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Remove deprecated YARP control-board interface methods #16

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PeterBowman opened this issue Apr 21, 2017 · 8 comments
Closed
4 tasks done

Remove deprecated YARP control-board interface methods #16

PeterBowman opened this issue Apr 21, 2017 · 8 comments
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@PeterBowman
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PeterBowman commented Apr 21, 2017 •
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Several long-time deprecated methods will get deleted with the next YARP release (2.3.70). Some of these include (current deprecation list):

  • yarp::dev::IPositionControl::setPositionMode()
  • yarp::dev::IPositionControlRaw::setPositionModeRaw()
  • yarp::dev::IPositionDirect::setPositionDirectMode()
  • yarp::dev::IPositionDirectRaw::setPositionDirectModeRaw()
  • yarp::dev::ITorqueControl::setTorqueMode()
  • yarp::dev::ITorqueControlRaw::setTorqueModeRaw()
  • yarp::dev::IVelocityControl::setVelocityMode()
  • yarp::dev::IVelocityControlRaw::setVelocityModeRaw()

Said methods were migrated upstream to the yarp::dev::IControlMode interface (docs). Apart from that, the yarp::dev::IOpenLoopControl interface and its companion yarp::dev::IOpenLoopControlRaw have been removed at robotology/yarp@73c65b2. Affected repositories:
@jgvictores
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😱😱😱

@PeterBowman PeterBowman mentioned this issue Apr 22, 2017
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PeterBowman added a commit to roboticslab-uc3m/openrave-yarp-plugins that referenced this issue May 1, 2017
@PeterBowman
Remove deprecated YARP control board methods
b7ae4ee 
These were no longer called by controlboardwrapper2 anyway.

roboticslab-uc3m/questions-and-answers#16
PeterBowman added a commit to roboticslab-uc3m/asibot-main that referenced this issue May 2, 2017
@PeterBowman
Remove deprecated YARP control board interface methods
ec0b387 
There is a setVelocityMode() left at the skymegabot plugin, but it has
no implementation anyway and won't result in compilaation issues.

roboticslab-uc3m/questions-and-answers#16
PeterBowman added a commit to roboticslab-uc3m/asibot-main that referenced this issue May 13, 2017
@PeterBowman
Comment out use of VOCAB_CM_OPENLOOP macro
99471bf 
Scheduled for removal at YARP 2.3.70, see:

roboticslab-uc3m/questions-and-answers#16
@PeterBowman
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I'm wondering what happened to yarp::dev::IPositionDirect::setPositionDirectMode() at YARP's devel. Since there is no yarp::dev::IControlMode::setPositionDirectMode(int) counterpart, how are we supposed to set this mode and use the PositionDirect interface?

@jgvictores
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Looks like a pretty old issue asking for an upstream label, as it apparently never even made it into the IControlMode.h interface of master, where there is a VOCAB_CM_POSITION_DIRECT but no actual method.

It would be good for us to recover the method, because it's what we use for the Technosoft IPos driver PT Mode (driver's modality where we push motor positions into a buffer).

@PeterBowman
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Note to myself: start thinking about dropping old IControlMode methods in favour of the more generic IControlMode2::(set|get)ControlMode(s) with vocabs (reference). In fact, this is how we should use now said modes, provided we upgrade our implementations to adopt IControlMode2.

PeterBowman added a commit to roboticslab-uc3m/yarp-devices that referenced this issue May 19, 2017
@PeterBowman
Remove deprecated YARP controlboard methods
9116e29 
roboticslab-uc3m/questions-and-answers#16
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Note to myself: start thinking about dropping old IControlMode methods in favour of the more generic IControlMode2::(set|get)ControlMode(s) with vocabs (reference).

Example: roboticslab-uc3m/yarp-devices@3c4e80a.

@PeterBowman
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All done but a few deprecated commands used in manip-waiter/programs/manipWaiterExecManip/InCvPort.cpp. I was told not to bother with this (@jgvictores).

@PeterBowman
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Confirming that setPositionMode et al. will be deprecated soon and eventually removed: robotology/yarp#1223. This is the deployment schedule for the next two releases (per https://github.com/robotology/yarp/projects):

  • YARP v2.3.70 (2017/06/15)
  • YARP v2.3.72 (2017/10/15)

@jgvictores
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Reminder to self: check with @jmgarciah before anything breaks on https://github.com/roboticslab-uc3m/manip-waiter

@PeterBowman PeterBowman mentioned this issue Oct 16, 2017
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