Cleanup interfaces

CMakeLists.txt

@@ -47,7 +47,7 @@ list(APPEND CMAKE_MODULE_PATH ${YARP_MODULE_PATH})
 
 # Main project
 project(YARP
-        VERSION 2.3.73.2
+        VERSION 2.3.73.3
         LANGUAGES C CXX)
 set(PROJECT_DESCRIPTION "YARP: A thin middleware for humanoid robots and more")
 

bindings/yarp.i

@@ -420,7 +420,9 @@ MAKE_COMMS(Bottle)
 %include <yarp/dev/CalibratorInterfaces.h>
 %include <yarp/dev/ControlBoardPid.h>
 %include <yarp/dev/IControlMode.h>
+#ifndef YARP_NO_DEPRECATED // Since YARP 3.0.0
 %include <yarp/dev/IControlMode2.h>
+#endif
 %include <yarp/dev/IEncoders.h>
 %include <yarp/dev/IMotorEncoders.h>
 %include <yarp/dev/ITorqueControl.h>
@@ -430,7 +432,9 @@ MAKE_COMMS(Bottle)
 %include <yarp/dev/ICurrentControl.h>
 %include <yarp/dev/IAnalogSensor.h>
 %include <yarp/dev/IRemoteVariables.h>
+#ifndef YARP_NO_DEPRECATED // Since YARP 3.0.0
 %include <yarp/dev/FrameGrabberControl2.h>
+#endif
 %include <yarp/dev/IPidControl.h>
 %include <yarp/dev/IPositionDirect.h>
 
@@ -786,12 +790,13 @@ typedef yarp::os::BufferedPort<ImageRgbFloat> BufferedPortImageRgbFloat;
         self->view(result);
         return result;
     }
-
+#ifndef YARP_NO_DEPRECATED // Since YARP 3.0.0
     yarp::dev::IControlMode2 *viewIControlMode2() {
         yarp::dev::IControlMode2 *result;
         self->view(result);
         return result;
     }
+#endif
 
     yarp::dev::IPWMControl *viewIPWMControl() {
             yarp::dev::IPWMControl *result;
@@ -810,12 +815,18 @@ typedef yarp::os::BufferedPort<ImageRgbFloat> BufferedPortImageRgbFloat;
         self->view(result);
         return result;
     }
-
+#ifndef YARP_NO_DEPRECATED // Since YARP 3.0.0
     yarp::dev::IFrameGrabberControls2 *viewIFrameGrabberControls2() {
         yarp::dev::IFrameGrabberControls2 *result;
         self->view(result);
         return result;
     }
+#endif
+    yarp::dev::IFrameGrabberControls *viewIFrameGrabberControls() {
+        yarp::dev::IFrameGrabberControls *result;
+        self->view(result);
+        return result;
+    }
 
     yarp::dev::IPositionDirect *viewIPositionDirect() {
         yarp::dev::IPositionDirect *result;
@@ -1065,8 +1076,21 @@ typedef yarp::os::BufferedPort<ImageRgbFloat> BufferedPortImageRgbFloat;
     bool getControlModes(std::vector<int>& data) {
         return self->getControlModes(&data[0]);
     }
+
+    bool getControlModes(int n_joint, std::vector<int>& joints, std::vector<int>& data) {
+        return self->getControlModes(n_joint, &joints[0], &data[0]);
+    }
+
+    bool setControlModes(std::vector<int>& data) {
+        return self->setControlModes(&data[0]);
+    }
+
+    bool setControlModes(int n_joint, std::vector<int>& joints, std::vector<int>& data) {
+        return self->setControlModes(n_joint, &joints[0], &data[0]);
+    }
 }
 
+#ifndef YARP_NO_DEPRECATED // Since YARP 3.0.0
 %extend yarp::dev::IControlMode2 {
     bool getControlModes(int n_joint, std::vector<int>& joints, std::vector<int>& data) {
         return self->getControlModes(n_joint, &joints[0], &data[0]);
@@ -1080,6 +1104,7 @@ typedef yarp::os::BufferedPort<ImageRgbFloat> BufferedPortImageRgbFloat;
         return self->setControlModes(n_joint, &joints[0], &data[0]);
     }
 }
+#endif
 
 %extend yarp::dev::IPositionDirect {
     int getAxes() {
@@ -1383,7 +1408,63 @@ public:
 
 //////////////////////////////////////////////////////////////////////////
 // Deal with IFrameGrabberControls2 pointer arguments that don't translate
+      %extend yarp::dev::IFrameGrabberControls {
+        CameraDescriptor getCameraDescription() {
+            CameraDescriptor result;
+            self->getCameraDescription(&result);
+            return result;
+        }
+
+        bool hasFeature(int feature) {
+            bool result;
+            self->hasFeature(feature, &result);
+            return result;
+        }
 
