Fix YARP deprecations (#151)

* Fix YARP deprecations * Update CHANGELOG.md
robotology · May 19, 2022 · dcd8b1f · dcd8b1f
1 parent 52b2764
commit dcd8b1f
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -14,6 +14,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Fixed
 - Fixed the possibility of deadlock in detachAll method in `wholebodydynamics` and `baseEstimatorV1`. This deadlock could lead to freeze during closing of the yarprobotinterface or the Gazebo simulator if the `gazebo_yarp_robotinterface` plugin was used (https://github.com/robotology/whole-body-estimators/pull/146).
+- Fixed YARP deprecations. (See [!151](https://github.com/robotology/whole-body-estimators/pull/151))
 
 ## [0.6.1] - 2021-01-03
 

diff --git a/devices/baseEstimatorV1/include/Utils.tpp b/devices/baseEstimatorV1/include/Utils.tpp
@@ -36,12 +36,12 @@ bool YarpHelper::yarpListToiDynTreeVectorFixSize(const yarp::os::Value& input, i
 
     for (int i = 0; i < inputPtr->size(); i++)
     {
-        if (!inputPtr->get(i).isDouble() && !inputPtr->get(i).isInt())
+        if (!inputPtr->get(i).isFloat64() && !inputPtr->get(i).isInt32())
         {
             yError() << "[yarpListToiDynTreeVectorFixSize] The input is expected to be a double";
             return false;
         }
-        output(i) = inputPtr->get(i).asDouble();
+        output(i) = inputPtr->get(i).asFloat64();
     }
     return true;
 }

diff --git a/devices/baseEstimatorV1/src/Utils.cpp b/devices/baseEstimatorV1/src/Utils.cpp
@@ -90,15 +90,15 @@ bool iDynTreeHelper::Triplets::getTripletsFromValues(const yarp::os::Value& inpu
             return false;
         }
 
-        int row = tripletPtr->get(0).asInt();
-        int col = tripletPtr->get(1).asInt();
+        int row = tripletPtr->get(0).asInt32();
+        int col = tripletPtr->get(1).asInt32();
 
         if(col >= matrixDimension || row >= matrixDimension)
         {
             yError() << "[getSparseMatrixFromTriplets] element position exceeds the matrix dimension.";
             return false;
         }
-        output.pushTriplet(iDynTree::Triplet(col, row, tripletPtr->get(2).asDouble()));
+        output.pushTriplet(iDynTree::Triplet(col, row, tripletPtr->get(2).asFloat64()));
     }
     return true;
 }
@@ -141,12 +141,12 @@ bool YarpHelper::yarpListToiDynTreeVectorDynSize(const yarp::os::Value& input, i
 
     for (int i = 0; i < inputPtr->size(); i++)
     {
-        if (!inputPtr->get(i).isDouble() && !inputPtr->get(i).isInt())
+        if (!inputPtr->get(i).isFloat64() && !inputPtr->get(i).isInt32())
         {
             yError() << "[yarpListToiDynTreeVectorDynSize] The input is expected to be a double or a int";
             return false;
         }
-        output(i) = inputPtr->get(i).asDouble();
+        output(i) = inputPtr->get(i).asFloat64();
     }
     return true;
 }
@@ -225,13 +225,13 @@ bool YarpHelper::getNumberFromSearchable(const yarp::os::Searchable& config, con
         return false;
     }
 
-    if(!value->isDouble())
+    if(!value->isFloat64())
     {
         yError() << "[getNumberFromSearchable] the value is not a double.";
         return false;
     }
 
-    number = value->asDouble();
+    number = value->asFloat64();
     return true;
 }
 
@@ -245,13 +245,13 @@ bool YarpHelper::getNumberFromSearchable(const yarp::os::Searchable& config, con
         return false;
     }
 
-    if(!value->isInt())
+    if(!value->isInt32())
     {
         yError() << "[getNumberFromSearchable] the value is not an integer.";
         return false;
     }
 
-    number = value->asInt();
+    number = value->asInt32();
     return true;
 }
 

diff --git a/devices/baseEstimatorV1/src/WalkingLogger.cpp b/devices/baseEstimatorV1/src/WalkingLogger.cpp
@@ -68,7 +68,7 @@ bool WalkingLogger::startRecord(const std::initializer_list<std::string>& string
     YarpHelper::populateBottleWithStrings(cmd, strings);
 
     m_rpcPort.write(cmd, outcome);
-    if(outcome.get(0).asInt() != 1)
+    if(outcome.get(0).asInt32() != 1)
     {
         yError() << "[startWalking] Unable to store data";
         return false;
@@ -82,7 +82,7 @@ void WalkingLogger::quit()
     yarp::os::Bottle cmd, outcome;
     cmd.addString("quit");
     m_rpcPort.write(cmd, outcome);
-    if(outcome.get(0).asInt() != 1)
+    if(outcome.get(0).asInt32() != 1)
         yInfo() << "[close] Unable to close the stream.";
 
