @@ class CuiAbsolute : public yarp::dev::DeviceDriver, public yarp::dev::IControlLi virtual bool getRefTorqueRaw(int j, double *t); virtual bool setRefTorquesRaw(const double *t); virtual bool setRefTorqueRaw(int j, double t); - virtual bool getBemfParamRaw(int j, double *bemf); - virtual bool setBemfParamRaw(int j, double bemf); - virtual bool setTorquePidRaw(int j, const yarp::dev::Pid &pid); virtual bool getTorqueRaw(int j, double *t); virtual bool getTorquesRaw(double *t); virtual bool getTorqueRangeRaw(int j, double *min, double *max); virtual bool getTorqueRangesRaw(double *min, double *max); +#if YARP_VERSION_MAJOR != 3 + virtual bool getBemfParamRaw(int j, double *bemf); + virtual bool setBemfParamRaw(int j, double bemf); + virtual bool setTorquePidRaw(int j, const yarp::dev::Pid &pid); virtual bool setTorquePidsRaw(const yarp::dev::Pid *pids); virtual bool setTorqueErrorLimitRaw(int j, double limit); virtual bool setTorqueErrorLimitsRaw(const double *limits); @@ -177,6 +178,7 @@ class CuiAbsolute : public yarp::dev::DeviceDriver, public yarp::dev::IControlLi virtual bool disableTorquePidRaw(int j); virtual bool enableTorquePidRaw(int j); virtual bool setTorqueOffsetRaw(int j, double v); +#endif // YARP_VERSION_MAJOR != 3 // --------- IVelocityControlRaw Declarations. Implementation in IVelocityControl2RawImpl.cpp --------- virtual bool velocityMoveRaw(int j, double sp); @@ -190,10 +192,12 @@ class CuiAbsolute : public yarp::dev::DeviceDriver, public yarp::dev::IControlLi // -- (just defined in IInteractionModeRaw) - virtual bool setRefAccelerationsRaw(const int n_joint, const int *joints, const double *accs); // -- (just defined in IInteractionModeRaw) - virtual bool getRefAccelerationsRaw(const int n_joint, const int *joints, double *accs); // -- (just defined in IInteractionModeRaw) - virtual bool stopRaw(const int n_joint, const int *joints); +#if YARP_VERSION_MAJOR != 3 virtual bool setVelPidRaw(int j, const yarp::dev::Pid &pid); virtual bool setVelPidsRaw(const yarp::dev::Pid *pids); virtual bool getVelPidRaw(int j, yarp::dev::Pid *pid); virtual bool getVelPidsRaw(yarp::dev::Pid *pids); +#endif // YARP_VERSION_MAJOR != 3 // ------- IInteractionModeRaw declarations. Implementation in IInteractionModeRawImpl.cpp ------- diff --git a/libraries/YarpPlugins/CuiAbsolute/ITorqueControlRawImpl.cpp b/libraries/YarpPlugins/CuiAbsolute/ITorqueControlRawImpl.cpp index b9c7b040f..384f295e9 100644 --- a/libraries/YarpPlugins/CuiAbsolute/ITorqueControlRawImpl.cpp +++ b/libraries/YarpPlugins/CuiAbsolute/ITorqueControlRawImpl.cpp @@ -26,46 +26,47 @@ bool roboticslab::CuiAbsolute::setRefTorqueRaw(int j, double t) return true; } -bool roboticslab::CuiAbsolute::getBemfParamRaw(int j, double *bemf) +bool roboticslab::CuiAbsolute::getTorqueRaw(int j, double *t) { - CD_INFO("\n"); + //CD_INFO("\n"); //-- Too verbose in controlboardwrapper2 stream. return true; } -bool roboticslab::CuiAbsolute::setBemfParamRaw(int j, double bemf) +bool roboticslab::CuiAbsolute::getTorquesRaw(double *t) { - CD_INFO("\n"); - return true; + CD_ERROR("\n"); + return false; } -bool roboticslab::CuiAbsolute::setTorquePidRaw(int j, const yarp::dev::Pid &pid) +bool roboticslab::CuiAbsolute::getTorqueRangeRaw(int j, double *min, double *max) { CD_INFO("\n"); return true; } -bool roboticslab::CuiAbsolute::getTorqueRaw(int j, double *t) +bool roboticslab::CuiAbsolute::getTorqueRangesRaw(double *min, double *max) { - //CD_INFO("\n"); //-- Too verbose in controlboardwrapper2 stream. - return true; + CD_ERROR("\n"); + return false; } -bool roboticslab::CuiAbsolute::getTorquesRaw(double *t) +#if YARP_VERSION_MAJOR != 3 +bool roboticslab::CuiAbsolute::getBemfParamRaw(int j, double *bemf) { - CD_ERROR("\n"); - return false; + CD_INFO("\n"); + return true; } -bool roboticslab::CuiAbsolute::getTorqueRangeRaw(int j, double *min, double *max) +bool roboticslab::CuiAbsolute::setBemfParamRaw(int j, double bemf) { CD_INFO("\n"); return true; } -bool roboticslab::CuiAbsolute::getTorqueRangesRaw(double *min, double *max) +bool roboticslab::CuiAbsolute::setTorquePidRaw(int j, const yarp::dev::Pid &pid) { - CD_ERROR("\n"); - return false; + CD_INFO("\n"); + return true; } bool roboticslab::CuiAbsolute::setTorquePidsRaw(const yarp::dev::Pid *pids) @@ -157,4 +158,4 @@ bool roboticslab::CuiAbsolute::setTorqueOffsetRaw(int j, double v) CD_INFO("\n"); return true; } - +#endif // YARP_VERSION_MAJOR != 3 diff --git a/libraries/YarpPlugins/CuiAbsolute/IVelocityControl2RawImpl.cpp b/libraries/YarpPlugins/CuiAbsolute/IVelocityControl2RawImpl.cpp index d2c849724..85d30bd61 100644 --- a/libraries/YarpPlugins/CuiAbsolute/IVelocityControl2RawImpl.cpp +++ b/libraries/YarpPlugins/CuiAbsolute/IVelocityControl2RawImpl.cpp @@ -52,6 +52,7 @@ bool roboticslab::CuiAbsolute::getRefVelocitiesRaw(const int n_joint, const int // -------------------------------------------------------------------------------------------- +#if YARP_VERSION_MAJOR != 3 bool roboticslab::CuiAbsolute::setVelPidRaw(int j, const yarp::dev::Pid &pid) { CD_ERROR("Missing implementation\n"); @@ -81,3 +82,4 @@ bool roboticslab::CuiAbsolute::getVelPidsRaw(yarp::dev::Pid *pids) CD_ERROR("Missing implementation\n"); return false; } +#endif // YARP_VERSION_MAJOR != 3 diff --git a/libraries/YarpPlugins/FakeControlboard/FakeControlboard.hpp b/libraries/YarpPlugins/FakeControlboard/FakeControlboard.hpp index e4cf98018..e4aaf07a0 100644 --- a/libraries/YarpPlugins/FakeControlboard/FakeControlboard.hpp +++ b/libraries/YarpPlugins/FakeControlboard/FakeControlboard.hpp @@ -448,6 +448,7 @@ class FakeControlboard : public yarp::dev::DeviceDriver, */ virtual bool getRefVelocities(const int n_joint, const int *joints, double *vels); +#if YARP_VERSION_MAJOR != 3 /** * Set new velocity pid value for a joint * @param j joint number @@ -477,6 +478,7 @@ class FakeControlboard : public yarp::dev::DeviceDriver, * @return success/failure */ virtual bool getVelPids(yarp::dev::Pid *pids); +#endif // YARP_VERSION_MAJOR != 3 // --------- IControlLimits Declarations. Implementation in IControlLimitsImpl.cpp --------- @@ -664,30 +666,6 @@ class FakeControlboard : public yarp::dev::DeviceDriver, */ virtual bool setRefTorque(int j, double t); - /** - * Set the back-efm compensation gain for a given joint. - * @param j joint number - * @param bemf the returned bemf gain of joint j - * @return true/false on success/failure - */ - virtual bool getBemfParam(int j, double *bemf); - - /** - * Set the back-efm compensation gain for a given joint. - * @param j joint number - * @param bemf new value - * @return true/false on success/failure - */ - virtual bool setBemfParam(int j, double bemf); - - /** - * Set new pid value for a joint axis. - * @param j joint number - * @param pid new pid value - * @return true/false on success/failure - */ - virtual bool setTorquePid(int j, const yarp::dev::Pid &pid); - /** * Get the value of the torque on a given joint (this is the * feedback if you have a torque sensor). @@ -722,6 +700,31 @@ class FakeControlboard : public yarp::dev::DeviceDriver, */ virtual bool getTorqueRanges(double *min, double *max); +#if YARP_VERSION_MAJOR != 3 + /** + * Set the back-efm compensation gain for a given joint. + * @param j joint number + * @param bemf the returned bemf gain of joint j + * @return true/false on success/failure + */ + virtual bool getBemfParam(int j, double *bemf); + + /** + * Set the back-efm compensation gain for a given joint. + * @param j joint number + * @param bemf new value + * @return true/false on success/failure + */ + virtual bool setBemfParam(int j, double bemf); + + /** + * Set new pid value for a joint axis. + * @param j joint number + * @param pid new pid value + * @return true/false on success/failure + */ + virtual bool setTorquePid(int j, const yarp::dev::Pid &pid); + /** * Set new pid value on multiple axes. * @param pids pointer to a vector of pids @@ -834,6 +837,7 @@ class FakeControlboard : public yarp::dev::DeviceDriver, * @return true/false on success/failure */ virtual bool setTorqueOffset(int j, double v); +#endif // YARP_VERSION_MAJOR != 3 // -------- DeviceDriver declarations. Implementation in DeviceDriverImpl.cpp -------- diff --git a/libraries/YarpPlugins/FakeControlboard/ITorqueControlImpl.cpp b/libraries/YarpPlugins/FakeControlboard/ITorqueControlImpl.cpp index fed560899..9e4888b99 100644 --- a/libraries/YarpPlugins/FakeControlboard/ITorqueControlImpl.cpp +++ b/libraries/YarpPlugins/FakeControlboard/ITorqueControlImpl.cpp @@ -35,51 +35,52 @@ bool roboticslab::FakeControlboard::setRefTorque(int j, double t) // ----------------------------------------------------------------------------- -bool roboticslab::FakeControlboard::getBemfParam(int j, double *bemf) +bool roboticslab::FakeControlboard::getTorque(int j, double *t) { + //CD_DEBUG("joint: %d.\n",j); //-- Way too verbose + *t = 0; return true; } // ----------------------------------------------------------------------------- -bool roboticslab::FakeControlboard::setBemfParam(int j, double bemf) +bool roboticslab::FakeControlboard::getTorques(double *t) { return true; } // ----------------------------------------------------------------------------- -bool roboticslab::FakeControlboard::setTorquePid(int j, const yarp::dev::Pid &pid) +bool roboticslab::FakeControlboard::getTorqueRange(int j, double *min, double *max) { return true; } // ----------------------------------------------------------------------------- -bool roboticslab::FakeControlboard::getTorque(int j, double *t) +bool roboticslab::FakeControlboard::getTorqueRanges(double *min, double *max) { - //CD_DEBUG("joint: %d.