Rename device to EmulatedControlboard

#192

libraries/YarpPlugins/CMakeLists.txt

@@ -31,7 +31,7 @@ add_subdirectory(CanBusPeak)
 add_subdirectory(CanBusSocket)
 add_subdirectory(CuiAbsolute)
 add_subdirectory(DextraSerialControlboard)
-add_subdirectory(FakeControlboard)
+add_subdirectory(EmulatedControlboard)
 add_subdirectory(FakeJoint)
 add_subdirectory(Jr3)
 add_subdirectory(LacqueyFetch)

libraries/YarpPlugins/EmulatedControlboard/CMakeLists.txt

@@ -0,0 +1,41 @@
+# Copyright: (C) 2017 Universidad Carlos III de Madrid
+# Author: Juan G. Victores & Raul de Santos Rico
+
+yarp_prepare_plugin(EmulatedControlboard
+                    CATEGORY device
+                    TYPE roboticslab::EmulatedControlboard
+                    INCLUDE EmulatedControlboard.hpp
+                    DEFAULT ON
+                    EXTRA_CONFIG WRAPPER=controlboardwrapper2)
+
+if(NOT SKIP_EmulatedControlboard)
+
+    if(NOT YARP_VERSION VERSION_GREATER_EQUAL 3.4)
+        set(CMAKE_INCLUDE_CURRENT_DIR TRUE) # yarp plugin builder needs this
+    endif()
+
+    yarp_add_plugin(EmulatedControlboard EmulatedControlboard.hpp
+                                         EmulatedControlboard.cpp
+                                         DeviceDriverImpl.cpp
+                                         IControlLimitsImpl.cpp
+                                         IControlModeImpl.cpp
+                                         IEncodersImpl.cpp
+                                         IEncodersTimedImpl.cpp
+                                         IPositionControlImpl.cpp
+                                         IPositionDirectImpl.cpp
+                                         IRemoteVariablesImpl.cpp
+                                         ITorqueControlImpl.cpp
+                                         IVelocityControlImpl.cpp
+                                         PeriodicThreadImpl.cpp
+                                         SharedArea.cpp)
+
+    target_link_libraries(EmulatedControlboard YARP::YARP_OS
+                                               YARP::YARP_dev
+                                               ROBOTICSLAB::ColorDebug)
+
+    yarp_install(TARGETS EmulatedControlboard
+                 LIBRARY DESTINATION ${ROBOTICSLAB-YARP-DEVICES_DYNAMIC_PLUGINS_INSTALL_DIR}
+                 ARCHIVE DESTINATION ${ROBOTICSLAB-YARP-DEVICES_STATIC_PLUGINS_INSTALL_DIR}
+                 YARP_INI DESTINATION ${ROBOTICSLAB-YARP-DEVICES_PLUGIN_MANIFESTS_INSTALL_DIR})
+
+endif()

libraries/YarpPlugins/FakeControlboard/DeviceDriverImpl.cpp → libraries/YarpPlugins/EmulatedControlboard/DeviceDriverImpl.cpp

@@ -1,6 +1,6 @@
 // -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
-#include "FakeControlboard.hpp"
+#include "EmulatedControlboard.hpp"
 
 #include <yarp/os/Bottle.h>
 #include <yarp/os/Time.h>
@@ -9,7 +9,7 @@
 
 // ------------------- DeviceDriver Related ------------------------------------
 
-bool roboticslab::FakeControlboard::open(yarp::os::Searchable& config)
+bool roboticslab::EmulatedControlboard::open(yarp::os::Searchable& config)
 {
     CD_DEBUG("config: %s\n", config.toString().c_str());
 
@@ -44,7 +44,7 @@ bool roboticslab::FakeControlboard::open(yarp::os::Searchable& config)
     if (config.check("initPoss", "list of initialization positions (meters or degrees)"))
     {
         initPoss = config.find("initPoss").asList();
-        CD_INFO("FakeControlboard using individual initPoss: %s\n", initPoss->toString().c_str());
+        CD_INFO("EmulatedControlboard using individual initPoss: %s\n", initPoss->toString().c_str());
 
         if ((unsigned)initPoss->size() != axes)
         {
@@ -54,15 +54,15 @@ bool roboticslab::FakeControlboard::open(yarp::os::Searchable& config)
     else
     {
         initPoss = 0;
-        CD_INFO("FakeControlboard not using individual initPoss, defaulting to genInitPos.\n");
+        CD_INFO("EmulatedControlboard not using individual initPoss, defaulting to genInitPos.\n");
     }
 
     yarp::os::Bottle* jointTols;
 
