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updated controlboard plugin for yarp4 #310

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Merged
Nicogene merged 5 commits into from
Jun 10, 2026
Merged

updated controlboard plugin for yarp4 #310

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c89cbc3
Add YARP 4.0.0 support for controlboard plugin
martinaxgloria Jan 28, 2026
b14c3ca
Change device name in DepthCamera test
martinaxgloria Feb 2, 2026
9b24eca
updated controlboard plugin for yarp4
randaz81 Feb 4, 2026
af1f73c
preliminay fix
randaz81 May 25, 2026
19d22c7
code porting to yarp4 complete. to be tested
randaz81 May 26, 2026
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13 changes: 11 additions & 2 deletions plugins/controlboard/include/ControlBoardData.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,9 @@
#include <unordered_map>
#include <vector>

#include <yarp/conf/version.h>
#include <yarp/conf/numeric.h>

#include <yarp/dev/IControlMode.h>
#include <yarp/dev/IInteractionMode.h>
#include <yarp/dev/IJointCoupling.h>
Expand Down Expand Up @@ -59,9 +61,16 @@ struct CommonJointProperties {
struct PhysicalJointProperties
{
CommonJointProperties commonJointProperties;
std::unordered_map<yarp::dev::PidControlTypeEnum, gz::math::PID, PidControlTypeEnumHashFunction>
pidControllers;
std::unordered_map<yarp::dev::PidControlTypeEnum, gz::math::PID, PidControlTypeEnumHashFunction> pidControllers;
std::string positionControlLaw; // TODO: verify usefulness of this field
#if (YARP_VERSION_MAJOR > 3)
std::vector<yarp::dev::PidControlTypeEnum> availablePids;
std::vector<yarp::dev::SelectableControlModeEnum> availableControlModes;
yarp::dev::PidControlTypeEnum selected_vel_dir_pid = yarp::dev::PidControlTypeEnum::VOCAB_PIDTYPE_VELOCITY_DIRECT_1;
yarp::dev::PidControlTypeEnum selected_vel_pid = yarp::dev::PidControlTypeEnum::VOCAB_PIDTYPE_VELOCITY_1;
yarp::dev::PidControlTypeEnum selected_pos_dir_pid = yarp::dev::PidControlTypeEnum::VOCAB_PIDTYPE_POSITION_DIRECT_1;
yarp::dev::PidControlTypeEnum selected_pos_pid = yarp::dev::PidControlTypeEnum::VOCAB_PIDTYPE_POSITION_1;
#endif
};

struct ActuatedAxisProperties
Expand Down
54 changes: 49 additions & 5 deletions plugins/controlboard/include/ControlBoardDriver.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,8 @@
#include <string>
#include <vector>

#include <yarp/conf/version.h>

#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/IAxisInfo.h>
#include <yarp/dev/IControlLimits.h>
Expand All @@ -18,6 +20,9 @@
#include <yarp/dev/IRemoteVariables.h>
#include <yarp/dev/ITorqueControl.h>
#include <yarp/dev/IVelocityControl.h>
#if (YARP_VERSION_MAJOR == 4)
#include <yarp/dev/IVelocityDirect.h>
#endif
#include <yarp/dev/PidEnums.h>
#include <yarp/os/Searchable.h>
#include <gzyarp/YarpDevReturnValueCompat.h>
Expand All @@ -41,6 +46,9 @@ class ControlBoardDriver : public DeviceDriver,
public ITorqueControl,
public IPositionDirect,
public IPositionControl,
#if (YARP_VERSION_MAJOR > 3)
public IVelocityDirect,
#endif
public IVelocityControl,
public ICurrentControl,
public IPidControl,
Expand Down Expand Up @@ -73,22 +81,39 @@ public:
YARP_DEV_RETURN_VALUE_TYPE_CH40 getEncoderTimed(int j, double* encs, double* time) override;

// IInteractionMode

#if (YARP_VERSION_MAJOR > 3)
YARP_DEV_RETURN_VALUE_TYPE_CH40 getInteractionMode(int j, yarp::dev::InteractionModeEnum& _mode) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 getInteractionModes(const std::vector<int>& joints, std::vector<yarp::dev::InteractionModeEnum>& modes) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 getInteractionModes(std::vector<yarp::dev::InteractionModeEnum>& modes) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 setInteractionMode(int j, yarp::dev::InteractionModeEnum _mode) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 setInteractionModes(const std::vector<int>& joints, const std::vector<yarp::dev::InteractionModeEnum>& modes) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 setInteractionModes(const std::vector<yarp::dev::InteractionModeEnum>& modes) override;
#else
YARP_DEV_RETURN_VALUE_TYPE_CH40 getInteractionMode(int axis, yarp::dev::InteractionModeEnum* mode) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 getInteractionModes(int n_joints, int* joints, yarp::dev::InteractionModeEnum* modes) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 getInteractionModes(yarp::dev::InteractionModeEnum* modes) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 setInteractionMode(int axis, yarp::dev::InteractionModeEnum mode) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 setInteractionModes(int n_joints, int* joints, yarp::dev::InteractionModeEnum* modes) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 setInteractionModes(yarp::dev::InteractionModeEnum* modes) override;
#endif

