Merge branch 'jr3-mbed'

roboticslab-uc3m · Jan 2, 2024 · 1c466d0 · 1c466d0
2 parents a8570b2 + c491fe5
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diff --git a/doc/yarp-devices-install.md b/doc/yarp-devices-install.md
@@ -12,13 +12,13 @@ For unit testing, you'll need the googletest source package. Refer to [Install g
 - [../libraries/YarpPlugins/AravisGigE](../libraries/YarpPlugins/AravisGigE#requirements)
 - [../libraries/YarpPlugins/CanBusHico](../libraries/YarpPlugins/CanBusHico#requirements)
 - [../libraries/YarpPlugins/CanBusPeak](../libraries/YarpPlugins/CanBusPeak#requirements)
-- [../libraries/YarpPlugins/Jr3](../libraries/YarpPlugins/Jr3#requirements)
+- [../libraries/YarpPlugins/Jr3Pci](../libraries/YarpPlugins/Jr3Pci#requirements)
 - [../libraries/YarpPlugins/LeapMotionSensor](../libraries/YarpPlugins/LeapMotionSensor#requirements)
 - [../libraries/YarpPlugins/SpaceNavigator](../libraries/YarpPlugins/SpaceNavigator#requirements)
 - [../libraries/YarpPlugins/WiimoteSensor](../libraries/YarpPlugins/WiimoteSensor#requirements)
 - [../programs/grabberControls2Gui](../programs/grabberControls2Gui#requirements)
 - The following components additionally need some kind of CAN Bus driver (e.g. a [CanBusHico](../libraries/YarpPlugins/CanBusHico) or [CanBusPeak](../libraries/YarpPlugins/CanBusPeak)):
-    - [../libraries/YarpPlugins/CanBusControlBoard](../libraries/YarpPlugins/CanBusControlBoard)
+    - [../libraries/YarpPlugins/CanBusBroker](../libraries/YarpPlugins/CanBusBroker)
     - [../libraries/YarpPlugins/CuiAbsolute](../libraries/YarpPlugins/CuiAbsolute)
     - [../libraries/YarpPlugins/FakeJoint](../libraries/YarpPlugins/FakeJoint)
     - [../libraries/YarpPlugins/LacqueyFetch](../libraries/YarpPlugins/LacqueyFetch)

diff --git a/examples/cpp/CMakeLists.txt b/examples/cpp/CMakeLists.txt
@@ -1,7 +1,7 @@
 option(ENABLE_examples "Enable/disable C++ examples" OFF)
 
 if(ENABLE_examples)
-    add_subdirectory(exampleJr3)
+    add_subdirectory(exampleJr3Pci)
     add_subdirectory(exampleRemoteControlBoard)
     add_subdirectory(exampleRemoteControlBoardModule)
     add_subdirectory(exampleRemoteJr3)

diff --git a/examples/cpp/exampleJr3/CMakeLists.txt b/examples/cpp/exampleJr3/CMakeLists.txt
diff --git a/examples/cpp/exampleJr3Pci/CMakeLists.txt b/examples/cpp/exampleJr3Pci/CMakeLists.txt
@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 3.16)
+
+project(exampleJr3Pci LANGUAGES CXX)
+
+if(NOT YARP_FOUND)
+    find_package(YARP 3.7 REQUIRED COMPONENTS os dev)
+endif()
+
+add_executable(exampleJr3Pci exampleJr3Pci.cpp)
+
+target_link_libraries(exampleJr3Pci YARP::YARP_os
+                                    YARP::YARP_dev)
diff --git a/examples/cpp/exampleJr3/exampleJr3.cpp → examples/cpp/exampleJr3Pci/exampleJr3Pci.cpp b/examples/cpp/exampleJr3/exampleJr3.cpp → examples/cpp/exampleJr3Pci/exampleJr3Pci.cpp
@@ -2,12 +2,12 @@
 