     if (config.check("jointTols", "list of joint tolerances (meters or degrees)"))
     {
         jointTols = config.find("jointTols").asList();
-        CD_INFO("FakeControlboard using individual jointTols: %s\n", jointTols->toString().c_str());
+        CD_INFO("EmulatedControlboard using individual jointTols: %s\n", jointTols->toString().c_str());
 
         if ((unsigned)jointTols->size() != axes)
         {
@@ -72,15 +72,15 @@ bool roboticslab::FakeControlboard::open(yarp::os::Searchable& config)
     else
     {
         jointTols = 0;
-        CD_INFO("FakeControlboard not using individual jointTols, defaulting to genJointTol.\n");
+        CD_INFO("EmulatedControlboard not using individual jointTols, defaulting to genJointTol.\n");
     }
 
     yarp::os::Bottle* maxLimits;
 
     if (config.check("maxLimits", "list of max limits (meters or degrees)"))
     {
         maxLimits = config.find("maxLimits").asList();
-        CD_INFO("FakeControlboard using individual maxLimits: %s\n", maxLimits->toString().c_str());
+        CD_INFO("EmulatedControlboard using individual maxLimits: %s\n", maxLimits->toString().c_str());
 
         if ((unsigned)maxLimits->size() != axes)
         {
@@ -90,15 +90,15 @@ bool roboticslab::FakeControlboard::open(yarp::os::Searchable& config)
     else
     {
         maxLimits = 0;
-        CD_INFO("FakeControlboard not using individual maxLimits, defaulting to genMaxLimit.\n");
+        CD_INFO("EmulatedControlboard not using individual maxLimits, defaulting to genMaxLimit.\n");
     }
 
     yarp::os::Bottle* minLimits;
 
     if (config.check("minLimits", "list of min limits (meters or degrees)"))
     {
         minLimits = config.find("minLimits").asList();
-        CD_INFO("FakeControlboard using individual minLimits: %s\n", minLimits->toString().c_str());
+        CD_INFO("EmulatedControlboard using individual minLimits: %s\n", minLimits->toString().c_str());
 
         if ((unsigned)minLimits->size() != axes)
         {
@@ -108,15 +108,15 @@ bool roboticslab::FakeControlboard::open(yarp::os::Searchable& config)
     else
     {
         minLimits = 0;
-        CD_INFO("FakeControlboard not using individual minLimits, defaulting to genMinLimit.\n");
+        CD_INFO("EmulatedControlboard not using individual minLimits, defaulting to genMinLimit.\n");
     }
 
     yarp::os::Bottle* refSpeeds;
 
     if (config.check("refSpeeds", "list of ref speeds (meters/second or degrees/second)"))
     {
         refSpeeds = config.find("refSpeeds").asList();
-        CD_INFO("FakeControlboard using individual refSpeeds: %s\n", refSpeeds->toString().c_str());
+        CD_INFO("EmulatedControlboard using individual refSpeeds: %s\n", refSpeeds->toString().c_str());
 
         if ((unsigned)refSpeeds->size() != axes)
         {
@@ -126,15 +126,15 @@ bool roboticslab::FakeControlboard::open(yarp::os::Searchable& config)
     else
     {
         refSpeeds = 0;
-        CD_INFO("FakeControlboard not using individual refSpeeds, defaulting to genRefSpeed.\n");
+        CD_INFO("EmulatedControlboard not using individual refSpeeds, defaulting to genRefSpeed.\n");
     }
 
     yarp::os::Bottle* encRawExposeds;
 
     if (config.check("encRawExposeds", "list of EncRawExposeds (meters or degrees)"))
     {
         encRawExposeds = config.find("encRawExposeds").asList();
-        CD_INFO("FakeControlboard using individual encRawExposeds: %s\n", encRawExposeds->toString().c_str());
+        CD_INFO("EmulatedControlboard using individual encRawExposeds: %s\n", encRawExposeds->toString().c_str());
 
         if ((unsigned)encRawExposeds->size() != axes)
         {
@@ -144,15 +144,15 @@ bool roboticslab::FakeControlboard::open(yarp::os::Searchable& config)
     else
     {
         encRawExposeds = 0;
-        CD_INFO("FakeControlboard not using individual encRawExposeds, defaulting to genEncRawExposed.\n");
+        CD_INFO("EmulatedControlboard not using individual encRawExposeds, defaulting to genEncRawExposed.\n");
     }
 
     yarp::os::Bottle* velRawExposeds;
 
     if (config.check("velRawExposeds", "list of VelRawExposed (meters/second or degrees/second)"))
     {
         velRawExposeds = config.find("velRawExposeds").asList();
-        CD_INFO("FakeControlboard using individual velRawExposeds: %s\n", velRawExposeds->toString().c_str());
+        CD_INFO("EmulatedControlboard using individual velRawExposeds: %s\n", velRawExposeds->toString().c_str());
 
         if ((unsigned)velRawExposeds->size() != axes)
         {
@@ -162,7 +162,7 @@ bool roboticslab::FakeControlboard::open(yarp::os::Searchable& config)
     else
     {
         velRawExposeds = 0;
-        CD_INFO("FakeControlboard not using individual velRawExposeds, defaulting to genVelRawExposed.\n");
+        CD_INFO("EmulatedControlboard not using individual velRawExposeds, defaulting to genVelRawExposed.\n");
     }
 
     encRawExposed.resize(axes);
@@ -208,10 +208,10 @@ bool roboticslab::FakeControlboard::open(yarp::os::Searchable& config)
 
