From 45af978b8844345ece8db32e6df504b8a827a395 Mon Sep 17 00:00:00 2001
From: Ehsan Ranjbari <ehsan.ranjbari@iit.it>
Date: Wed, 19 Jun 2024 12:53:53 +0200
Subject: [PATCH] remove stopAllHapticFeedback method and m_desiredHapticValues
 - change setFingertipHapticFeedbackReferences to send***

---
 .../include/GloveControlHelper.hpp               |  9 +--------
 .../src/GloveControlHelper.cpp                   | 16 ++--------------
 modules/HapticGlove_module/src/Teleoperation.cpp |  2 +-
 3 files changed, 4 insertions(+), 23 deletions(-)

diff --git a/modules/HapticGlove_module/include/GloveControlHelper.hpp b/modules/HapticGlove_module/include/GloveControlHelper.hpp
index e816d44b..e2920972 100644
--- a/modules/HapticGlove_module/include/GloveControlHelper.hpp
+++ b/modules/HapticGlove_module/include/GloveControlHelper.hpp
@@ -40,7 +40,6 @@ class HapticGlove::GloveControlHelper
 
     bool m_isRightHand; /**< true if the glove is the right hand*/
 
-    std::vector<int> m_desiredHapticValues; /**< Desired haptic feedback values; range: [0, 100]. */
     std::vector<int> m_desiredForceValues; /**< Desired force feedback values; range: [0, 100]. */
     std::vector<int>
         m_desiredVibrotactileValues; /**< Desired vibrotactile feedback values; range: [0, 100] */
@@ -98,7 +97,7 @@ class HapticGlove::GloveControlHelper
      * Set the desired haptic feedback reference to the user fingertip
      * @return true/false in case of success/failure
      */
-    bool setFingertipHapticFeedbackReferences();
+    bool sendFingertipHapticFeedbackReferences();
 
     /**
      * Set the desired force feedback reference to the user fingertip
@@ -122,12 +121,6 @@ class HapticGlove::GloveControlHelper
      */
     bool setPalmVibrotactileFeedbackReference(const int& desiredValue);
 
-    /**
-     * stop the haptics feedback (force feedback, fingertip vibrotactile feedback) to the user
-     * @return  true/false in case of success/failure
-     */
-    bool stopAllHapticFeedback();
-
     /**
      * stop the haptic feedback (force feedback, fingertip vibrotactile feedback, palm vibrotactile
      * feedback) to the user
diff --git a/modules/HapticGlove_module/src/GloveControlHelper.cpp b/modules/HapticGlove_module/src/GloveControlHelper.cpp
index e45bf8d9..ab6881b6 100644
--- a/modules/HapticGlove_module/src/GloveControlHelper.cpp
+++ b/modules/HapticGlove_module/src/GloveControlHelper.cpp
@@ -32,7 +32,6 @@ bool GloveControlHelper::configure(const yarp::os::Searchable& config,
 
     m_desiredVibrotactileValues.resize(m_numVibrotactileFeedback, 0);
     m_desiredForceValues.resize(m_numForceFeedback, 0);
-    m_desiredHapticValues.resize(m_numForceFeedback + m_numVibrotactileFeedback, 0);
 
     m_JointsValues.resize(m_numHandJoints, 0.0);
 
@@ -203,7 +202,7 @@ bool GloveControlHelper::setFingertipVibrotactileFeedbackReferences(
     return true;
 }
 
-bool GloveControlHelper::setFingertipHapticFeedbackReferences()
+bool GloveControlHelper::sendFingertipHapticFeedbackReferences()
 {
     return m_pImp->setFingertipHapticFeedbackValues(m_desiredForceValues, m_desiredVibrotactileValues);
 }
@@ -227,12 +226,6 @@ bool GloveControlHelper::stopForceFeedback()
     return true;
 }
 
-bool GloveControlHelper::stopAllHapticFeedback()
-{
-    std::fill(m_desiredHapticValues.begin(), m_desiredHapticValues.end(), 0.0);
-    return m_pImp->setFingertipHapticFeedbackValues(m_desiredForceValues, m_desiredVibrotactileValues);
-}
-
 bool GloveControlHelper::stopHapticFeedback()
 {
 
@@ -252,11 +245,6 @@ bool GloveControlHelper::stopHapticFeedback()
                     "vibrotactile feedback";
         return false;
     }
-    if (!stopAllHapticFeedback())
-    {
-        yError() << m_logPrefix << "Cannot turn off the fingertip haptics feedback";
-        return false;
-    }
     return true;
 }
 
@@ -379,7 +367,7 @@ bool GloveControlHelper::findHumanMotionRange()
 
     std::vector<double> desiredValue(m_numVibrotactileFeedback, 35);
     this->setFingertipVibrotactileFeedbackReferences(desiredValue);
-    this->setFingertipHapticFeedbackReferences();
+    this->sendFingertipHapticFeedbackReferences();
     return true;
 }
 
diff --git a/modules/HapticGlove_module/src/Teleoperation.cpp b/modules/HapticGlove_module/src/Teleoperation.cpp
index 06a90c8d..959f2e7c 100644
--- a/modules/HapticGlove_module/src/Teleoperation.cpp
+++ b/modules/HapticGlove_module/src/Teleoperation.cpp
@@ -354,7 +354,7 @@ bool Teleoperation::run()
         m_robotController->move();
         m_humanGlove->setFingertipForceFeedbackReferences(m_data.humanForceFeedbacks);
         m_humanGlove->setFingertipVibrotactileFeedbackReferences(m_data.humanVibrotactileFeedbacks);
-        m_humanGlove->setFingertipHapticFeedbackReferences();
+        m_humanGlove->sendFingertipHapticFeedbackReferences();
     }
 
     if (m_enableLogger)