     // close ports

diff --git a/devices/baseEstimatorV1/src/baseEstimatorV1.cpp b/devices/baseEstimatorV1/src/baseEstimatorV1.cpp
@@ -546,12 +546,12 @@ void yarp::dev::baseEstimatorV1::publishFloatingBaseState()
     state_bottle.clear();
     for (unsigned int i = 0; i < m_world_pose_base_in_R6.size(); i++)
     {
-        state_bottle.addDouble(m_world_pose_base_in_R6[i]);
+        state_bottle.addFloat64(m_world_pose_base_in_R6[i]);
     }
 
     for (unsigned int i = 0; i < m_joint_positions.size(); i++)
     {
-        state_bottle.addDouble(m_joint_positions(i));
+        state_bottle.addFloat64(m_joint_positions(i));
     }
 
     m_floating_base_state_port.write();
@@ -563,12 +563,12 @@ void yarp::dev::baseEstimatorV1::publishFloatingBasePoseVelocity()
     state_bottle.clear();
     for (unsigned int i = 0; i < m_world_pose_base_in_R6.size(); i++)
     {
-        state_bottle.addDouble(m_world_pose_base_in_R6[i]);
+        state_bottle.addFloat64(m_world_pose_base_in_R6[i]);
     }
 
     for (unsigned int i = 0; i < m_world_velocity_base.size(); i++)
     {
-        state_bottle.addDouble(m_world_velocity_base[i]);
+        state_bottle.addFloat64(m_world_velocity_base[i]);
     }
 
     m_floating_base_pose_port.write();
@@ -580,12 +580,12 @@ void yarp::dev::baseEstimatorV1::publishCOMEstimate()
     com_bottle.clear();
     for (unsigned int i = 0; i < m_com_position.size(); i++)
     {
-        com_bottle.addDouble(m_com_position(i));
+        com_bottle.addFloat64(m_com_position(i));
     }
 
     for (unsigned int i = 0; i < m_com_velocity.size(); i++)
     {
-        com_bottle.addDouble(m_com_velocity(i));
+        com_bottle.addFloat64(m_com_velocity(i));
     }
 
     m_com_port.write();
@@ -595,10 +595,10 @@ void yarp::dev::baseEstimatorV1::publishContactState()
 {
     yarp::os::Bottle &state_bottle = m_contact_state_port.prepare();
     state_bottle.clear();
-    state_bottle.addDouble(m_left_foot_contact_normal_force);
-    state_bottle.addDouble(m_right_foot_contact_normal_force);
-    state_bottle.addInt(m_biped_foot_contact_classifier->getLeftFootContactState());
-    state_bottle.addInt(m_biped_foot_contact_classifier->getRightFootContactState());
+    state_bottle.addFloat64(m_left_foot_contact_normal_force);
+    state_bottle.addFloat64(m_right_foot_contact_normal_force);
+    state_bottle.addInt32(m_biped_foot_contact_classifier->getLeftFootContactState());
+    state_bottle.addInt32(m_biped_foot_contact_classifier->getRightFootContactState());
     state_bottle.addString(m_current_fixed_frame);
     m_contact_state_port.write();
 }
@@ -629,15 +629,15 @@ void yarp::dev::baseEstimatorV1::publishIMUAttitudeEstimatorStates()
 
     yarp::os::Bottle &state_bottle = m_imu_attitude_observer_estimated_state_port.prepare();
     state_bottle.clear();
-    state_bottle.addDouble(rad2deg(m_imu_attitude_estimate_as_rpy(0))); // orientation roll
-    state_bottle.addDouble(rad2deg(m_imu_attitude_estimate_as_rpy(1))); // orientation pitch
-    state_bottle.addDouble(rad2deg(m_imu_attitude_estimate_as_rpy(2))); // orientation yaw
-    state_bottle.addDouble(rad2deg(attitude_observer_state(4))); // ang vel about x
-    state_bottle.addDouble(rad2deg(attitude_observer_state(5))); // ang vel about y
-    state_bottle.addDouble(rad2deg(attitude_observer_state(6))); // ang vel about z
-    state_bottle.addDouble(rad2deg(attitude_observer_state(7))); // gyro bias about x
-    state_bottle.addDouble(rad2deg(attitude_observer_state(8))); // gyro bias about y
-    state_bottle.addDouble(rad2deg(attitude_observer_state(9))); // gyro bias about z
+    state_bottle.addFloat64(rad2deg(m_imu_attitude_estimate_as_rpy(0))); // orientation roll
+    state_bottle.addFloat64(rad2deg(m_imu_attitude_estimate_as_rpy(1))); // orientation pitch
+    state_bottle.addFloat64(rad2deg(m_imu_attitude_estimate_as_rpy(2))); // orientation yaw
+    state_bottle.addFloat64(rad2deg(attitude_observer_state(4))); // ang vel about x
+    state_bottle.addFloat64(rad2deg(attitude_observer_state(5))); // ang vel about y
+    state_bottle.addFloat64(rad2deg(attitude_observer_state(6))); // ang vel about z
+    state_bottle.addFloat64(rad2deg(attitude_observer_state(7))); // gyro bias about x
+    state_bottle.addFloat64(rad2deg(attitude_observer_state(8))); // gyro bias about y
+    state_bottle.addFloat64(rad2deg(attitude_observer_state(9))); // gyro bias about z
 
     m_imu_attitude_observer_estimated_state_port.write();
 }
@@ -649,9 +649,9 @@ void yarp::dev::baseEstimatorV1::publishIMUAttitudeQEKFEstimates()
 
     yarp::os::Bottle &state_bottle = m_imu_attitude_qekf_estimated_state_port.prepare();
     state_bottle.clear();
-    state_bottle.addDouble(rad2deg(rpy(0)));
-    state_bottle.addDouble(rad2deg(rpy(1)));
-    state_bottle.addDouble(rad2deg(rpy(2)));
+    state_bottle.addFloat64(rad2deg(rpy(0)));
+    state_bottle.addFloat64(rad2deg(rpy(1)));
+    state_bottle.addFloat64(rad2deg(rpy(2)));
 
     m_imu_attitude_qekf_estimated_state_port.write();
 }