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Remove experimental namespace and prefix from libYARP_robotinterface use #562

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merged 3 commits into from
Jul 8, 2021
Merged

Remove experimental namespace and prefix from libYARP_robotinterface use #562

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d6f8ffa
Update GazeboYarpRobotInterface.hh
traversaro Jul 8, 2021
a93030a
Update GazeboYarpRobotInterface.cc
traversaro Jul 8, 2021
e286d30
Update ci.yml
traversaro Jul 8, 2021
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2 changes: 1 addition & 1 deletion .github/workflows/ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,7 @@ jobs:
# YCM
git clone https://github.com/robotology/ycm
cd ycm
git checkout ycm-0.12
git checkout ycm-0.13
mkdir -p build
cd build
cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
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6 changes: 3 additions & 3 deletions plugins/robotinterface/include/gazebo/GazeboYarpRobotInterface.hh
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Expand Up @@ -9,7 +9,7 @@
#include <gazebo/common/Plugin.hh>
#include <gazebo/common/Time.hh>

#include <yarp/robotinterface/experimental/XMLReader.h>
#include <yarp/robotinterface/XMLReader.h>

namespace gazebo
{
Expand All @@ -29,8 +29,8 @@ public:
void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);

private:
yarp::robotinterface::experimental::XMLReader m_xmlRobotInterfaceReader;
yarp::robotinterface::experimental::XMLReaderResult m_xmlRobotInterfaceResult;
yarp::robotinterface::XMLReader m_xmlRobotInterfaceReader;
yarp::robotinterface::XMLReaderResult m_xmlRobotInterfaceResult;
std::vector<std::string> m_deviceScopedNames;
};

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10 changes: 5 additions & 5 deletions plugins/robotinterface/src/GazeboYarpRobotInterface.cc
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Expand Up @@ -24,11 +24,11 @@ GazeboYarpRobotInterface::GazeboYarpRobotInterface()
GazeboYarpRobotInterface::~GazeboYarpRobotInterface()
{
// Close robotinterface
bool ok = m_xmlRobotInterfaceResult.robot.enterPhase(yarp::robotinterface::experimental::ActionPhaseInterrupt1);
bool ok = m_xmlRobotInterfaceResult.robot.enterPhase(yarp::robotinterface::ActionPhaseInterrupt1);
if (!ok) {
yError() << "GazeboYarpRobotInterface: impossible to run phase ActionPhaseInterrupt1 robotinterface";
}
ok = m_xmlRobotInterfaceResult.robot.enterPhase(yarp::robotinterface::experimental::ActionPhaseShutdown);
ok = m_xmlRobotInterfaceResult.robot.enterPhase(yarp::robotinterface::ActionPhaseShutdown);
if (!ok) {
yError() << "GazeboYarpRobotInterface: impossible to run phase ActionPhaseShutdown in robotinterface";
}
Expand Down Expand Up @@ -98,11 +98,11 @@ void GazeboYarpRobotInterface::Load(physics::ModelPtr _parentModel, sdf::Element
}

// Start robotinterface
ok = m_xmlRobotInterfaceResult.robot.enterPhase(yarp::robotinterface::experimental::ActionPhaseStartup);
ok = m_xmlRobotInterfaceResult.robot.enterPhase(yarp::robotinterface::ActionPhaseStartup);
if (!ok) {
yError() << "GazeboYarpRobotInterface : impossible to start robotinterface";
m_xmlRobotInterfaceResult.robot.enterPhase(yarp::robotinterface::experimental::ActionPhaseInterrupt1);
m_xmlRobotInterfaceResult.robot.enterPhase(yarp::robotinterface::experimental::ActionPhaseShutdown);
m_xmlRobotInterfaceResult.robot.enterPhase(yarp::robotinterface::ActionPhaseInterrupt1);
m_xmlRobotInterfaceResult.robot.enterPhase(yarp::robotinterface::ActionPhaseShutdown);
return;
}
}
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