Require YARP 3.8+

.github/workflows/ci.yml

@@ -38,8 +38,8 @@ jobs:
       matrix:
         os: [ubuntu-20.04, ubuntu-22.04]
         robotology:
-        - { yarp: yarp-3.7, cmake: 3.16.x }
         - { yarp: yarp-3.8, cmake: 3.16.x }
+        - { yarp: yarp-3.9, cmake: 3.16.x }
         - { yarp: master, cmake: 3.16.x }
         compiler:
         - { cc: gcc, cxx: g++ }
@@ -51,16 +51,16 @@ jobs:
 
     steps:
     - name: Check out yarp-devices
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
 
     - name: Check out YCM
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
       with:
         repository: robotology/ycm
         path: .deps/ycm
 
     - name: Check out YARP
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
       with:
         repository: robotology/yarp
         ref: ${{matrix.robotology.yarp}}
@@ -76,7 +76,7 @@ jobs:
       run: wget -O- -q https://www.peak-system.com/fileadmin/media/linux/files/peak-linux-driver-$PEAK_DRIVER_VER.tar.gz | tar -C .deps -xzf -
 
     - name: Check out jr3pci-linux
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
       with:
         repository: roboticslab-uc3m/jr3pci-linux
         path: .deps/jr3pci-linux

CMakeLists.txt

@@ -28,7 +28,7 @@ list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake
 
 # Hard dependencies.
 find_package(YCM 0.11 REQUIRED)
-find_package(YARP 3.7 REQUIRED COMPONENTS os dev sig)
+find_package(YARP 3.8 REQUIRED COMPONENTS os dev sig)
 
 # Soft dependencies.
 find_package(ARAVIS 0.4 QUIET)

doc/yarp-devices-install.md

@@ -3,7 +3,7 @@
 First install the dependencies:
 - [Install CMake 3.16+](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-cmake.md/)
 - [Install YCM 0.11+](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-ycm.md/)
-- [Install YARP 3.7+](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-yarp.md/)
+- [Install YARP 3.8+](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-yarp.md/)
 
 For unit testing, you'll need the googletest source package. Refer to [Install googletest](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-googletest.md/).
 

libraries/YarpPlugins/LacqueyFetch/IAxisInfoRawImpl.cpp

@@ -10,6 +10,13 @@ using namespace roboticslab;
 
 // -----------------------------------------------------------------------------
 
+bool LacqueyFetch::getAxes(int * ax)
+{
+    return getNumberOfMotorsRaw(ax);
+}
+
+// -----------------------------------------------------------------------------
+
 bool LacqueyFetch::getAxisNameRaw(int axis, std::string & name)
 {
     yCITrace(LCQ, id(), "%d", axis);

libraries/YarpPlugins/LacqueyFetch/LacqueyFetch.hpp

@@ -8,7 +8,6 @@
 #include <string>
 
 #include <yarp/conf/numeric.h>
-#include <yarp/conf/version.h>
 
 #include <yarp/dev/DeviceDriver.h>
 #include <yarp/dev/IAxisInfo.h>
@@ -60,10 +59,7 @@ class LacqueyFetch : public yarp::dev::DeviceDriver,
 
     //  --------- IAxisInfoRaw declarations. Implementation in IAxisInfoRawImpl.cpp ---------
 
-#if YARP_VERSION_COMPARE(>=, 3, 8, 0)
-    bool getAxes(int * ax) override
-    { return getNumberOfMotorsRaw(ax); }
-#endif
+    bool getAxes(int * ax) override;
     bool getAxisNameRaw(int j, std::string & name) override;
     bool getJointTypeRaw(int j, yarp::dev::JointTypeEnum & type) override;
 

libraries/YarpPlugins/TechnosoftIpos/ITorqueControlRawImpl.cpp

@@ -82,6 +82,9 @@ bool TechnosoftIposBase::getMotorTorqueParamsRaw(int j, yarp::dev::MotorTorquePa
     params->viscousNeg = 0.0;
     params->coulombPos = 0.0;
     params->coulombNeg = 0.0;
+#if YARP_VERSION_COMPARE(>=, 3, 9, 0)
+    params->velocityThres = 0.0;
+#endif
 
     return true;
 }