+        double getFeature(int feature) {
+            double result;
+            self->getFeature(feature, &result);
+            return result;
+        }
+
+        bool hasOnOff(int feature) {
+            bool result;
+            self->hasOnOff(feature, &result);
+            return result;
+        }
+
+        bool getActive(int feature) {
+            bool result;
+            self->getActive(feature, &result);
+            return result;
+        }
+
+        bool hasAuto(int feature) {
+            bool result;
+            self->hasAuto(feature, &result);
+            return result;
+        }
+
+        bool hasManual(int feature) {
+            bool result;
+            self->hasManual(feature, &result);
+            return result;
+        }
+
+        bool hasOnePush(int feature) {
+            bool result;
+            self->hasOnePush(feature, &result);
+            return result;
+        }
+
+        FeatureMode getMode(int feature) {
+            FeatureMode result;
+            self->getMode(feature, &result);
+            return result;
+        }
+      }
+
+#ifndef YARP_NO_DEPRECATED // Since YARP 3.0.0
 %extend yarp::dev::IFrameGrabberControls2 {
   CameraDescriptor getCameraDescription() {
       CameraDescriptor result;
@@ -1439,3 +1520,4 @@ public:
       return result;
   }
 }
+#endif

doc/release/v3_0_0.md

@@ -105,6 +105,7 @@ Important Changes
   * `/yarp/dev/ServerSerial.h`
   * `/yarp/dev/ServerSoundGrabber.h`
   * `/yarp/dev/TestMotor.h`
+  * `/yarp/dev/RemoteFrameGrabberDC1394.h`
 * A class of interfaces to wrap multiple analog sensors is now available in:
   * `/yarp/dev/MultipleAnalogSensorsInterfaces.h`
 * The devices `multipleanalogsensorsserver`, `multipleanalogsensorsclient` and
@@ -122,7 +123,29 @@ Important Changes
   interface.
 * Removed all control board interfaces methods e.g. `setTorquePid()`,
   `setPositionMode()` etc, marked as deprecated since 2.3.70
-* In ControlBoardWrapper functions for all joints invoke the equivalent function for all joints of motion control device. In the   previous versions, that funcions call the equivalent function single-joint in a for-cicle, so the function for all joints in motion control devices have never been called. So please, check the implementation of function for all joints in your motion control device because now they will be invoked for the fisrt time.
+* In ControlBoardWrapper functions for all joints invoke the equivalent function
+  for all joints of motion control device. In the   previous versions, that
+  function call the equivalent function single-joint in a for-cicle, so the
+  function for all joints in motion control devices have never been called.
+  So please, check the implementation of function for all joints in your motion
+  control device because now they will be invoked for the fisrt time.
+* The following classes have been deprecated:
+  - `ICalibrateControl2` in favour of `ICalibrateControl`.
+  - `ICalibrateControl2Raw` in favour of `ICalibrateControlRaw`.
+  - `IFrameGrabberControl2` in favour of `IFrameGrabberControl.`
+  - `FrameGrabberControl2Impl` in favour of `FrameGrabberControlImpl`
+  - `IControlLimits2` in favour of `IControlLimits`.
+  - `IControlLimits2Raw` in favour of `IControlLimitsRaw`.
+  - `ImplementControlLimits2` in favour of `ImplementControlLimits`.
+  - `IControlMode2` in favour of `IControlMode`.
+  - `IControlMode2Raw` in favour of `IControlModeRaw`.
+  - `ImplementControlMode2` in favour of `ImplementControlMode`.
+  - `IPositionControl2Raw` in favour of `IPositionControlRaw`.
+  - `IPositionControl2` in favour of `IPositionControl`.
+  - `ImplementPositionControl2` in favour of `ImplementPositionControl`.
+  - `IVelocityControl2Raw` in favour of `IVelocityControlRaw`.
+  - `IVelocityControl2` in favour of `IVelocityControl`.
+  - `ImplementVelocityControl2` in favour of `ImplementVelocityControl`.
 
