From f0eb9dcfd170db2a6528a195a26166db2d17d219 Mon Sep 17 00:00:00 2001 From: Marco Randazzo Date: Wed, 19 Feb 2025 12:13:48 +0100 Subject: [PATCH] other devices modified --- src/devices/laserFromDepth/laserFromDepth.cpp | 16 +++--- src/devices/laserFromDepth/laserFromDepth.h | 8 +-- .../laserFromExternalPort.cpp | 16 +++--- .../laserFromExternalPort.h | 8 +-- .../laserFromPointCloud.cpp | 16 +++--- .../laserFromPointCloud/laserFromPointCloud.h | 8 +-- src/devices/laserHokuyo/laserHokuyo.cpp | 54 +++++++++---------- src/devices/laserHokuyo/laserHokuyo.h | 24 ++++----- 8 files changed, 75 insertions(+), 75 deletions(-) diff --git a/src/devices/laserFromDepth/laserFromDepth.cpp b/src/devices/laserFromDepth/laserFromDepth.cpp index f4642bdc459..1c8f1250c15 100644 --- a/src/devices/laserFromDepth/laserFromDepth.cpp +++ b/src/devices/laserFromDepth/laserFromDepth.cpp @@ -100,33 +100,33 @@ bool LaserFromDepth::close() return true; } -bool LaserFromDepth::setDistanceRange(double min, double max) +ReturnValue LaserFromDepth::setDistanceRange(double min, double max) { std::lock_guard guard(m_mutex); m_min_distance = min; m_max_distance = max; - return true; + return ReturnValue_ok; } -bool LaserFromDepth::setScanLimits(double min, double max) +ReturnValue LaserFromDepth::setScanLimits(double min, double max) { std::lock_guard guard(m_mutex); yCWarning(LASER_FROM_DEPTH) << "setScanLimits not yet implemented"; - return true; + return ReturnValue_ok; } -bool LaserFromDepth::setHorizontalResolution(double step) +ReturnValue LaserFromDepth::setHorizontalResolution(double step) { std::lock_guard guard(m_mutex); yCWarning(LASER_FROM_DEPTH) << "setHorizontalResolution not yet implemented"; - return true; + return ReturnValue_ok; } -bool LaserFromDepth::setScanRate(double rate) +ReturnValue LaserFromDepth::setScanRate(double rate) { std::lock_guard guard(m_mutex); yCWarning(LASER_FROM_DEPTH) << "setScanRate not yet implemented"; - return false; + return ReturnValue::return_code::return_value_error_not_implemented_by_device; } bool LaserFromDepth::threadInit() diff --git a/src/devices/laserFromDepth/laserFromDepth.h b/src/devices/laserFromDepth/laserFromDepth.h index e2cbeacdb5f..21e94f9959d 100644 --- a/src/devices/laserFromDepth/laserFromDepth.h +++ b/src/devices/laserFromDepth/laserFromDepth.h @@ -58,10 +58,10 @@ class LaserFromDepth : public PeriodicThread, public yarp::dev::Lidar2DDeviceBas public: //IRangefinder2D interface - bool setDistanceRange (double min, double max) override; - bool setScanLimits (double min, double max) override; - bool setHorizontalResolution (double step) override; - bool setScanRate (double rate) override; + yarp::dev::ReturnValue setDistanceRange (double min, double max) override; + yarp::dev::ReturnValue setScanLimits (double min, double max) override; + yarp::dev::ReturnValue setHorizontalResolution (double step) override; + yarp::dev::ReturnValue setScanRate (double rate) override; public: //Lidar2DDeviceBase diff --git a/src/devices/laserFromExternalPort/laserFromExternalPort.cpp b/src/devices/laserFromExternalPort/laserFromExternalPort.cpp index e2e0a92477d..58d3fd6553a 100644 --- a/src/devices/laserFromExternalPort/laserFromExternalPort.cpp +++ b/src/devices/laserFromExternalPort/laserFromExternalPort.cpp @@ -249,35 +249,35 @@ bool LaserFromExternalPort::close() -bool LaserFromExternalPort::setDistanceRange(double min, double max) +ReturnValue LaserFromExternalPort::setDistanceRange(double min, double max) { std::lock_guard guard(m_mutex); m_min_distance = min; m_max_distance = max; - return true; + return ReturnValue_ok; } -bool LaserFromExternalPort::setScanLimits(double min, double max) +ReturnValue LaserFromExternalPort::setScanLimits(double min, double max) { std::lock_guard guard(m_mutex); yCWarning(LASER_FROM_EXTERNAL_PORT) << "setScanLimits not yet implemented"; - return true; + return ReturnValue_ok; } -bool LaserFromExternalPort::setHorizontalResolution(double step) +ReturnValue LaserFromExternalPort::setHorizontalResolution(double step) { std::lock_guard guard(m_mutex); yCWarning(LASER_FROM_EXTERNAL_PORT, "setHorizontalResolution not yet implemented"); - return true; + return ReturnValue_ok; } -bool LaserFromExternalPort::setScanRate(double rate) +ReturnValue LaserFromExternalPort::setScanRate(double rate) { std::lock_guard guard(m_mutex); yCWarning(LASER_FROM_EXTERNAL_PORT, "setScanRate not yet implemented"); - return false; + return ReturnValue::return_code::return_value_error_not_implemented_by_device; } diff --git a/src/devices/laserFromExternalPort/laserFromExternalPort.h b/src/devices/laserFromExternalPort/laserFromExternalPort.h index cbff397de11..b9f3af27fa5 100644 --- a/src/devices/laserFromExternalPort/laserFromExternalPort.h +++ b/src/devices/laserFromExternalPort/laserFromExternalPort.h @@ -123,10 +123,10 @@ class LaserFromExternalPort : public yarp::dev::Lidar2DDeviceBase, public: //IRangefinder2D interface - bool setDistanceRange (double min, double max) override; - bool setScanLimits (double min, double max) override; - bool setHorizontalResolution (double step) override; - bool setScanRate (double rate) override; + yarp::dev::ReturnValue setDistanceRange (double min, double max) override; + yarp::dev::ReturnValue setScanLimits (double min, double max) override; + yarp::dev::ReturnValue setHorizontalResolution (double step) override; + yarp::dev::ReturnValue setScanRate (double rate) override; public: //Lidar2DDeviceBase diff --git a/src/devices/laserFromPointCloud/laserFromPointCloud.cpp b/src/devices/laserFromPointCloud/laserFromPointCloud.cpp index 848c558214e..b49b1673be1 100644 --- a/src/devices/laserFromPointCloud/laserFromPointCloud.cpp +++ b/src/devices/laserFromPointCloud/laserFromPointCloud.cpp @@ -190,34 +190,34 @@ bool LaserFromPointCloud::close() return true; } -bool LaserFromPointCloud::setDistanceRange(double min, double max) +ReturnValue LaserFromPointCloud::setDistanceRange(double min, double max) { std::lock_guard guard(m_mutex); m_min_distance = min; m_max_distance = max; - return true; + return ReturnValue_ok; } -bool LaserFromPointCloud::setScanLimits(double min, double max) +ReturnValue LaserFromPointCloud::setScanLimits(double min, double max) { std::lock_guard guard(m_mutex); yCWarning(LASER_FROM_POINTCLOUD,"setScanLimits not yet implemented"); - return true; + return ReturnValue_ok; } -bool LaserFromPointCloud::setHorizontalResolution(double step) +ReturnValue LaserFromPointCloud::setHorizontalResolution(double step) { std::lock_guard guard(m_mutex); yCWarning(LASER_FROM_POINTCLOUD,"setHorizontalResolution not yet implemented"); - return true; + return ReturnValue_ok; } -bool LaserFromPointCloud::setScanRate(double rate) +ReturnValue LaserFromPointCloud::setScanRate(double rate) { std::lock_guard guard(m_mutex); yCWarning(LASER_FROM_POINTCLOUD,"setScanRate not yet implemented"); - return false; + return ReturnValue::return_code::return_value_error_not_implemented_by_device; } diff --git a/src/devices/laserFromPointCloud/laserFromPointCloud.h b/src/devices/laserFromPointCloud/laserFromPointCloud.h