\n",j); //-- Way too verbose - *t = 0; return true; } // ----------------------------------------------------------------------------- -bool roboticslab::FakeControlboard::getTorques(double *t) +#if YARP_VERSION_MAJOR != 3 +bool roboticslab::FakeControlboard::getBemfParam(int j, double *bemf) { return true; } // ----------------------------------------------------------------------------- -bool roboticslab::FakeControlboard::getTorqueRange(int j, double *min, double *max) +bool roboticslab::FakeControlboard::setBemfParam(int j, double bemf) { return true; } // ----------------------------------------------------------------------------- -bool roboticslab::FakeControlboard::getTorqueRanges(double *min, double *max) +bool roboticslab::FakeControlboard::setTorquePid(int j, const yarp::dev::Pid &pid) { return true; } @@ -190,3 +191,4 @@ bool roboticslab::FakeControlboard::setTorqueOffset(int j, double v) } // ----------------------------------------------------------------------------- +#endif // YARP_VERSION_MAJOR != 3 diff --git a/libraries/YarpPlugins/FakeControlboard/IVelocityControl2Impl.cpp b/libraries/YarpPlugins/FakeControlboard/IVelocityControl2Impl.cpp index a71d382c3..36937061b 100644 --- a/libraries/YarpPlugins/FakeControlboard/IVelocityControl2Impl.cpp +++ b/libraries/YarpPlugins/FakeControlboard/IVelocityControl2Impl.cpp @@ -39,6 +39,7 @@ bool roboticslab::FakeControlboard::getRefVelocities(const int n_joint, const in // ----------------------------------------------------------------------------- +#if YARP_VERSION_MAJOR != 3 bool roboticslab::FakeControlboard::setVelPid(int j, const yarp::dev::Pid &pid) { CD_DEBUG("\n"); @@ -70,3 +71,4 @@ bool roboticslab::FakeControlboard::getVelPids(yarp::dev::Pid *pids) } // ----------------------------------------------------------------------------- +#endif // YARP_VERSION_MAJOR != 3 diff --git a/libraries/YarpPlugins/FakeJoint/FakeJoint.hpp b/libraries/YarpPlugins/FakeJoint/FakeJoint.hpp index 9e1c02503..02a236154 100644 --- a/libraries/YarpPlugins/FakeJoint/FakeJoint.hpp +++ b/libraries/YarpPlugins/FakeJoint/FakeJoint.hpp @@ -148,13 +148,14 @@ class FakeJoint : public yarp::dev::DeviceDriver, public yarp::dev::IControlLimi virtual bool getRefTorqueRaw(int j, double *t); virtual bool setRefTorquesRaw(const double *t); virtual bool setRefTorqueRaw(int j, double t); - virtual bool getBemfParamRaw(int j, double *bemf); - virtual bool setBemfParamRaw(int j, double bemf); - virtual bool setTorquePidRaw(int j, const yarp::dev::Pid &pid); virtual bool getTorqueRaw(int j, double *t); virtual bool getTorquesRaw(double *t); virtual bool getTorqueRangeRaw(int j, double *min, double *max); virtual bool getTorqueRangesRaw(double *min, double *max); +#if YARP_VERSION_MAJOR != 3 + virtual bool getBemfParamRaw(int j, double *bemf); + virtual bool setBemfParamRaw(int j, double bemf); + virtual bool setTorquePidRaw(int j, const yarp::dev::Pid &pid); virtual bool setTorquePidsRaw(const yarp::dev::Pid *pids); virtual bool setTorqueErrorLimitRaw(int j, double limit); virtual bool setTorqueErrorLimitsRaw(const double *limits); @@ -170,6 +171,7 @@ class FakeJoint : public yarp::dev::DeviceDriver, public yarp::dev::IControlLimi virtual bool disableTorquePidRaw(int j); virtual bool enableTorquePidRaw(int j); virtual bool setTorqueOffsetRaw(int j, double v); +#endif // YARP_VERSION_MAJOR != 3 // --------- IVelocityControl Declarations. Implementation in IVelocityControlImpl.cpp --------- virtual bool velocityMoveRaw(int j, double sp); @@ -183,10 +185,12 @@ class FakeJoint : public yarp::dev::DeviceDriver, public yarp::dev::IControlLimi // -- (just defined in IInteractionModeRaw) - virtual bool setRefAccelerationsRaw(const int n_joint, const int *joints, const double *accs); // -- (just defined in IInteractionModeRaw) - virtual bool getRefAccelerationsRaw(const int n_joint, const int *joints, double *accs); // -- (just defined in IInteractionModeRaw) - virtual bool stopRaw(const int n_joint, const int *joints); +#if YARP_VERSION_MAJOR != 3 virtual bool setVelPidRaw(int j, const yarp::dev::Pid &pid); virtual bool setVelPidsRaw(const yarp::dev::Pid *pids); virtual bool getVelPidRaw(int j, yarp::dev::Pid *pid); virtual bool getVelPidsRaw(yarp::dev::Pid *pids); +#endif // YARP_VERSION_MAJOR != 