Fix const correctness in IPositionDirect (YARP 3)

roboticslab-uc3m · Jun 2, 2018 · c2023a1 · c2023a1
1 parent b873d6a
commit c2023a1
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Showing 17 changed files with 79 additions and 12 deletions.
diff --git a/libraries/YarpPlugins/CanBusControlboard/CanBusControlboard.hpp b/libraries/YarpPlugins/CanBusControlboard/CanBusControlboard.hpp
@@ -498,7 +498,14 @@ class CanBusControlboard : public yarp::dev::DeviceDriver, public yarp::dev::ICo
      *          refs    10 30 40
      * @return true/false on success/failure
      */
-    virtual bool setPositions(const int n_joint, const int *joints, double *refs);
+    virtual bool setPositions(const int n_joint, const int *joints, const double *refs);
+
+#if YARP_VERSION_MAJOR != 3
+    virtual bool setPositions(const int n_joint, const int *joints, double *refs)
+    {
+        return setPositions(n_joint, joints, const_cast<const double *>(refs));
+    }
+#endif // YARP_VERSION_MAJOR != 3
 
     /** Set new position for a set of axis.
      * @param refs specifies the new reference points

diff --git a/libraries/YarpPlugins/CanBusControlboard/IPositionDirectImpl.cpp b/libraries/YarpPlugins/CanBusControlboard/IPositionDirectImpl.cpp
@@ -13,7 +13,7 @@ bool roboticslab::CanBusControlboard::setPosition(int j, double ref)
 
 // -----------------------------------------------------------------------------
 
-bool roboticslab::CanBusControlboard::setPositions(const int n_joint, const int *joints, double *refs)
+bool roboticslab::CanBusControlboard::setPositions(const int n_joint, const int *joints, const double *refs)
 {
     CD_DEBUG("n_joint:%d, drivers.size():" CD_SIZE_T "\n",n_joint,nodes.size());
 

diff --git a/libraries/YarpPlugins/CuiAbsolute/CMakeLists.txt b/libraries/YarpPlugins/CuiAbsolute/CMakeLists.txt
@@ -32,6 +32,12 @@ target_link_libraries(CuiAbsolute YARP::YARP_OS
                                   YARP::YARP_dev
                                   YarpDevicesInterfaces)
 
+# Hack, fool CMake to think that YARP already switched to 3.0 while still at devel.
+# https://github.com/roboticslab-uc3m/yarp-devices/issues/180
+if(NOT YARP_VERSION_SHORT VERSION_LESS 2.3.73)
+    target_compile_definitions(CuiAbsolute PUBLIC YARP_VERSION_MAJOR=3)
+endif()
+
 yarp_install(TARGETS CuiAbsolute
              COMPONENT runtime
              LIBRARY DESTINATION ${ROBOTICSLAB-YARP-DEVICES_DYNAMIC_PLUGINS_INSTALL_DIR}

diff --git a/libraries/YarpPlugins/CuiAbsolute/CuiAbsolute.hpp b/libraries/YarpPlugins/CuiAbsolute/CuiAbsolute.hpp
@@ -143,7 +143,13 @@ class CuiAbsolute : public yarp::dev::DeviceDriver, public yarp::dev::IControlLi
 
     // ------- IPositionDirectRaw declarations. Implementation in IPositionDirectRawImpl.cpp -------
     virtual bool setPositionRaw(int j, double ref);
-    virtual bool setPositionsRaw(const int n_joint, const int *joints, double *refs);
+    virtual bool setPositionsRaw(const int n_joint, const int *joints, const double *refs);
+#if YARP_VERSION_MAJOR != 3
+    virtual bool setPositionsRaw(const int n_joint, const int *joints, double *refs)
+    {
+        return setPositionsRaw(n_joint, joints, const_cast<const double *>(refs));
+    }
+#endif // YARP_VERSION_MAJOR != 3
     virtual bool setPositionsRaw(const double *refs);
 