 #### `YARP_sig`
 

src/devices/SerialServoBoard/SerialServoBoard.cpp

@@ -153,6 +153,30 @@ bool SerialServoBoard::stop() {
     return true;
 }
 
+bool SerialServoBoard::positionMove(const int n_joint, const int *joints, const double *refs) {
+    return true;
+}
+bool SerialServoBoard::relativeMove(const int n_joint, const int *joints, const double *deltas) {
+    return true;
+}
+bool SerialServoBoard::checkMotionDone(const int n_joint, const int *joints, bool *flags) {
+    return true;
+}
+bool SerialServoBoard::setRefSpeeds(const int n_joint, const int *joints, const double *spds) {
+    return true;
+}
+bool SerialServoBoard::setRefAccelerations(const int n_joint, const int *joints, const double *accs) {
+    return true;
+}
+bool SerialServoBoard::getRefSpeeds(const int n_joint, const int *joints, double *spds) {
+    return true;
+}
+bool SerialServoBoard::getRefAccelerations(const int n_joint, const int *joints, double *accs) {
+    return true;
+}
+bool SerialServoBoard::stop(const int n_joint, const int *joints) {
+    return true;
+}
 
 
 

src/devices/SerialServoBoard/SerialServoBoard.h

@@ -72,6 +72,14 @@ class SerialServoBoard : public DeviceDriver, public IPositionControl {
     bool getRefAccelerations(double *accs) override;
     bool stop(int j) override;
     bool stop() override;
+    virtual bool positionMove(const int n_joint, const int *joints, const double *refs) override;
+    virtual bool relativeMove(const int n_joint, const int *joints, const double *deltas) override;
+    virtual bool checkMotionDone(const int n_joint, const int *joints, bool *flags) override;
+    virtual bool setRefSpeeds(const int n_joint, const int *joints, const double *spds) override;
+    virtual bool setRefAccelerations(const int n_joint, const int *joints, const double *accs) override;
+    virtual bool getRefSpeeds(const int n_joint, const int *joints, double *spds) override;
+    virtual bool getRefAccelerations(const int n_joint, const int *joints, double *accs) override;
+    virtual bool stop(const int n_joint, const int *joints) override;
 
     virtual bool open(Searchable& config) override {
         if(config.check("help")==true) {

src/devices/depthCamera/depthCameraDriver.h

@@ -48,7 +48,7 @@ namespace yarp
  *  @ingroup dev_impl_media
  *
  *
- * This device is a YARP plugin for OpenNI2 compatible devices, and exposes the IRGBDSensor and IFrameGrabberControls2
+ * This device is a YARP plugin for OpenNI2 compatible devices, and exposes the IRGBDSensor and IFrameGrabberControls
  * interfaces to read the images and operate on the available settings.
  *
  * See the documentation for more details about each interface.
@@ -184,7 +184,7 @@ transformation          (1.0 0.0 0.0 0.0   0.0 1.0 0.0 0.0   0.0 0.0 1.0 0.0  0.
 
 class yarp::dev::depthCameraDriver : public yarp::dev::DeviceDriver,
                                      public yarp::dev::IRGBDSensor,
-                                     public yarp::dev::IFrameGrabberControls2
+                                     public yarp::dev::IFrameGrabberControls
 {
 private:
     typedef yarp::sig::ImageOf<yarp::sig::PixelFloat> depthImage;
@@ -237,7 +237,7 @@ class yarp::dev::depthCameraDriver : public yarp::dev::DeviceDriver,
     virtual RGBDSensor_status     getSensorStatus() override;
     virtual std::string getLastErrorMsg(Stamp* timeStamp = NULL) override;
 
-    //IFrameGrabberControls2
+    //IFrameGrabberControls
     virtual bool   getCameraDescription(CameraDescriptor *camera) override;
     virtual bool   hasFeature(int feature, bool*   hasFeature) override;
     virtual bool   setFeature(int feature, double  value) override;

src/devices/fakeMotionControl/fakeMotionControl.cpp

@@ -355,17 +355,17 @@ bool FakeMotionControl::dealloc()
 
 FakeMotionControl::FakeMotionControl() :
     RateThread(10.0),
-    ImplementControlCalibration2<FakeMotionControl, IControlCalibration2>(this),
+    ImplementControlCalibration<FakeMotionControl, IControlCalibration>(this),
     ImplementAmplifierControl<FakeMotionControl, IAmplifierControl>(this),
     ImplementPidControl(this),
     ImplementEncodersTimed(this),
-    ImplementPositionControl2(this),
-    ImplementVelocityControl2(this),
-    ImplementControlMode2(this),
+    ImplementPositionControl(this),
+    ImplementVelocityControl(this),
+    ImplementControlMode(this),
     ImplementImpedanceControl(this),
     ImplementMotorEncoders(this),
     ImplementTorqueControl(this),
-    ImplementControlLimits2(this),
+    ImplementControlLimits(this),
     ImplementPositionDirect(this),
     ImplementInteractionMode(this),
     ImplementCurrentControl(this),
@@ -583,17 +583,17 @@ bool FakeMotionControl::open(yarp::os::Searchable &config)
 