3 // ------- IInteractionModeRaw declarations. Implementation in IInteractionModeRawImpl.cpp ------- diff --git a/libraries/YarpPlugins/FakeJoint/ITorqueControlRawImpl.cpp b/libraries/YarpPlugins/FakeJoint/ITorqueControlRawImpl.cpp index 1f03cc393..cb9021f1c 100644 --- a/libraries/YarpPlugins/FakeJoint/ITorqueControlRawImpl.cpp +++ b/libraries/YarpPlugins/FakeJoint/ITorqueControlRawImpl.cpp @@ -36,23 +36,23 @@ bool roboticslab::FakeJoint::setRefTorqueRaw(int j, double t) // ------------------------------------------------------------------------------ -bool roboticslab::FakeJoint::getBemfParamRaw(int j, double *bemf) +bool roboticslab::FakeJoint::getTorqueRaw(int j, double *t) { - CD_INFO("\n"); + //CD_INFO("\n"); //-- Too verbose in controlboardwrapper2 stream. return true; } // ------------------------------------------------------------------------------ -bool roboticslab::FakeJoint::setBemfParamRaw(int j, double bemf) +bool roboticslab::FakeJoint::getTorquesRaw(double *t) { - CD_INFO("\n"); - return true; + CD_ERROR("\n"); + return false; } // ------------------------------------------------------------------------------ -bool roboticslab::FakeJoint::setTorquePidRaw(int j, const yarp::dev::Pid &pid) +bool roboticslab::FakeJoint::getTorqueRangeRaw(int j, double *min, double *max) { CD_INFO("\n"); return true; @@ -60,23 +60,24 @@ bool roboticslab::FakeJoint::setTorquePidRaw(int j, const yarp::dev::Pid &pid) // ------------------------------------------------------------------------------ -bool roboticslab::FakeJoint::getTorqueRaw(int j, double *t) +bool roboticslab::FakeJoint::getTorqueRangesRaw(double *min, double *max) { - //CD_INFO("\n"); //-- Too verbose in controlboardwrapper2 stream. - return true; + CD_ERROR("\n"); + return false; } // ------------------------------------------------------------------------------ -bool roboticslab::FakeJoint::getTorquesRaw(double *t) +#if YARP_VERSION_MAJOR != 3 +bool roboticslab::FakeJoint::getBemfParamRaw(int j, double *bemf) { - CD_ERROR("\n"); - return false; + CD_INFO("\n"); + return true; } // ------------------------------------------------------------------------------ -bool roboticslab::FakeJoint::getTorqueRangeRaw(int j, double *min, double *max) +bool roboticslab::FakeJoint::setBemfParamRaw(int j, double bemf) { CD_INFO("\n"); return true; @@ -84,10 +85,10 @@ bool roboticslab::FakeJoint::getTorqueRangeRaw(int j, double *min, double *max) // ------------------------------------------------------------------------------ -bool roboticslab::FakeJoint::getTorqueRangesRaw(double *min, double *max) +bool roboticslab::FakeJoint::setTorquePidRaw(int j, const yarp::dev::Pid &pid) { - CD_ERROR("\n"); - return false; + CD_INFO("\n"); + return true; } // ------------------------------------------------------------------------------ @@ -209,3 +210,4 @@ bool roboticslab::FakeJoint::setTorqueOffsetRaw(int j, double v) CD_INFO("\n"); return true; } +#endif // YARP_VERSION_MAJOR != 3 diff --git a/libraries/YarpPlugins/FakeJoint/IVelocityControl2RawImpl.cpp b/libraries/YarpPlugins/FakeJoint/IVelocityControl2RawImpl.cpp index 6f02ac1c6..7d6f7e43f 100644 --- a/libraries/YarpPlugins/FakeJoint/IVelocityControl2RawImpl.cpp +++ b/libraries/YarpPlugins/FakeJoint/IVelocityControl2RawImpl.cpp @@ -52,6 +52,7 @@ bool roboticslab::FakeJoint::getRefVelocitiesRaw(const int n_joint, const int *j // -------------------------------------------------------------------------------------------- +#if YARP_VERSION_MAJOR != 3 bool roboticslab::FakeJoint::setVelPidRaw(int j, const yarp::dev::Pid &pid) { CD_ERROR("Missing implementation\n"); @@ -81,3 +82,4 @@ bool roboticslab::FakeJoint::getVelPidsRaw(yarp::dev::Pid *pids) CD_ERROR("Missing implementation\n"); return false; } +#endif // YARP_VERSION_MAJOR != 3 diff --git a/libraries/YarpPlugins/LacqueyFetch/ITorqueControlRawImpl.cpp b/libraries/YarpPlugins/LacqueyFetch/ITorqueControlRawImpl.cpp index c14a9303c..0224177fe 100644 --- a/libraries/YarpPlugins/LacqueyFetch/ITorqueControlRawImpl.cpp +++ b/libraries/YarpPlugins/LacqueyFetch/ITorqueControlRawImpl.cpp @@ -36,23 +36,23 @@ bool roboticslab::LacqueyFetch::setRefTorqueRaw(int j, double t) // ----------------------------------------------------------------------------- -bool roboticslab::LacqueyFetch::getBemfParamRaw(int j, double *bemf) +bool roboticslab::LacqueyFetch::getTorqueRaw(int j, double *t) { - CD_INFO("\n"); + //CD_INFO("\n"); //-- Too verbose in controlboardwrapper2 stream. return true; } // ----------------------------------------------------------------------------- -bool roboticslab::LacqueyFetch::setBemfParamRaw(int j, double