 /**
  * @ingroup yarp_devices_examples_cpp
- * @defgroup exampleJr3 exampleJr3
- * @brief This example instantiates a local @ref Jr3 device.
+ * @defgroup exampleJr3Pci exampleJr3Pci
+ * @brief This example instantiates a local @ref Jr3Pci device.
  */
 
 /**
- * @example{lineno} exampleJr3.cpp
+ * @example{lineno} exampleJr3Pci.cpp
  */
 
 #include <yarp/os/LogStream.h>
@@ -19,7 +19,7 @@
 
 int main(int argc, char * argv[])
 {
-    yarp::os::Property options {{"device", yarp::os::Value("Jr3")}};
+    yarp::os::Property options {{"device", yarp::os::Value("Jr3Pci")}};
 
     yarp::dev::PolyDriver device(options);
 

diff --git a/examples/cpp/exampleRemoteControlBoard/exampleRemoteControlBoard.cpp b/examples/cpp/exampleRemoteControlBoard/exampleRemoteControlBoard.cpp
@@ -4,7 +4,7 @@
  * @ingroup yarp_devices_examples_cpp
  * @defgroup exampleRemoteControlBoard exampleRemoteControlBoard
  *
- * @brief This example connects to a remote control board device (e.g. @ref CanBusControlBoard).
+ * @brief This example connects to a remote control board device (e.g. @ref CanBusBroker).
  *
  * <b>Legal</b>
  *

diff --git a/examples/cpp/exampleRemoteControlBoardModule/main.cpp b/examples/cpp/exampleRemoteControlBoardModule/main.cpp
@@ -4,7 +4,7 @@
  * @ingroup yarp_devices_examples_cpp
  * @defgroup exampleRemoteControlBoardModule exampleRemoteControlBoardModule
  *
- * @brief This example connects to a remote control board device (e.g. @ref CanBusControlBoard) as a module.
+ * @brief This example connects to a remote control board device (e.g. @ref CanBusBroker) as a module.
  *
  * <b>Legal</b>
  *

diff --git a/examples/cpp/exampleRemoteJr3/exampleRemoteJr3.cpp b/examples/cpp/exampleRemoteJr3/exampleRemoteJr3.cpp
@@ -3,7 +3,7 @@
 /**
  * @ingroup yarp_devices_examples_cpp
  * @defgroup exampleRemoteJr3 exampleRemoteJr3
- * @brief This example connects to a remote @ref Jr3 device.
+ * @brief This example connects to a remote Jr3 device.
  */
 
 /**

diff --git a/examples/cpp/exampleTrajectory/exampleOfflineTrajectoryAsync.cpp b/examples/cpp/exampleTrajectory/exampleOfflineTrajectoryAsync.cpp
@@ -14,7 +14,7 @@
  * speed and period between consecutive points. The `yarp::dev::IRemoteVariables` interface is used
  * to configure and switch to interpolated position (pi) mode on the real robot. Although prepared
  * for remote execution, this application could be rewritten to connect to a local instance of
- * @ref CanBusControlBoard. The techniques showcased here are best aimed at trajectories fully
+ * @ref CanBusBroker. The techniques showcased here are best aimed at trajectories fully
  * available offline (e.g. loaded from file) that don't assume a constant period between points.
  *
  * Usage (showing default option values):

diff --git a/examples/cpp/exampleTrajectory/exampleOfflineTrajectorySync.cpp b/examples/cpp/exampleTrajectory/exampleOfflineTrajectorySync.cpp
@@ -14,7 +14,7 @@
  * speed and period between consecutive points. The `yarp::dev::IRemoteVariables` interface is used
  * to configure and switch to interpolated position (pi) mode on the real robot. Although prepared
  * for remote execution, this application could be rewritten to connect to a local instance of
- * @ref CanBusControlBoard. The techniques showcased here are best aimed at trajectories fully
+ * @ref CanBusBroker. The techniques showcased here are best aimed at trajectories fully
  * available offline (e.g. loaded from file) that assume a constant period between points. To fully
  * take advantage of this fact, all points are sent to the robot in a single batch, hence the flow
  * of the program is slightly different from what you'd expect (no delay function within a for-loop).