     // -------- ITorqueControlRaw declarations. Implementation in ITorqueControlRawImpl.cpp --------

diff --git a/libraries/YarpPlugins/CuiAbsolute/IPositionDirectRawImpl.cpp b/libraries/YarpPlugins/CuiAbsolute/IPositionDirectRawImpl.cpp
@@ -9,7 +9,7 @@ bool roboticslab::CuiAbsolute::setPositionRaw(int j, double ref)
     return true;
 }
 
-bool roboticslab::CuiAbsolute::setPositionsRaw(const int n_joint, const int *joints, double *refs)
+bool roboticslab::CuiAbsolute::setPositionsRaw(const int n_joint, const int *joints, const double *refs)
 {
     CD_DEBUG("\n");
     this->positionMoveRaw(0,refs[0]);

diff --git a/libraries/YarpPlugins/FakeJoint/CMakeLists.txt b/libraries/YarpPlugins/FakeJoint/CMakeLists.txt
@@ -32,6 +32,12 @@ target_link_libraries(FakeJoint YARP::YARP_OS
                                 YARP::YARP_dev
                                 YarpDevicesInterfaces)
 
+# Hack, fool CMake to think that YARP already switched to 3.0 while still at devel.
+# https://github.com/roboticslab-uc3m/yarp-devices/issues/180
+if(NOT YARP_VERSION_SHORT VERSION_LESS 2.3.73)
+    target_compile_definitions(FakeJoint PUBLIC YARP_VERSION_MAJOR=3)
+endif()
+
 yarp_install(TARGETS FakeJoint
              COMPONENT runtime
              LIBRARY DESTINATION ${ROBOTICSLAB-YARP-DEVICES_DYNAMIC_PLUGINS_INSTALL_DIR}

diff --git a/libraries/YarpPlugins/FakeJoint/FakeJoint.hpp b/libraries/YarpPlugins/FakeJoint/FakeJoint.hpp
@@ -136,7 +136,13 @@ class FakeJoint : public yarp::dev::DeviceDriver, public yarp::dev::IControlLimi
 
     // ------- IPositionDirectRaw declarations. Implementation in IPositionDirectRawImpl.cpp -------
     virtual bool setPositionRaw(int j, double ref);
-    virtual bool setPositionsRaw(const int n_joint, const int *joints, double *refs);
+    virtual bool setPositionsRaw(const int n_joint, const int *joints, const double *refs);
+#if YARP_VERSION_MAJOR != 3
+    virtual bool setPositionsRaw(const int n_joint, const int *joints, double *refs)
+    {
+        return setPositionsRaw(n_joint, joints, const_cast<const double *>(refs));
+    }
+#endif // YARP_VERSION_MAJOR != 3
     virtual bool setPositionsRaw(const double *refs);
 
     // -------- ITorqueControlRaw declarations. Implementation in ITorqueControlRawImpl.cpp --------

diff --git a/libraries/YarpPlugins/FakeJoint/IPositionDirectRawImpl.cpp b/libraries/YarpPlugins/FakeJoint/IPositionDirectRawImpl.cpp
@@ -13,7 +13,7 @@ bool roboticslab::FakeJoint::setPositionRaw(int j, double ref)
 
 // ------------------------------------------------------------------------------
 
-bool roboticslab::FakeJoint::setPositionsRaw(const int n_joint, const int *joints, double *refs)
+bool roboticslab::FakeJoint::setPositionsRaw(const int n_joint, const int *joints, const double *refs)
 {
     CD_DEBUG("\n");
     this->positionMoveRaw(0,refs[0]);

diff --git a/libraries/YarpPlugins/LacqueyFetch/CMakeLists.txt b/libraries/YarpPlugins/LacqueyFetch/CMakeLists.txt
@@ -32,6 +32,12 @@ target_link_libraries(LacqueyFetch YARP::YARP_OS
                                    YARP::YARP_dev
                                    YarpDevicesInterfaces)
 