 // -----------------------------------------------------------------------------
 
-bool roboticslab::FakeControlboard::close()
+bool roboticslab::EmulatedControlboard::close()
 {
     PeriodicThread::stop();
-    CD_INFO("[FakeControlboard] close()\n");
+    CD_INFO("[EmulatedControlboard] close()\n");
     return true;
 }
 

libraries/YarpPlugins/FakeControlboard/FakeControlboard.cpp → libraries/YarpPlugins/EmulatedControlboard/EmulatedControlboard.cpp

@@ -1,12 +1,12 @@
 // -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
-#include "FakeControlboard.hpp"
+#include "EmulatedControlboard.hpp"
 
 #include <ColorDebug.h>
 
 // ------------------- Miscellanea ------------------------------------
 
-bool roboticslab::FakeControlboard::setPositionMode(int j)
+bool roboticslab::EmulatedControlboard::setPositionMode(int j)
 {
     CD_DEBUG("(%d)\n", j);
 
@@ -28,7 +28,7 @@ bool roboticslab::FakeControlboard::setPositionMode(int j)
 
 // -----------------------------------------------------------------------------
 
-bool roboticslab::FakeControlboard::setVelocityMode(int j)
+bool roboticslab::EmulatedControlboard::setVelocityMode(int j)
 {
     CD_DEBUG("(%d)\n", j);
     controlMode = VELOCITY_MODE;
@@ -37,15 +37,15 @@ bool roboticslab::FakeControlboard::setVelocityMode(int j)
 
 // -----------------------------------------------------------------------------
 
-bool roboticslab::FakeControlboard::setTorqueMode(int j)
+bool roboticslab::EmulatedControlboard::setTorqueMode(int j)
 {
     CD_DEBUG("(%d)\n", j);
     return true;
 }
 
 // -----------------------------------------------------------------------------
 
-bool roboticslab::FakeControlboard::setPositionDirectMode(int j)
+bool roboticslab::EmulatedControlboard::setPositionDirectMode(int j)
 {
     CD_DEBUG("(%d)\n", j);
 

libraries/YarpPlugins/FakeControlboard/FakeControlboard.hpp → libraries/YarpPlugins/EmulatedControlboard/EmulatedControlboard.hpp

@@ -31,22 +31,22 @@ namespace roboticslab
 
 /**
  * @ingroup TeoYarp
- * \defgroup FakeControlboard
+ * \defgroup EmulatedControlboard
  *
- * @brief Contains teo::FakeControlboard.
+ * @brief Contains teo::EmulatedControlboard.
  *
- * @section FakeControlboard_install Installation
+ * @section EmulatedControlboard_install Installation
  *
- * The plugin is compiled when ENABLE_TeoYarp_FakeControlboard is activated (not default). For further
+ * The plugin is compiled when ENABLE_TeoYarp_EmulatedControlboard is activated (not default). For further
  * installation steps refer to <a class="el" href="pages.html">your own system installation guidelines</a>.
  */
 
 /**
- * @ingroup FakeControlboard
+ * @ingroup EmulatedControlboard
  * @brief Implements the YARP_dev IPositionControl, IVelocityControl, IEncodersTimed, etc.
  * interface class member functions.
  */
-class FakeControlboard : public yarp::dev::DeviceDriver,
+class EmulatedControlboard : public yarp::dev::DeviceDriver,
                          public yarp::dev::IControlLimits,
                          public yarp::dev::IControlMode,
                          public yarp::dev::IEncodersTimed,
@@ -60,7 +60,7 @@ class FakeControlboard : public yarp::dev::DeviceDriver,
 public:
 
     // Set the thread period in the class constructor
-    FakeControlboard() : PeriodicThread(DEFAULT_JMC_MS * 0.001) {}  // In seconds
+    EmulatedControlboard() : PeriodicThread(DEFAULT_JMC_MS * 0.001) {}  // In seconds
 