     ControlBoardHelper cb(_njoints, _axisMap, _angleToEncoder, nullptr, _newtonsToSensor, _ampsToSensor, _dutycycleToPWM);
     ControlBoardHelper cb_copy_test(cb);
-    ImplementControlCalibration2<FakeMotionControl, IControlCalibration2>::initialize(_njoints, _axisMap, _angleToEncoder, nullptr);
+    ImplementControlCalibration<FakeMotionControl, IControlCalibration>::initialize(_njoints, _axisMap, _angleToEncoder, nullptr);
     ImplementAmplifierControl<FakeMotionControl, IAmplifierControl>::initialize(_njoints, _axisMap, _angleToEncoder, nullptr);
     ImplementEncodersTimed::initialize(_njoints, _axisMap, _angleToEncoder, nullptr);
     ImplementMotorEncoders::initialize(_njoints, _axisMap, _angleToEncoder, nullptr);
-    ImplementPositionControl2::initialize(_njoints, _axisMap, _angleToEncoder, nullptr);
+    ImplementPositionControl::initialize(_njoints, _axisMap, _angleToEncoder, nullptr);
     ImplementPidControl::initialize(_njoints, _axisMap, _angleToEncoder, nullptr, _newtonsToSensor, _ampsToSensor, _dutycycleToPWM);
     ImplementPidControl::setConversionUnits(PidControlTypeEnum::VOCAB_PIDTYPE_POSITION, PidFeedbackUnitsEnum::METRIC, PidOutputUnitsEnum::DUTYCYCLE_PWM_PERCENT);
     ImplementPidControl::setConversionUnits(PidControlTypeEnum::VOCAB_PIDTYPE_TORQUE, PidFeedbackUnitsEnum::METRIC, PidOutputUnitsEnum::DUTYCYCLE_PWM_PERCENT);
-    ImplementControlMode2::initialize(_njoints, _axisMap);
-    ImplementVelocityControl2::initialize(_njoints, _axisMap, _angleToEncoder, nullptr);
-    ImplementControlLimits2::initialize(_njoints, _axisMap, _angleToEncoder, nullptr);
+    ImplementControlMode::initialize(_njoints, _axisMap);
+    ImplementVelocityControl::initialize(_njoints, _axisMap, _angleToEncoder, nullptr);
+    ImplementControlLimits::initialize(_njoints, _axisMap, _angleToEncoder, nullptr);
     ImplementImpedanceControl::initialize(_njoints, _axisMap, _angleToEncoder, nullptr, _newtonsToSensor);
     ImplementTorqueControl::initialize(_njoints, _axisMap, _angleToEncoder, nullptr, _newtonsToSensor, _ampsToSensor, _dutycycleToPWM, bemfToRaw.data(), ktauToRaw.data());
     ImplementPositionDirect::initialize(_njoints, _axisMap, _angleToEncoder, nullptr);
@@ -1453,16 +1453,16 @@ bool FakeMotionControl::close()
 {
     yTrace() << " FakeMotionControl::close()";
 
-    ImplementControlMode2::uninitialize();
+    ImplementControlMode::uninitialize();
     ImplementEncodersTimed::uninitialize();
     ImplementMotorEncoders::uninitialize();
-    ImplementPositionControl2::uninitialize();
-    ImplementVelocityControl2::uninitialize();
+    ImplementPositionControl::uninitialize();
+    ImplementVelocityControl::uninitialize();
     ImplementPidControl::uninitialize();
-    ImplementControlCalibration2<FakeMotionControl, IControlCalibration2>::uninitialize();
+    ImplementControlCalibration<FakeMotionControl, IControlCalibration>::uninitialize();
     ImplementAmplifierControl<FakeMotionControl, IAmplifierControl>::uninitialize();
     ImplementImpedanceControl::uninitialize();
-    ImplementControlLimits2::uninitialize();
+    ImplementControlLimits::uninitialize();
     ImplementTorqueControl::uninitialize();
     ImplementPositionDirect::uninitialize();
     ImplementInteractionMode::uninitialize();
@@ -1882,9 +1882,9 @@ bool FakeMotionControl::setCalibrationParametersRaw(int j, const CalibrationPara
     return true;
 }
 
-bool FakeMotionControl::calibrate2Raw(int j, unsigned int type, double p1, double p2, double p3)
+bool FakeMotionControl::calibrateRaw(int j, unsigned int type, double p1, double p2, double p3)
 {
-    yTrace() << "calibrate2Raw for joint" << j;
+    yTrace() << "calibrateRaw for joint" << j;
     return true;
 }