Implement yarp::dev::IRemoteVariables

roboticslab-uc3m/kinematics-dynamics#173 (comment)
roboticslab-uc3m · Mar 11, 2019 · 0a8137c · 0a8137c
1 parent a0a5a3e
commit 0a8137c
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Showing 3 changed files with 58 additions and 5 deletions.
diff --git a/libraries/YarpPlugins/YarpOpenraveControlboard/CMakeLists.txt b/libraries/YarpPlugins/YarpOpenraveControlboard/CMakeLists.txt
@@ -24,6 +24,7 @@ yarp_add_plugin(YarpOpenraveControlboard YarpOpenraveControlboard.hpp
                                          IPositionControlImpl.cpp
                                          IPositionControl2Impl.cpp
                                          IPositionDirectImpl.cpp
+                                         IRemoteVariablesImpl.cpp
                                          ITorqueControlImpl.cpp
                                          IVelocityControlImpl.cpp
                                          IVelocityControl2Impl.cpp)

diff --git a/libraries/YarpPlugins/YarpOpenraveControlboard/IRemoteVariablesImpl.cpp b/libraries/YarpPlugins/YarpOpenraveControlboard/IRemoteVariablesImpl.cpp
@@ -0,0 +1,43 @@
+// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
+
+#include "YarpOpenraveControlboard.hpp"
+
+#include <limits>
+
+#include <ColorDebug.h>
+
+// ------------------- IRemoteVariables Related ------------------------------------
+
+bool roboticslab::YarpOpenraveControlboard::getRemoteVariable(std::string key, yarp::os::Bottle& val)
+{
+    CD_DEBUG("%s\n", key.c_str());
+
+    val.clear();
+
+    if (key == "ptModeMs")
+    {
+        val.addDouble(std::numeric_limits<double>::max());
+    }
+
+    return true;
+}
+
+// -----------------------------------------------------------------------------
+
+bool roboticslab::YarpOpenraveControlboard::setRemoteVariable(std::string key, const yarp::os::Bottle& val)
+{
+    CD_DEBUG("%s\n", key.c_str());
+    return true;
+}
+
+// -----------------------------------------------------------------------------
+
+bool roboticslab::YarpOpenraveControlboard::getRemoteVariablesList(yarp::os::Bottle* listOfKeys)
+{
+    CD_DEBUG("\n");
+    listOfKeys->clear();
+    listOfKeys->addString("ptModeMs");
+    return true;
+}
+
+// -----------------------------------------------------------------------------
diff --git a/libraries/YarpPlugins/YarpOpenraveControlboard/YarpOpenraveControlboard.hpp b/libraries/YarpPlugins/YarpOpenraveControlboard/YarpOpenraveControlboard.hpp
@@ -29,13 +29,14 @@ namespace roboticslab
  */
 class YarpOpenraveControlboard : YarpOpenraveBase,
         public yarp::dev::DeviceDriver,
-        public yarp::dev::IControlLimits2,    //-- IControlLimits2 inherits from IControlLimits
-        public yarp::dev::IControlMode2,      //-- IControlMode2 inherits from IControlMode
-        public yarp::dev::IEncodersTimed,     //-- IEncodersTimed inherits from IEncoders
-        public yarp::dev::IPositionControl2,  //-- IPositionControl2 inherits from IPositionControl
+        public yarp::dev::IControlLimits2,
+        public yarp::dev::IControlMode2,
+        public yarp::dev::IEncodersTimed,
+        public yarp::dev::IPositionControl2,
         public yarp::dev::IPositionDirect,
         public yarp::dev::ITorqueControl,
-        public yarp::dev::IVelocityControl2   //-- IVelocityControl2 inherits from IVelocityControl
+        public yarp::dev::IVelocityControl2,
+        public yarp::dev::IRemoteVariables
 {
 public:
 
@@ -640,6 +641,14 @@ class YarpOpenraveControlboard : YarpOpenraveBase,
     virtual bool setBemfParam(int j, double bemf);
 #endif // YARP_VERSION_MAJOR != 3
 
+    // ------- IRemoteVariables declarations. Implementation in IRemoteVariablesImpl.cpp -------
+
+    virtual bool getRemoteVariable(std::string key, yarp::os::Bottle& val);
+
+    virtual bool setRemoteVariable(std::string key, const yarp::os::Bottle& val);
+
+    virtual bool getRemoteVariablesList(yarp::os::Bottle* listOfKeys);
+
     // -------- DeviceDriver declarations. Implementation in IDeviceImpl.cpp --------
 
     /**