 // ------- IPositionControl declarations. Implementation in IPositionControlImpl.cpp -------
 

libraries/YarpPlugins/FakeControlboard/IControlLimitsImpl.cpp → libraries/YarpPlugins/EmulatedControlboard/IControlLimitsImpl.cpp

@@ -1,12 +1,12 @@
 // -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
-#include "FakeControlboard.hpp"
+#include "EmulatedControlboard.hpp"
 
 #include <ColorDebug.h>
 
 // ------------------- IControlLimits Related ------------------------------------
 
-bool roboticslab::FakeControlboard::setLimits(int axis, double min, double max)
+bool roboticslab::EmulatedControlboard::setLimits(int axis, double min, double max)
 {
     if (axis >= int(axes))
     {
@@ -23,7 +23,7 @@ bool roboticslab::FakeControlboard::setLimits(int axis, double min, double max)
 
 // -----------------------------------------------------------------------------
 
-bool roboticslab::FakeControlboard::getLimits(int axis, double *min, double *max)
+bool roboticslab::EmulatedControlboard::getLimits(int axis, double *min, double *max)
 {
     if (axis >= int(axes))
     {
@@ -40,15 +40,15 @@ bool roboticslab::FakeControlboard::getLimits(int axis, double *min, double *max
 
 // -----------------------------------------------------------------------------
 
-bool roboticslab::FakeControlboard::setVelLimits(int axis, double min, double max)
+bool roboticslab::EmulatedControlboard::setVelLimits(int axis, double min, double max)
 {
     CD_WARNING("Not implemented.\n");
     return true;
 }
 
 // -----------------------------------------------------------------------------
 
-bool roboticslab::FakeControlboard::getVelLimits(int axis, double *min, double *max)
+bool roboticslab::EmulatedControlboard::getVelLimits(int axis, double *min, double *max)
 {
     if (axis >= int(axes))
     {

libraries/YarpPlugins/FakeControlboard/IControlModeImpl.cpp → libraries/YarpPlugins/EmulatedControlboard/IControlModeImpl.cpp

@@ -1,13 +1,13 @@
 // -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
-#include "FakeControlboard.hpp"
+#include "EmulatedControlboard.hpp"
 
 #include <yarp/os/Vocab.h>
 #include <ColorDebug.h>
 
 // ------------------- IControlMode Related ------------------------------------
 
-bool roboticslab::FakeControlboard::getControlMode(int j, int *mode)
+bool roboticslab::EmulatedControlboard::getControlMode(int j, int *mode)
 {
     //CD_DEBUG("\n"); //-- Way too verbose.
     if (controlMode == POSITION_MODE)
@@ -33,7 +33,7 @@ bool roboticslab::FakeControlboard::getControlMode(int j, int *mode)
 
 // -----------------------------------------------------------------------------
 
-bool roboticslab::FakeControlboard::getControlModes(int *modes)
+bool roboticslab::EmulatedControlboard::getControlModes(int *modes)
 {
     //CD_DEBUG("\n"); //-- Way too verbose.
     bool ok = true;
@@ -48,7 +48,7 @@ bool roboticslab::FakeControlboard::getControlModes(int *modes)
 
 // -----------------------------------------------------------------------------
 
-bool roboticslab::FakeControlboard::getControlModes(const int n_joint, const int *joints, int *modes)
+bool roboticslab::EmulatedControlboard::getControlModes(const int n_joint, const int *joints, int *modes)
 {
     CD_DEBUG("(%d)\n", n_joint);
     bool ok = true;
@@ -63,7 +63,7 @@ bool roboticslab::FakeControlboard::getControlModes(const int n_joint, const int
 
 // -----------------------------------------------------------------------------
 
-bool roboticslab::FakeControlboard::setControlMode(const int j, const int mode)
+bool roboticslab::EmulatedControlboard::setControlMode(const int j, const int mode)
 {
     CD_DEBUG("(%d, %s)\n", j, yarp::os::Vocab::decode(mode).c_str());
 
@@ -90,7 +90,7 @@ bool roboticslab::FakeControlboard::setControlMode(const int j, const int mode)
 
 // -----------------------------------------------------------------------------
 
-bool roboticslab::FakeControlboard::setControlModes(const int n_joint, const int *joints, int *modes)
+bool roboticslab::EmulatedControlboard::setControlModes(const int n_joint, const int *joints, int *modes)
 {
     CD_DEBUG("(%d)\n", n_joint);
     bool ok = true;
@@ -105,7 +105,7 @@ bool roboticslab::FakeControlboard::setControlModes(const int n_joint, const int
 
 // -----------------------------------------------------------------------------
 
-bool roboticslab::FakeControlboard::setControlModes(int *modes)
+bool roboticslab::EmulatedControlboard::setControlModes(int *modes)
 {
     CD_DEBUG("\n");
     bool ok = true;