fixed regression issue in controlBoard_nws_yarp

src/devices/fake/fakeMotionControl/fakeMotionControl.h

@@ -73,15 +73,13 @@ struct ImpedanceParameters
 /**
  * @ingroup dev_impl_fake dev_impl_motor
  *
- * \brief `fakeMotionControl`: Documentation to be added
- *
- * The aim of this device is to mimic the expected behavior of a
+ * \brief `fakeMotionControl`: The aim of this device is to mimic the expected behavior of a
  * real motion control device to help testing the high level software.
  *
  * This device is implementing last version of interfaces and it is compatible
  * with controlBoard_nws_yarp device.
  *
- * WIP - it is very basic now, not all interfaces are implemented yet.
+ * WIP - Some interfaces could be not implemented.
  */
 class FakeMotionControl :
         public yarp::dev::DeviceDriver,

src/devices/fake/fakeMotionControlMicro/fakeMotionControlMicro.h

@@ -20,15 +20,9 @@
 /**
  * @ingroup dev_impl_fake dev_impl_motor
  *
- * \brief `fakeMotionControlMicro`: Documentation to be added
+ * \brief `fakeMotionControlMicro`: This device implements a minimal subset of mandatory interfaces
+ * to run with controlBoard_nws_yarp. It is thus a smaller, limited version than fakeMotionControl.
  *
- * The aim of this device is to mimic the expected behavior of a
- * real motion control device to help testing the high level software.
- *
- * This device is implementing last version of interfaces and it is compatible
- * with controlBoard_nws_yarp device.
- *
- * WIP - it is very basic now, not all interfaces are implemented yet.
  */
 class FakeMotionControlMicro :
         public yarp::os::PeriodicThread,

src/devices/networkWrappers/controlBoard_nws_yarp/ControlBoard_nws_yarp.cpp

@@ -183,8 +183,7 @@ bool ControlBoard_nws_yarp::setDevice(yarp::dev::DeviceDriver* driver, bool owne
     // yarp::dev::IPositionControl* iPositionControl{nullptr};
     subdevice_ptr->view(iPositionControl);
     if (!iPositionControl) {
-        yCError(CONTROLBOARD, "Part <%s>: IPositionControl interface was not found in subdevice. Quitting", partName.c_str());
-        return false;
+        yCWarning(CONTROLBOARD, "Part <%s>: IPositionControl interface was not found in subdevice.", partName.c_str());
     }
 
     // yarp::dev::IPositionDirect* iPositionDirect{nullptr};
@@ -196,15 +195,13 @@ bool ControlBoard_nws_yarp::setDevice(yarp::dev::DeviceDriver* driver, bool owne
     // yarp::dev::IVelocityControl* iVelocityControl{nullptr};
     subdevice_ptr->view(iVelocityControl);
     if (!iVelocityControl) {
-        yCError(CONTROLBOARD, "Part <%s>: IVelocityControl interface was not found in subdevice. Quitting", partName.c_str());
-        return false;
+        yCWarning(CONTROLBOARD, "Part <%s>: IVelocityControl interface was not found in subdevice.", partName.c_str());
     }
 
     // yarp::dev::IEncodersTimed* iEncodersTimed{nullptr};
     subdevice_ptr->view(iEncodersTimed);
     if (!iEncodersTimed) {
-        yCError(CONTROLBOARD, "Part <%s>: IEncodersTimed interface was not found in subdevice. Quitting", partName.c_str());
-        return false;
+        yCWarning(CONTROLBOARD, "Part <%s>: IEncodersTimed interface was not found in subdevice.", partName.c_str());
     }
 
     // yarp::dev::IMotor* iMotor{nullptr};
@@ -291,13 +288,37 @@ bool ControlBoard_nws_yarp::setDevice(yarp::dev::DeviceDriver* driver, bool owne
         yCWarning(CONTROLBOARD, "Part <%s>: ICurrentControl interface was not found in subdevice.", partName.c_str());
     }
 
-
     // Get the number of controlled joints
-    int tmp_axes;
-    if (!iPositionControl->getAxes(&tmp_axes)) {
-        yCError(CONTROLBOARD) << "Part <%s>: Failed to get axes number for subdevice " << partName.c_str();
-        return false;
+    int tmp_axes = 0;
+    if (iAxisInfo)
+    {
+        if (!iAxisInfo->getAxes(&tmp_axes)) {
+            yCError(CONTROLBOARD) << "Part <%s>: iAxisInfo->getAxes() failed for subdevice " << partName.c_str();
+            return false;
+        }
+    }
+    else if (iEncodersTimed)
+    {
+        if (!iEncodersTimed->getAxes(&tmp_axes)) {
+            yCError(CONTROLBOARD) << "Part <%s>: iEncodersTimed->getAxes() failed for subdevice " << partName.c_str();
+            return false;
+        }
+    }
+    else if (iPositionControl)
+    {
+        if (!iPositionControl->getAxes(&tmp_axes)) {
+            yCError(CONTROLBOARD) << "Part <%s>: iPositionControl->getAxes() failed for subdevice " << partName.c_str();
+            return false;
+        }
     }
+    else if (iVelocityControl)
+    {
+        if (!iVelocityControl->getAxes(&tmp_axes)) {
+            yCError(CONTROLBOARD) << "Part <%s>: iVelocityControl->getAxes() failed for subdevice " << partName.c_str();
+            return false;
+        }
+    }
+
     if (tmp_axes <= 0) {
         yCError(CONTROLBOARD, "Part <%s>: attached device has an invalid number of joints (%d)", partName.c_str(), tmp_axes);
         return false;
@@ -386,9 +407,8 @@ void ControlBoard_nws_yarp::run()
     // check we are not overflowing with input messages
     constexpr int reads_for_warning = 20;
     if (inputStreamingPort.getPendingReads() >= reads_for_warning) {
-        yCWarning(CONTROLBOARD) << "Number of streaming input messages to be read is " << inputStreamingPort.getPendingReads() << " and can overflow";
+        yCIWarning(CONTROLBOARD, id()) << "Number of streaming input messages to be read is " << inputStreamingPort.getPendingReads() << " and can overflow";
     }
-
     // handle stateExt first
     jointData& data = extendedOutputState_buffer.get();
 
@@ -462,8 +482,7 @@ void ControlBoard_nws_yarp::run()
     {
         if (std::abs(times[0] - tt) > 1.0)
         {
-            yCError(CONTROLBOARD, "Encoder Timestamps are not consistent! Data will not be published.");
-            yarp::sig::Vector _data(subdevice_joints);
+            yCIErrorThrottle(CONTROLBOARD, id(), 1.0) << "Encoder timestamps are not consistent! Data will not be published.";
             return;
         }
     }