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Remove deprecated YARP control-board interface methods #16

Closed PeterBowman closed 7 years ago

PeterBowman commented 7 years ago

Several long-time deprecated methods will get deleted with the next YARP release (2.3.70). Some of these include (current deprecation list):

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 commented 7 years ago

:scream::scream::scream:

PeterBowman commented 7 years ago

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 commented 7 years ago

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 commented 7 years ago

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 commented 7 years ago

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 commented 7 years ago

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 commented 7 years ago

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):

jgvictores commented 7 years ago

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