bemf) +bool roboticslab::LacqueyFetch::getTorquesRaw(double *t) { - CD_INFO("\n"); - return true; + CD_ERROR("Missing implementation\n"); + return false; } // ----------------------------------------------------------------------------- -bool roboticslab::LacqueyFetch::setTorquePidRaw(int j, const yarp::dev::Pid &pid) +bool roboticslab::LacqueyFetch::getTorqueRangeRaw(int j, double *min, double *max) { CD_INFO("\n"); return true; @@ -60,23 +60,24 @@ bool roboticslab::LacqueyFetch::setTorquePidRaw(int j, const yarp::dev::Pid &pid // ----------------------------------------------------------------------------- -bool roboticslab::LacqueyFetch::getTorqueRaw(int j, double *t) +bool roboticslab::LacqueyFetch::getTorqueRangesRaw(double *min, double *max) { - //CD_INFO("\n"); //-- Too verbose in controlboardwrapper2 stream. - return true; + CD_ERROR("Missing implementation\n"); + return false; } // ----------------------------------------------------------------------------- -bool roboticslab::LacqueyFetch::getTorquesRaw(double *t) +#if YARP_VERSION_MAJOR != 3 +bool roboticslab::LacqueyFetch::getBemfParamRaw(int j, double *bemf) { - CD_ERROR("Missing implementation\n"); - return false; + CD_INFO("\n"); + return true; } // ----------------------------------------------------------------------------- -bool roboticslab::LacqueyFetch::getTorqueRangeRaw(int j, double *min, double *max) +bool roboticslab::LacqueyFetch::setBemfParamRaw(int j, double bemf) { CD_INFO("\n"); return true; @@ -84,10 +85,10 @@ bool roboticslab::LacqueyFetch::getTorqueRangeRaw(int j, double *min, double *ma // ----------------------------------------------------------------------------- -bool roboticslab::LacqueyFetch::getTorqueRangesRaw(double *min, double *max) +bool roboticslab::LacqueyFetch::setTorquePidRaw(int j, const yarp::dev::Pid &pid) { - CD_ERROR("Missing implementation\n"); - return false; + CD_INFO("\n"); + return true; } // ----------------------------------------------------------------------------- @@ -209,3 +210,4 @@ bool roboticslab::LacqueyFetch::setTorqueOffsetRaw(int j, double v) CD_INFO("\n"); return true; } +#endif // YARP_VERSION_MAJOR != 3 diff --git a/libraries/YarpPlugins/LacqueyFetch/IVelocityControl2RawImpl.cpp b/libraries/YarpPlugins/LacqueyFetch/IVelocityControl2RawImpl.cpp index 4e0a22803..ae0e138ca 100644 --- a/libraries/YarpPlugins/LacqueyFetch/IVelocityControl2RawImpl.cpp +++ b/libraries/YarpPlugins/LacqueyFetch/IVelocityControl2RawImpl.cpp @@ -76,6 +76,7 @@ bool roboticslab::LacqueyFetch::stopRaw(const int n_joint, const int *joints) */ // ----------------------------------------------------------------------------- +#if YARP_VERSION_MAJOR != 3 bool roboticslab::LacqueyFetch::setVelPidRaw(int j, const yarp::dev::Pid &pid) { CD_ERROR("Missing implementation\n"); @@ -105,3 +106,4 @@ bool roboticslab::LacqueyFetch::getVelPidsRaw(yarp::dev::Pid *pids) CD_ERROR("Missing implementation\n"); return false; } +#endif // YARP_VERSION_MAJOR != 3 diff --git a/libraries/YarpPlugins/LacqueyFetch/LacqueyFetch.hpp b/libraries/YarpPlugins/LacqueyFetch/LacqueyFetch.hpp index ecfd0a670..91df65433 100644 --- a/libraries/YarpPlugins/LacqueyFetch/LacqueyFetch.hpp +++ b/libraries/YarpPlugins/LacqueyFetch/LacqueyFetch.hpp @@ -149,13 +149,14 @@ class LacqueyFetch : public yarp::dev::DeviceDriver, public yarp::dev::IControlL virtual bool getRefTorqueRaw(int j, double *t); virtual bool setRefTorquesRaw(const double *t); virtual bool setRefTorqueRaw(int j, double t); - virtual bool getBemfParamRaw(int j, double *bemf); - virtual bool setBemfParamRaw(int j, double bemf); - virtual bool setTorquePidRaw(int j, const yarp::dev::Pid &pid); virtual bool getTorqueRaw(int j, double *t); virtual bool getTorquesRaw(double *t); virtual bool getTorqueRangeRaw(int j, double *min, double *max); virtual bool getTorqueRangesRaw(double *min, double *max); +#if YARP_VERSION_MAJOR != 3 + virtual bool getBemfParamRaw(int j, double *bemf); + virtual bool setBemfParamRaw(int j, double bemf); + virtual bool setTorquePidRaw(int j, const yarp::dev::Pid &pid); virtual bool setTorquePidsRaw(const yarp::dev::Pid *pids); virtual bool setTorqueErrorLimitRaw(int j, double limit); virtual bool setTorqueErrorLimitsRaw(const double *limits); @@ -171,6 +172,7 @@ class LacqueyFetch : public yarp::dev::DeviceDriver, public yarp::dev::IControlL virtual bool disableTorquePidRaw(int j); virtual bool enableTorquePidRaw(int j); virtual bool setTorqueOffsetRaw(int j, double v); +#endif // YARP_VERSION_MAJOR != 3 // --------- IVelocityControlRaw Declarations. Implementation in IVelocityControl2RawImpl.cpp --------- virtual bool