Drop custom set/get vocabs, use YARP standard

roboticslab-uc3m · Jan 22, 2018 · 7d2e073 · 7d2e073
1 parent 147f6bf
commit 7d2e073
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Showing 5 changed files with 10 additions and 8 deletions.
diff --git a/libraries/YarpPlugins/CartesianControlClient/ICartesianControlImpl.cpp b/libraries/YarpPlugins/CartesianControlClient/ICartesianControlImpl.cpp
@@ -3,6 +3,7 @@
 #include "CartesianControlClient.hpp"
 
 #include <yarp/os/Time.h>
+#include <yarp/dev/ControlBoardInterfaces.h> // vocabs: OK, FAIL, SET, GET
 
 #include <ColorDebug.hpp>
 
@@ -231,7 +232,7 @@ bool roboticslab::CartesianControlClient::setParameter(int vocab, double value)
 {
     yarp::os::Bottle cmd, response;
 
-    cmd.addVocab(VOCAB_CC_CONFIG_SET);
+    cmd.addVocab(VOCAB_SET);
     cmd.addVocab(vocab);
     cmd.addDouble(value);
 
@@ -251,7 +252,7 @@ bool roboticslab::CartesianControlClient::getParameter(int vocab, double * value
 {
     yarp::os::Bottle cmd, response;
 
-    cmd.addVocab(VOCAB_CC_CONFIG_GET);
+    cmd.addVocab(VOCAB_GET);
     cmd.addVocab(vocab);
 
     rpcClient.write(cmd, response);

diff --git a/libraries/YarpPlugins/CartesianControlServer/CartesianControlServer.hpp b/libraries/YarpPlugins/CartesianControlServer/CartesianControlServer.hpp
@@ -6,9 +6,8 @@
 #include <yarp/os/all.h>
 #include <yarp/dev/Drivers.h>
 #include <yarp/dev/PolyDriver.h>
-#include <yarp/dev/ControlBoardInterfaces.h>
 
-#include <iostream> // only windows
+#include <vector>
 
 #include "ICartesianControl.h"
 #include "KinematicRepresentation.hpp"

diff --git a/libraries/YarpPlugins/CartesianControlServer/RpcResponder.cpp b/libraries/YarpPlugins/CartesianControlServer/RpcResponder.cpp
@@ -2,6 +2,8 @@
 
 #include "CartesianControlServer.hpp"
 
+#include <yarp/dev/ControlBoardInterfaces.h> // vocabs: OK, FAIL, SET, GET
+
 #include <ColorDebug.hpp>
 
 // ------------------- RpcResponder Related ------------------------------------
@@ -33,9 +35,9 @@ bool roboticslab::RpcResponder::respond(const yarp::os::Bottle& in, yarp::os::Bo
         return handleRunnableCmdMsg(in, out, &ICartesianControl::stopControl);
     case VOCAB_CC_TOOL:
         return handleConsumerCmdMsg(in, out, &ICartesianControl::tool);
-    case VOCAB_CC_CONFIG_SET:
+    case VOCAB_SET:
         return handleParameterSetter(in, out);
-    case VOCAB_CC_CONFIG_GET:
+    case VOCAB_GET:
         return handleParameterGetter(in, out);
     default:
         return DeviceResponder::respond(in, out);

diff --git a/libraries/YarpPlugins/CartesianControlServer/StreamResponder.cpp b/libraries/YarpPlugins/CartesianControlServer/StreamResponder.cpp
@@ -2,6 +2,8 @@
 
 #include "CartesianControlServer.hpp"
 
+#include <vector>
+
 #include <ColorDebug.hpp>
 
 // ------------------- StreamResponder Related ------------------------------------

diff --git a/libraries/YarpPlugins/ICartesianControl.h b/libraries/YarpPlugins/ICartesianControl.h
@@ -77,8 +77,6 @@
  */
 
 // Controller configuration (parameter keys)
-#define VOCAB_CC_CONFIG_SET VOCAB3('c','p','s')               ///< Set parameter
-#define VOCAB_CC_CONFIG_GET VOCAB3('c','p','g')               ///< Get parameter
 #define VOCAB_CC_CONFIG_GAIN VOCAB4('c','p','c','g')          ///< Controller gain
 #define VOCAB_CC_CONFIG_MAX_JOINT_VEL VOCAB4('c','p','j','v') ///< Maximum joint velocity
 #define VOCAB_CC_CONFIG_TRAJ_DURATION VOCAB4('c','p','t','d') ///< Trajectory duration