+# Hack, fool CMake to think that YARP already switched to 3.0 while still at devel.
+# https://github.com/roboticslab-uc3m/yarp-devices/issues/180
+if(NOT YARP_VERSION_SHORT VERSION_LESS 2.3.73)
+    target_compile_definitions(LacqueyFetch PUBLIC YARP_VERSION_MAJOR=3)
+endif()
+
 yarp_install(TARGETS LacqueyFetch
              COMPONENT runtime
              LIBRARY DESTINATION ${ROBOTICSLAB-YARP-DEVICES_DYNAMIC_PLUGINS_INSTALL_DIR}

diff --git a/libraries/YarpPlugins/LacqueyFetch/IPositionDirectRawImpl.cpp b/libraries/YarpPlugins/LacqueyFetch/IPositionDirectRawImpl.cpp
@@ -11,7 +11,7 @@ bool roboticslab::LacqueyFetch::setPositionRaw(int j, double ref)
     return true;
 }
 
-bool roboticslab::LacqueyFetch::setPositionsRaw(const int n_joint, const int *joints, double *refs)
+bool roboticslab::LacqueyFetch::setPositionsRaw(const int n_joint, const int *joints, const double *refs)
 {
     CD_DEBUG("\n");
     this->positionMoveRaw(0,refs[0]);

diff --git a/libraries/YarpPlugins/LacqueyFetch/LacqueyFetch.hpp b/libraries/YarpPlugins/LacqueyFetch/LacqueyFetch.hpp
@@ -137,7 +137,13 @@ class LacqueyFetch : public yarp::dev::DeviceDriver, public yarp::dev::IControlL
 
     // ------- IPositionDirectRaw declarations. Implementation in IPositionDirectRawImpl.cpp -------
     virtual bool setPositionRaw(int j, double ref);
-    virtual bool setPositionsRaw(const int n_joint, const int *joints, double *refs);
+    virtual bool setPositionsRaw(const int n_joint, const int *joints, const double *refs);
+#if YARP_VERSION_MAJOR != 3
+    virtual bool setPositionsRaw(const int n_joint, const int *joints, double *refs)
+    {
+        return setPositionsRaw(n_joint, joints, const_cast<const double *>(refs));
+    }
+#endif // YARP_VERSION_MAJOR != 3
     virtual bool setPositionsRaw(const double *refs);
 
     // -------- ITorqueControlRaw declarations. Implementation in ITorqueControlRawImpl.cpp --------

diff --git a/libraries/YarpPlugins/TechnosoftIpos/CMakeLists.txt b/libraries/YarpPlugins/TechnosoftIpos/CMakeLists.txt
@@ -32,6 +32,12 @@ target_link_libraries(TechnosoftIpos YARP::YARP_OS
                                      YARP::YARP_dev
                                      YarpDevicesInterfaces)
 
+# Hack, fool CMake to think that YARP already switched to 3.0 while still at devel.
+# https://github.com/roboticslab-uc3m/yarp-devices/issues/180
+if(NOT YARP_VERSION_SHORT VERSION_LESS 2.3.73)
+    target_compile_definitions(TechnosoftIpos PUBLIC YARP_VERSION_MAJOR=3)
+endif()
+
 yarp_install(TARGETS TechnosoftIpos
              COMPONENT runtime
              LIBRARY DESTINATION ${ROBOTICSLAB-YARP-DEVICES_DYNAMIC_PLUGINS_INSTALL_DIR}

diff --git a/libraries/YarpPlugins/TechnosoftIpos/IPositionDirectRawImpl.cpp b/libraries/YarpPlugins/TechnosoftIpos/IPositionDirectRawImpl.cpp
@@ -59,7 +59,7 @@ bool roboticslab::TechnosoftIpos::setPositionRaw(int j, double ref)
 