velocityMoveRaw(int j, double sp); @@ -184,10 +186,12 @@ class LacqueyFetch : public yarp::dev::DeviceDriver, public yarp::dev::IControlL // -- (just defined in IInteractionModeRaw) - virtual bool setRefAccelerationsRaw(const int n_joint, const int *joints, const double *accs); // -- (just defined in IInteractionModeRaw) - virtual bool getRefAccelerationsRaw(const int n_joint, const int *joints, double *accs); // -- (just defined in IInteractionModeRaw) - virtual bool stopRaw(const int n_joint, const int *joints); +#if YARP_VERSION_MAJOR != 3 virtual bool setVelPidRaw(int j, const yarp::dev::Pid &pid); virtual bool setVelPidsRaw(const yarp::dev::Pid *pids); virtual bool getVelPidRaw(int j, yarp::dev::Pid *pid); virtual bool getVelPidsRaw(yarp::dev::Pid *pids); +#endif // YARP_VERSION_MAJOR != 3 // ------- IInteractionModeRaw declarations. Implementation in IInteractionModeRawImpl.cpp ------- virtual bool getInteractionModeRaw(int axis, yarp::dev::InteractionModeEnum* mode); diff --git a/libraries/YarpPlugins/TechnosoftIpos/ITorqueControlRawImpl.cpp b/libraries/YarpPlugins/TechnosoftIpos/ITorqueControlRawImpl.cpp index 7b9da5680..9e69ea42b 100644 --- a/libraries/YarpPlugins/TechnosoftIpos/ITorqueControlRawImpl.cpp +++ b/libraries/YarpPlugins/TechnosoftIpos/ITorqueControlRawImpl.cpp @@ -66,48 +66,6 @@ bool roboticslab::TechnosoftIpos::setRefTorqueRaw(int j, double t) // ------------------------------------------------------------------------------------- -bool roboticslab::TechnosoftIpos::getBemfParamRaw(int j, double *bemf) -{ - CD_INFO("(%d)\n",j); - - //-- Check index within range - if ( j != 0 ) return false; - - CD_WARNING("Not implemented yet (TechnosoftIpos).\n"); - - return true; -} - -// ------------------------------------------------------------------------------------- - -bool roboticslab::TechnosoftIpos::setBemfParamRaw(int j, double bemf) -{ - CD_INFO("(%d,%f)\n",j,bemf); - - //-- Check index within range - if ( j != 0 ) return false; - - CD_WARNING("Not implemented yet (TechnosoftIpos).\n"); - - return true; -} - -// ------------------------------------------------------------------------------------- - -bool roboticslab::TechnosoftIpos::setTorquePidRaw(int j, const yarp::dev::Pid &pid) -{ - CD_INFO("(%d)\n",j); - - //-- Check index within range - if ( j != 0 ) return false; - - CD_WARNING("Not implemented yet (TechnosoftIpos).\n"); - - return true; -} - -// ------------------------------------------------------------------------------------- - bool roboticslab::TechnosoftIpos::getTorqueRaw(int j, double *t) { //CD_INFO("(%d)\n",j); //-- Too verbose in controlboardwrapper2 stream. @@ -168,6 +126,49 @@ bool roboticslab::TechnosoftIpos::getTorqueRangesRaw(double *min, double *max) // ------------------------------------------------------------------------------------- +#if YARP_VERSION_MAJOR != 3 +bool roboticslab::TechnosoftIpos::getBemfParamRaw(int j, double *bemf) +{ + CD_INFO("(%d)\n",j); + + //-- Check index within range + if ( j != 0 ) return false; + + CD_WARNING("Not implemented yet (TechnosoftIpos).\n"); + + return true; +} + +// ------------------------------------------------------------------------------------- + +bool roboticslab::TechnosoftIpos::setBemfParamRaw(int j, double bemf) +{ + CD_INFO("(%d,%f)\n",j,bemf); + + //-- Check index within range + if ( j != 0 ) return false; + + CD_WARNING("Not implemented yet (TechnosoftIpos).\n"); + + return true; +} + +// ------------------------------------------------------------------------------------- + +bool roboticslab::TechnosoftIpos::setTorquePidRaw(int j, const yarp::dev::Pid &pid) +{ + CD_INFO("(%d)\n",j); + + //-- Check index within range + if ( j != 0 ) return false; + + CD_WARNING("Not implemented yet (TechnosoftIpos).\n"); + + return true; +} + +// ------------------------------------------------------------------------------------- + bool roboticslab::TechnosoftIpos::setTorquePidsRaw(const yarp::dev::Pid *pids) { CD_ERROR("Missing implementation\n"); @@ -341,3 +342,4 @@ bool roboticslab::TechnosoftIpos::setTorqueOffsetRaw(int j, double v) } // ------------------------------------------------------------------------------------- +#endif // YARP_VERSION_MAJOR != 3 diff --git a/libraries/YarpPlugins/TechnosoftIpos/IVelocityControl2RawImpl.cpp b/libraries/YarpPlugins/TechnosoftIpos/IVelocityControl2RawImpl.cpp index 63a0c034a..c12d98239 100644 --- a/libraries/YarpPlugins/TechnosoftIpos/IVelocityControl2RawImpl.cpp +++ b/libraries/YarpPlugins/TechnosoftIpos/IVelocityControl2RawImpl.cpp @@ -132,6 +132,7 @@ bool roboticslab::TechnosoftIpos::stopRaw(const int n_joint, const int *joints) // ----------------------------------------------------------------------------- +#if YARP_VERSION_MAJOR != 3 bool roboticslab::TechnosoftIpos::setVelPidRaw(int j, const yarp::dev::Pid &pid) { CD_WARNING("Missing implementation\n"); @@ -161,4 +162,4 @@ bool roboticslab::TechnosoftIpos::getVelPidsRaw(yarp::dev::Pid *pids) CD_WARNING("Missing implementation\n"); return true; } - +#endif // YARP_VERSION_MAJOR != 3 diff --git a/libraries/YarpPlugins/TechnosoftIpos/TechnosoftIpos.hpp b/libraries/YarpPlugins/TechnosoftIpos/TechnosoftIpos.hpp index e0b6094c0..72b51e13b 100644 --- a/libraries/YarpPlugins/TechnosoftIpos/TechnosoftIpos.hpp +++ b/libraries/YarpPlugins/TechnosoftIpos/TechnosoftIpos.hpp @@ -166,13 +166,14 @@ class TechnosoftIpos : public yarp::dev::DeviceDriver, public yarp::dev::IContro virtual bool getRefTorqueRaw(int j, double *t); virtual bool setRefTorquesRaw(const double *t); virtual bool setRefTorqueRaw(int j, double t); - virtual bool getBemfParamRaw(int j, double *bemf); - virtual bool setBemfParamRaw(int j, double bemf); - virtual bool setTorquePidRaw(int j, const yarp::dev::Pid &pid); virtual bool getTorqueRaw(int j, double *t); virtual bool getTorquesRaw(double *t); virtual bool getTorqueRangeRaw(int j, double *min, double *max); virtual bool getTorqueRangesRaw(double *min, double *max); +#if YARP_VERSION_MAJOR != 3 + virtual bool getBemfParamRaw(int j, double *bemf); + virtual bool setBemfParamRaw(int j, double bemf); + virtual bool setTorquePidRaw(int j, const yarp::dev::Pid &pid); virtual bool setTorquePidsRaw(const yarp::dev::Pid *pids); virtual bool setTorqueErrorLimitRaw(int j, double limit); virtual bool setTorqueErrorLimitsRaw(const double *limits); @@ -188,6 +189,7 @@ class TechnosoftIpos : public yarp::dev::DeviceDriver, public yarp::dev::IContro virtual bool disableTorquePidRaw(int j); virtual bool enableTorquePidRaw(int j); virtual bool setTorqueOffsetRaw(int j, double v); +#endif // YARP_VERSION_MAJOR != 3 // --------- IVelocityControlRaw Declarations. Implementation in IVelocityControl2RawImpl.cpp --------- virtual bool velocityMoveRaw(int j, double sp); @@ -204,10 +206,12 @@ class TechnosoftIpos : public yarp::dev::DeviceDriver, public yarp::dev::IContro // -- virtual bool getRefAccelerationsRaw(const int n_joint, const int *joints, double *accs); // ------------------- Just declareted in IPositionControl2Raw // -- virtual bool stopRaw(const int n_joint, const int *joints); +#if YARP_VERSION_MAJOR != 3 virtual bool setVelPidRaw(int j, const yarp::dev::Pid &pid); virtual bool setVelPidsRaw(const yarp::dev::Pid *pids); virtual bool getVelPidRaw(int j, yarp::dev::Pid *pid); virtual bool getVelPidsRaw(yarp::dev::Pid *pids); +#endif // YARP_VERSION_MAJOR != 3 // ------- IInteractionModeRaw declarations. Implementation in IInteractionModeRawImpl.cpp ------- virtual bool getInteractionModeRaw(int axis, yarp::dev::InteractionModeEnum* mode); diff --git a/libraries/YarpPlugins/TextilesHand/ITorqueControlRawImpl.cpp b/libraries/YarpPlugins/TextilesHand/ITorqueControlRawImpl.cpp index c61ec6d1d..ca56d2d25 100644 --- a/libraries/YarpPlugins/TextilesHand/ITorqueControlRawImpl.cpp +++ b/libraries/YarpPlugins/TextilesHand/ITorqueControlRawImpl.cpp @@ -36,23 +36,23 @@ bool roboticslab::TextilesHand::setRefTorqueRaw(int j, double t) // ----------------------------------------------------------------------------------- -bool roboticslab::TextilesHand::getBemfParamRaw(int j, double *bemf) +bool roboticslab::TextilesHand::getTorqueRaw(int j, double *t) { - CD_INFO("\n"); + //CD_INFO("\n"); //-- Too verbose in controlboardwrapper2 stream. return true; } // ----------------------------------------------------------------------------------- -bool roboticslab::TextilesHand::setBemfParamRaw(int j, double bemf) +bool roboticslab::TextilesHand::getTorquesRaw(double *t) { - CD_INFO("\n"); - return true; + CD_ERROR("\n"); + return false; } // ----------------------------------------------------------------------------------- -bool roboticslab::TextilesHand::setTorquePidRaw(int j, const yarp::dev::Pid &pid) +bool roboticslab::TextilesHand::getTorqueRangeRaw(int j, double *min, double *max) { CD_INFO("\n"); return true; @@ -60,23 +60,24 @@ bool roboticslab::TextilesHand::setTorquePidRaw(int j, const yarp::dev::Pid &pid // ----------------------------------------------------------------------------------- -bool roboticslab::TextilesHand::getTorqueRaw(int j, double *t) +bool roboticslab::TextilesHand::getTorqueRangesRaw(double *min, double *max) { - //CD_INFO("\n"); //-- Too verbose in controlboardwrapper2 stream. - return true; + CD_ERROR("\n"); + return