// IControlMode

#if (YARP_VERSION_MAJOR > 3)
YARP_DEV_RETURN_VALUE_TYPE_CH40 getAvailableControlModes(int j, std::vector<yarp::dev::SelectableControlModeEnum>& avail) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 getControlMode(int j, yarp::dev::ControlModeEnum& mode) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 getControlModes(const std::vector<int>& joints, std::vector<yarp::dev::ControlModeEnum>& modes) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 getControlModes(std::vector<yarp::dev::ControlModeEnum>& mode) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 setControlMode(int j, yarp::dev::SelectableControlModeEnum mode) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 setControlModes(const std::vector<int>& joints, const std::vector<yarp::dev::SelectableControlModeEnum>& modes) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 setControlModes(const std::vector<yarp::dev::SelectableControlModeEnum>& mode) override;
#else
YARP_DEV_RETURN_VALUE_TYPE_CH40 getControlMode(int j, int* mode) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 getControlModes(int* modes) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 getControlModes(const int n_joint, const int* joints, int* modes) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 setControlMode(const int j, const int mode) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 setControlModes(const int n_joint, const int* joints, int* modes) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 setControlModes(int* modes) override;
#endif

// IControlLimits

Expand Down Expand Up @@ -123,6 +148,17 @@ public:
YARP_DEV_RETURN_VALUE_TYPE_CH40 getTorqueRange(int j, double* min, double* max) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 getTorqueRanges(double* min, double* max) override;

#if (YARP_VERSION_MAJOR > 3) || (YARP_VERSION_MAJOR == 3 && YARP_VERSION_MINOR > 12) || (YARP_VERSION_MAJOR == 3 && YARP_VERSION_MINOR == 12 && YARP_VERSION_PATCH >= 100)
// IVelocityDirect
YARP_DEV_RETURN_VALUE_TYPE_CH40 getAxes(size_t& ax) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 setRefVelocity(int jnt, double vel) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 setRefVelocity(const std::vector<double>& vels) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 setRefVelocity(const std::vector<int>& jnts, const std::vector<double>& vels) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 getRefVelocity(const int jnt, double& vel) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 getRefVelocity(std::vector<double>& vels) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 getRefVelocity(const std::vector<int>& jnts, std::vector<double>& vels) override;
#endif

// IPositionDirect

YARP_DEV_RETURN_VALUE_TYPE_CH40 setPosition(int j, double ref) override;
Expand All @@ -138,13 +174,19 @@ public:
YARP_DEV_RETURN_VALUE_TYPE_CH40 positionMove(const double* refs) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 relativeMove(int j, double delta) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 relativeMove(const double* deltas) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 checkMotionDone(int j, bool* flag) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 checkMotionDone(bool* flag) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 stop(int j) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 stop() override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 positionMove(const int n_joint, const int* joints, const double* refs) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 relativeMove(const int n_joint, const int* joints, const double* deltas) override;
#if (YARP_VERSION_MAJOR > 3)
YARP_DEV_RETURN_VALUE_TYPE_CH40 checkMotionDone(const std::vector<int>& joints, bool& flag) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 checkMotionDone(bool& flag) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 checkMotionDone(int j, bool& flag) override;
#else
YARP_DEV_RETURN_VALUE_TYPE_CH40 checkMotionDone(int j, bool* flag) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 checkMotionDone(bool* flag) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 checkMotionDone(const int n_joint, const int* joints, bool* flag) override;
#endif
YARP_DEV_RETURN_VALUE_TYPE_CH40 stop(const int n_joint, const int* joints) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 getTargetPosition(const int joint, double* ref) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 getTargetPositions(double* refs) override;
Expand Down Expand Up @@ -206,7 +248,9 @@ public:
YARP_DEV_RETURN_VALUE_TYPE_CH40 getRefCurrent(int m, double* curr) override;

// IPidControl

#if (YARP_VERSION_MAJOR > 3)
YARP_DEV_RETURN_VALUE_TYPE_CH40 getAvailablePids(int j, std::vector<yarp::dev::PidControlTypeEnum>& avail) override;
#endif
YARP_DEV_RETURN_VALUE_TYPE_CH40 setPid(const PidControlTypeEnum& pidtype, int j, const Pid& pid) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 setPids(const PidControlTypeEnum& pidtype, const Pid* pids) override;
YARP_DEV_RETURN_VALUE_TYPE_CH40 setPidReference(const PidControlTypeEnum& pidtype, int j, double ref) override;
Expand Down
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