From 6641ef44e82aee4b63ca9b7a90a7e138734e588e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bartek=20=C5=81ukawski?= <bwmn.peter@gmail.com>
Date: Sat, 21 Sep 2019 13:13:27 +0200
Subject: [PATCH] Drop IInteractionMode implementation

---
 .../YarpPlugins/TechnosoftIpos/CMakeLists.txt |  1 -
 .../IInteractionModeRawImpl.cpp               | 45 -------------------
 .../TechnosoftIpos/TechnosoftIpos.hpp         |  9 ----
 3 files changed, 55 deletions(-)
 delete mode 100644 libraries/YarpPlugins/TechnosoftIpos/IInteractionModeRawImpl.cpp

diff --git a/libraries/YarpPlugins/TechnosoftIpos/CMakeLists.txt b/libraries/YarpPlugins/TechnosoftIpos/CMakeLists.txt
index 7c2b4e17e..89b55c203 100644
--- a/libraries/YarpPlugins/TechnosoftIpos/CMakeLists.txt
+++ b/libraries/YarpPlugins/TechnosoftIpos/CMakeLists.txt
@@ -22,7 +22,6 @@ if(NOT SKIP_TechnosoftIpos)
                                    ICurrentControlRawImpl.cpp
                                    IEncodersRawImpl.cpp
                                    IEncodersTimedRawImpl.cpp
-                                   IInteractionModeRawImpl.cpp
                                    IPositionControlRawImpl.cpp
                                    IPositionDirectRawImpl.cpp
                                    IRemoteVariablesRawImpl.cpp
diff --git a/libraries/YarpPlugins/TechnosoftIpos/IInteractionModeRawImpl.cpp b/libraries/YarpPlugins/TechnosoftIpos/IInteractionModeRawImpl.cpp
deleted file mode 100644
index b329009b1..000000000
--- a/libraries/YarpPlugins/TechnosoftIpos/IInteractionModeRawImpl.cpp
+++ /dev/null
@@ -1,45 +0,0 @@
-// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
-
-#include "TechnosoftIpos.hpp"
-
-#include <yarp/os/Vocab.h>
-
-// ------------------ IInteractionModeRaw Related ----------------------------------------
-
-bool roboticslab::TechnosoftIpos::getInteractionModeRaw(int axis, yarp::dev::InteractionModeEnum* mode)
-{
-    CD_INFO("(%d)\n", axis);
-    CHECK_JOINT(axis);
-    return true;
-}
-
-bool roboticslab::TechnosoftIpos::getInteractionModesRaw(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes)
-{
-    CD_WARNING("Missing implementation\n");
-    return true;
-}
-
-bool roboticslab::TechnosoftIpos::getInteractionModesRaw(yarp::dev::InteractionModeEnum* modes)
-{
-    CD_WARNING("Missing implementation\n");
-    return true;
-}
-
-bool roboticslab::TechnosoftIpos::setInteractionModeRaw(int axis, yarp::dev::InteractionModeEnum mode)
-{
-    CD_INFO("(%d), (%s)\n", axis, yarp::os::Vocab::decode(mode).c_str());
-    CHECK_JOINT(axis);
-    return true;
-}
-
-bool roboticslab::TechnosoftIpos::setInteractionModesRaw(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes)
-{
-    CD_WARNING("Missing implementation\n");
-    return true;
-}
-
-bool roboticslab::TechnosoftIpos::setInteractionModesRaw(yarp::dev::InteractionModeEnum* modes)
-{
-    CD_WARNING("Missing implementation\n");
-    return true;
-}
diff --git a/libraries/YarpPlugins/TechnosoftIpos/TechnosoftIpos.hpp b/libraries/YarpPlugins/TechnosoftIpos/TechnosoftIpos.hpp
index f66a49bdb..6b6b335b1 100644
--- a/libraries/YarpPlugins/TechnosoftIpos/TechnosoftIpos.hpp
+++ b/libraries/YarpPlugins/TechnosoftIpos/TechnosoftIpos.hpp
@@ -72,7 +72,6 @@ class TechnosoftIpos : public yarp::dev::DeviceDriver,
                        public yarp::dev::IControlModeRaw,
                        public yarp::dev::ICurrentControlRaw,
                        public yarp::dev::IEncodersTimedRaw,
-                       public yarp::dev::IInteractionModeRaw,
                        public yarp::dev::IPositionControlRaw,
                        public yarp::dev::IPositionDirectRaw,
                        public yarp::dev::IRemoteVariablesRaw,
@@ -250,14 +249,6 @@ class TechnosoftIpos : public yarp::dev::DeviceDriver,
     // ------------------- Just declareted in IPositionControl2Raw
     // -- virtual bool stopRaw(const int n_joint, const int *joints);
 
-    // ------- IInteractionModeRaw declarations. Implementation in IInteractionModeRawImpl.cpp -------
-    virtual bool getInteractionModeRaw(int axis, yarp::dev::InteractionModeEnum* mode);
-    virtual bool getInteractionModesRaw(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes);
-    virtual bool getInteractionModesRaw(yarp::dev::InteractionModeEnum* modes);
-    virtual bool setInteractionModeRaw(int axis, yarp::dev::InteractionModeEnum mode);
-    virtual bool setInteractionModesRaw(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes);
-    virtual bool setInteractionModesRaw(yarp::dev::InteractionModeEnum* modes);
-
     // ------- IRemoteVariablesRaw declarations. Implementation in IRemoteVariablesRawImpl.cpp -------
     virtual bool getRemoteVariableRaw(std::string key, yarp::os::Bottle& val);
     virtual bool setRemoteVariableRaw(std::string key, const yarp::os::Bottle& val);