false; } // ----------------------------------------------------------------------------------- -bool roboticslab::TextilesHand::getTorquesRaw(double *t) +#if YARP_VERSION_MAJOR != 3 +bool roboticslab::TextilesHand::getBemfParamRaw(int j, double *bemf) { - CD_ERROR("\n"); - return false; + CD_INFO("\n"); + return true; } // ----------------------------------------------------------------------------------- -bool roboticslab::TextilesHand::getTorqueRangeRaw(int j, double *min, double *max) +bool roboticslab::TextilesHand::setBemfParamRaw(int j, double bemf) { CD_INFO("\n"); return true; @@ -84,10 +85,10 @@ bool roboticslab::TextilesHand::getTorqueRangeRaw(int j, double *min, double *ma // ----------------------------------------------------------------------------------- -bool roboticslab::TextilesHand::getTorqueRangesRaw(double *min, double *max) +bool roboticslab::TextilesHand::setTorquePidRaw(int j, const yarp::dev::Pid &pid) { - CD_ERROR("\n"); - return false; + CD_INFO("\n"); + return true; } // ----------------------------------------------------------------------------------- @@ -209,3 +210,4 @@ bool roboticslab::TextilesHand::setTorqueOffsetRaw(int j, double v) CD_INFO("\n"); return true; } +#endif // YARP_VERSION_MAJOR != 3 diff --git a/libraries/YarpPlugins/TextilesHand/IVelocityControl2RawImpl.cpp b/libraries/YarpPlugins/TextilesHand/IVelocityControl2RawImpl.cpp index 44b4a1bef..b62959e65 100644 --- a/libraries/YarpPlugins/TextilesHand/IVelocityControl2RawImpl.cpp +++ b/libraries/YarpPlugins/TextilesHand/IVelocityControl2RawImpl.cpp @@ -52,6 +52,7 @@ bool roboticslab::TextilesHand::getRefVelocitiesRaw(const int n_joint, const int // -------------------------------------------------------------------------------------------- +#if YARP_VERSION_MAJOR != 3 bool roboticslab::TextilesHand::setVelPidRaw(int j, const yarp::dev::Pid &pid) { CD_ERROR("Missing implementation\n"); @@ -81,3 +82,4 @@ bool roboticslab::TextilesHand::getVelPidsRaw(yarp::dev::Pid *pids) CD_ERROR("Missing implementation\n"); return false; } +#endif // YARP_VERSION_MAJOR != 3 diff --git a/libraries/YarpPlugins/TextilesHand/TextilesHand.hpp b/libraries/YarpPlugins/TextilesHand/TextilesHand.hpp index 5c683813e..db39e9bef 100644 --- a/libraries/YarpPlugins/TextilesHand/TextilesHand.hpp +++ b/libraries/YarpPlugins/TextilesHand/TextilesHand.hpp @@ -159,13 +159,14 @@ class TextilesHand : public yarp::dev::DeviceDriver, public yarp::dev::IControlL virtual bool getRefTorqueRaw(int j, double *t); virtual bool setRefTorquesRaw(const double *t); virtual bool setRefTorqueRaw(int j, double t); - virtual bool getBemfParamRaw(int j, double *bemf); - virtual bool setBemfParamRaw(int j, double bemf); - virtual bool setTorquePidRaw(int j, const yarp::dev::Pid &pid); virtual bool getTorqueRaw(int j, double *t); virtual bool getTorquesRaw(double *t); virtual bool getTorqueRangeRaw(int j, double *min, double *max); virtual bool getTorqueRangesRaw(double *min, double *max); +#if YARP_VERSION_MAJOR != 3 + virtual bool getBemfParamRaw(int j, double *bemf); + virtual bool setBemfParamRaw(int j, double bemf); + virtual bool setTorquePidRaw(int j, const yarp::dev::Pid &pid); virtual bool setTorquePidsRaw(const yarp::dev::Pid *pids); virtual bool setTorqueErrorLimitRaw(int j, double limit); virtual bool setTorqueErrorLimitsRaw(const double *limits); @@ -181,6 +182,7 @@ class TextilesHand : public yarp::dev::DeviceDriver, public yarp::dev::IControlL virtual bool disableTorquePidRaw(int j); virtual bool enableTorquePidRaw(int j); virtual bool setTorqueOffsetRaw(int j, double v); +#endif // YARP_VERSION_MAJOR != 3 // --------- IVelocityControlRaw Declarations. Implementation in IVelocityControl2RawImpl.cpp --------- virtual bool velocityMoveRaw(int j, double sp); @@ -194,10 +196,12 @@ class TextilesHand : public yarp::dev::DeviceDriver, public yarp::dev::IControlL // -- (just defined in IInteractionModeRaw) - virtual bool setRefAccelerationsRaw(const int n_joint, const int *joints, const double *accs); // -- (just defined in IInteractionModeRaw) - virtual bool getRefAccelerationsRaw(const int n_joint, const int *joints, double *accs); // -- (just defined in IInteractionModeRaw) - virtual bool stopRaw(const int n_joint, const int *joints); +#if YARP_VERSION_MAJOR != 3 virtual bool setVelPidRaw(int j, const yarp::dev::Pid &pid); virtual bool setVelPidsRaw(const yarp::dev::Pid *pids); virtual bool getVelPidRaw(int j, yarp::dev::Pid *pid); virtual bool getVelPidsRaw(yarp::dev::Pid *pids); +#endif // YARP_VERSION_MAJOR != 3 // ------- IInteractionModeRaw declarations. Implementation in IInteractionModeRawImpl.cpp -------