 // -----------------------------------------------------------------------------
 
-bool roboticslab::TechnosoftIpos::setPositionsRaw(const int n_joint, const int *joints, double *refs)
+bool roboticslab::TechnosoftIpos::setPositionsRaw(const int n_joint, const int *joints, const double *refs)
 {
     //CD_INFO("n_joint:%d, drivers.size():" CD_SIZE_T "\n",n_joint,drivers.size());
 

diff --git a/libraries/YarpPlugins/TechnosoftIpos/TechnosoftIpos.hpp b/libraries/YarpPlugins/TechnosoftIpos/TechnosoftIpos.hpp
@@ -159,7 +159,13 @@ class TechnosoftIpos : public yarp::dev::DeviceDriver, public yarp::dev::IContro
 
     // ------- IPositionDirectRaw declarations. Implementation in IPositionDirectRawImpl.cpp -------
     virtual bool setPositionRaw(int j, double ref);
-    virtual bool setPositionsRaw(const int n_joint, const int *joints, double *refs);
+    virtual bool setPositionsRaw(const int n_joint, const int *joints, const double *refs);
+#if YARP_VERSION_MAJOR != 3
+    virtual bool setPositionsRaw(const int n_joint, const int *joints, double *refs)
+    {
+        return setPositionsRaw(n_joint, joints, const_cast<const double *>(refs));
+    }
+#endif // YARP_VERSION_MAJOR != 3
     virtual bool setPositionsRaw(const double *refs);
 
     // -------- ITorqueControlRaw declarations. Implementation in ITorqueControlRawImpl.cpp --------

diff --git a/libraries/YarpPlugins/TextilesHand/CMakeLists.txt b/libraries/YarpPlugins/TextilesHand/CMakeLists.txt
@@ -33,6 +33,12 @@ target_link_libraries(TextilesHand YARP::YARP_OS
                                    YARP::YARP_dev
                                    YarpDevicesInterfaces)
 
+# Hack, fool CMake to think that YARP already switched to 3.0 while still at devel.
+# https://github.com/roboticslab-uc3m/yarp-devices/issues/180
+if(NOT YARP_VERSION_SHORT VERSION_LESS 2.3.73)
+    target_compile_definitions(TextilesHand PUBLIC YARP_VERSION_MAJOR=3)
+endif()
+
 yarp_install(TARGETS TextilesHand
              COMPONENT runtime
              LIBRARY DESTINATION ${ROBOTICSLAB-YARP-DEVICES_DYNAMIC_PLUGINS_INSTALL_DIR}

diff --git a/libraries/YarpPlugins/TextilesHand/IPositionDirectRawImpl.cpp b/libraries/YarpPlugins/TextilesHand/IPositionDirectRawImpl.cpp
@@ -13,7 +13,7 @@ bool roboticslab::TextilesHand::setPositionRaw(int j, double ref)
 
 // ----------------------------------------------------------------------------------------
 
-bool roboticslab::TextilesHand::setPositionsRaw(const int n_joint, const int *joints, double *refs)
+bool roboticslab::TextilesHand::setPositionsRaw(const int n_joint, const int *joints, const double *refs)
 {
     CD_DEBUG("\n");
     this->positionMoveRaw(0,refs[0]);

diff --git a/libraries/YarpPlugins/TextilesHand/TextilesHand.hpp b/libraries/YarpPlugins/TextilesHand/TextilesHand.hpp
@@ -147,7 +147,13 @@ class TextilesHand : public yarp::dev::DeviceDriver, public yarp::dev::IControlL
 
     // ------- IPositionDirectRaw declarations. Implementation in IPositionDirectRawImpl.cpp -------
     virtual bool setPositionRaw(int j, double ref);
-    virtual bool setPositionsRaw(const int n_joint, const int *joints, double *refs);
+    virtual bool setPositionsRaw(const int n_joint, const int *joints, const double *refs);
+#if YARP_VERSION_MAJOR != 3
+    virtual bool setPositionsRaw(const int n_joint, const int *joints, double *refs)
+    {
+        return setPositionsRaw(n_joint, joints, const_cast<const double *>(refs));
+    }
+#endif // YARP_VERSION_MAJOR != 3
     virtual bool setPositionsRaw(const double *refs);
 
     // -------- ITorqueControlRaw declarations. Implementation in ITorqueControlRawImpl.cpp --------