diff --git a/examples/cpp/exampleTrajectory/exampleOnlineTrajectoryLocalPull.cpp b/examples/cpp/exampleTrajectory/exampleOnlineTrajectoryLocalPull.cpp
@@ -13,7 +13,7 @@
  * A constant-velocity, single-joint trajectory is generated with configurable final target, motion
  * speed and period between consecutive points. The period is assumed constant (maps to cyclic
  * synchronous position mode on the real robot, a.k.a. CSP). A callback is registered for listening
- * to a local synchronization loop managed by @ref CanBusControlBoard, position commands will be
+ * to a local synchronization loop managed by @ref CanBusBroker, position commands will be
  * prepared and sent in response. The techniques showcased here are especially suited for
  * online-generated trajectories, e.g. joystick teleoperation of visual servoing.
  *
@@ -88,7 +88,7 @@ int main(int argc, char * argv[])
     auto * syncObserverPtr = &syncObserver;
 
     yarp::os::Property options;
-    options.put("device", yarp::os::Value("CanBusControlBoard"));
+    options.put("device", yarp::os::Value("CanBusBroker"));
     options.put("buses", yarp::os::Value::makeList(bus.c_str()));
     options.put(bus, yarp::os::Value::makeList(ipos.c_str()));
     options.put("syncPeriod", yarp::os::Value(period));

diff --git a/examples/cpp/exampleTrajectory/exampleOnlineTrajectoryRemotePull.cpp b/examples/cpp/exampleTrajectory/exampleOnlineTrajectoryRemotePull.cpp
@@ -15,7 +15,7 @@
  * position mode on the real robot, a.k.a. CSP). A callback is registered for listening to a
  * remote synchronization port, position commands will be prepared and sent in response.
  * Although prepared for remote execution, this application could be rewritten to connect to
- * a local instance of @ref CanBusControlBoard; however, a better alternative exists (see notes).
+ * a local instance of @ref CanBusBroker; however, a better alternative exists (see notes).
  * The techniques showcased here are especially suited for online-generated trajectories, e.g.
  * joystick teleoperation of visual servoing.
  *

diff --git a/examples/cpp/exampleTrajectory/exampleOnlineTrajectoryRemotePush.cpp b/examples/cpp/exampleTrajectory/exampleOnlineTrajectoryRemotePush.cpp
@@ -14,7 +14,7 @@
  * speed and period between consecutive points. Although it is not mandatory, it is a good practice
  * to force the period to be constant and sent at precise intervals if commanding the real robot
  * (maps to cyclic synchronous position mode, a.k.a. CSP). Although prepared for remote execution,
- * this application could be rewritten to connect to a local instance of @ref CanBusControlBoard;
+ * this application could be rewritten to connect to a local instance of @ref CanBusBroker;
  * however, a better alternative exists (see notes). The techniques showcased here are especially
  * suited for online-generated trajectories, e.g. joystick teleoperation or visual servoing.
  *

diff --git a/examples/python/exampleRemoteJr3.py b/examples/python/exampleRemoteJr3.py
@@ -1,6 +1,6 @@
 ## @ingroup yarp_devices_examples_py
 #  @defgroup exampleRemoteJr3Py exampleRemoteJr3.py
-#  @brief This example connects to a remote @ref Jr3 device.
+#  @brief This example connects to a remote Jr3 device.
 
 ## @example{lineno} exampleRemoteJr3.py
 

diff --git a/libraries/YarpDeviceMapperLib/CMakeLists.txt b/libraries/YarpDeviceMapperLib/CMakeLists.txt
@@ -4,6 +4,7 @@ if(ENABLE_YarpDeviceMapperLib)
 
     add_library(YarpDeviceMapperLib SHARED DeviceMapper.hpp
                                            DeviceMapper.cpp
+                                           RawDevice.hpp
                                            RawDevice.cpp
                                            FutureTask.hpp
                                            FutureTask.cpp