index 8fea368d2c5..a22b52efc9a 100644 --- a/src/devices/laserFromPointCloud/laserFromPointCloud.h +++ b/src/devices/laserFromPointCloud/laserFromPointCloud.h @@ -80,10 +80,10 @@ class LaserFromPointCloud : public PeriodicThread, public yarp::dev::Lidar2DDevi public: //IRangefinder2D interface - bool setDistanceRange (double min, double max) override; - bool setScanLimits (double min, double max) override; - bool setHorizontalResolution (double step) override; - bool setScanRate (double rate) override; + yarp::dev::ReturnValue setDistanceRange (double min, double max) override; + yarp::dev::ReturnValue setScanLimits (double min, double max) override; + yarp::dev::ReturnValue setHorizontalResolution (double step) override; + yarp::dev::ReturnValue setScanRate (double rate) override; public: //Lidar2DDeviceBase diff --git a/src/devices/laserHokuyo/laserHokuyo.cpp b/src/devices/laserHokuyo/laserHokuyo.cpp index 63d2fb9cf34..11bd539510a 100644 --- a/src/devices/laserHokuyo/laserHokuyo.cpp +++ b/src/devices/laserHokuyo/laserHokuyo.cpp @@ -280,59 +280,59 @@ bool laserHokuyo::close() return true; } -bool laserHokuyo::getDistanceRange(double& min, double& max) +ReturnValue laserHokuyo::getDistanceRange(double& min, double& max) { //should return range 0.1-30m (or 100, 30000mm depending on the measurement units) min = 0.1; max = 30; - return true; + return ReturnValue_ok; } -bool laserHokuyo::setDistanceRange(double min, double max) +ReturnValue laserHokuyo::setDistanceRange(double min, double max) { yCError(LASERHOKUYO, "setDistanceRange NOT YET IMPLEMENTED"); - return false; + return ReturnValue::return_code::return_value_error_not_implemented_by_device; } -bool laserHokuyo::getScanLimits(double& min, double& max) +ReturnValue laserHokuyo::getScanLimits(double& min, double& max) { //degrees min = min_angle; max = max_angle; - return true; + return ReturnValue_ok; } -bool laserHokuyo::setScanLimits(double min, double max) +ReturnValue laserHokuyo::setScanLimits(double min, double max) { yCError(LASERHOKUYO, "setScanLimits NOT YET IMPLEMENTED"); - return false; + return ReturnValue::return_code::return_value_error_not_implemented_by_device; } -bool laserHokuyo::getHorizontalResolution(double& step) +ReturnValue laserHokuyo::getHorizontalResolution(double& step) { step = 0.25; //deg //1080*0.25=270 - return true; + return ReturnValue_ok; } -bool laserHokuyo::setHorizontalResolution(double step) +ReturnValue laserHokuyo::setHorizontalResolution(double step) { yCError(LASERHOKUYO, "setHorizontalResolution NOT YET IMPLEMENTED"); - return false; + return ReturnValue::return_code::return_value_error_not_implemented_by_device; } -bool laserHokuyo::getScanRate(double& rate) +ReturnValue laserHokuyo::getScanRate(double& rate) { rate = 20; //20 Hz = 50 ms - return true; + return ReturnValue_ok; } -bool laserHokuyo::setScanRate(double rate) +ReturnValue laserHokuyo::setScanRate(double rate) { yCError(LASERHOKUYO, "setScanRate NOT YET IMPLEMENTED"); - return false; + return ReturnValue::return_code::return_value_error_not_implemented_by_device; } -bool laserHokuyo::getRawData(yarp::sig::Vector &out, double* timestamp) +ReturnValue laserHokuyo::getRawData(yarp::sig::Vector &out, double* timestamp) { if (internal_status != HOKUYO_STATUS_NOT_READY) { @@ -341,13 +341,13 @@ bool laserHokuyo::getRawData(yarp::sig::Vector &out, double* timestamp) out = laser_data; mutex.unlock(); device_status = yarp::dev::IRangefinder2D::DEVICE_OK_IN_USE; - return true; + return ReturnValue_ok; } device_status = yarp::dev::IRangefinder2D::DEVICE_GENERAL_ERROR; - return false; + return ReturnValue::return_code::return_value_error_not_ready; } -bool laserHokuyo::getLaserMeasurement(std::vector &data, double* timestamp) +ReturnValue laserHokuyo::getLaserMeasurement(std::vector &data, double* timestamp) { if (internal_status != HOKUYO_STATUS_NOT_READY) { @@ -359,7 +359,7 @@ bool laserHokuyo::getLaserMeasurement(std::vector &data, d { yCError(LASERHOKUYO) << "getLaserMeasurement failed"; mutex.unlock(); - return false; + return ReturnValue::return_code::return_value_error_method_failed; } double laser_angle_of_view = max_angle - min_angle; @@ -370,18 +370,18 @@ bool laserHokuyo::getLaserMeasurement(std::vector &data, d } mutex.unlock(); device_status = yarp::dev::IRangefinder2D::DEVICE_OK_IN_USE; - return true; + return ReturnValue_ok; } device_status = yarp::dev::IRangefinder2D::DEVICE_GENERAL_ERROR; - return false; + return ReturnValue::return_code::return_value_error_not_ready; } -bool laserHokuyo::getDeviceStatus(Device_status &status) +ReturnValue laserHokuyo::getDeviceStatus(Device_status &status) { mutex.lock(); status = device_status; mutex.unlock(); - return true; + return ReturnValue_ok; } bool laserHokuyo::threadInit() @@ -580,10 +580,10 @@ void laserHokuyo::threadRelease() yCTrace(LASERHOKUYO, "... done."); } -bool laserHokuyo::getDeviceInfo(std::string &device_info) +ReturnValue laserHokuyo::getDeviceInfo(std::string &device_info) { this->mutex.lock(); device_info = info; this->mutex.unlock(); - return true; + return ReturnValue_ok; } diff --git a/src/devices/laserHokuyo/laserHokuyo.h b/src/devices/laserHokuyo/laserHokuyo.h index fd878a860e5..5589c58e359 100644 --- a/src/devices/laserHokuyo/laserHokuyo.h +++ b/src/devices/laserHokuyo/laserHokuyo.h @@ -104,18 +104,18 @@ class laserHokuyo : public PeriodicThread, public yarp::dev::IRangefinder2D, pub public: //IRangefinder2D interface - bool getRawData(yarp::sig::Vector &data, double* timestamp) override; - bool getLaserMeasurement(std::vector &data, double* timestamp) override; - bool getDeviceStatus (Device_status &status) override; - bool getDeviceInfo (std::string &device_info) override; - bool getDistanceRange (double& min, double& max) override; - bool setDistanceRange (double min, double max) override; - bool getScanLimits (double& min, double& max) override; - bool setScanLimits (double min, double max) override; - bool getHorizontalResolution (double& step) override; - bool setHorizontalResolution (double step) override; - bool getScanRate (double& rate) override; - bool setScanRate (double rate) override; + yarp::dev::ReturnValue getRawData(yarp::sig::Vector &data, double* timestamp) override; + yarp::dev::ReturnValue getLaserMeasurement(std::vector &data, double* timestamp) override; + yarp::dev::ReturnValue getDeviceStatus (Device_status &status) override; + yarp::dev::ReturnValue getDeviceInfo (std::string &device_info) override; + yarp::dev::ReturnValue getDistanceRange (double& min, double& max) override; + yarp::dev::ReturnValue setDistanceRange (double min, double max) override; + yarp::dev::ReturnValue getScanLimits (double& min, double& max) override; + yarp::dev::ReturnValue setScanLimits (double min, double max) override; + yarp::dev::ReturnValue getHorizontalResolution (double& step) override; + yarp::dev::ReturnValue setHorizontalResolution (double step) override; + yarp::dev::ReturnValue getScanRate (double& rate) override; + yarp::dev::ReturnValue setScanRate (double rate) override; private: //laser methods