[issue #834] Deleted obsolete interfaces

src/drivers/evicam_driver/include/evicam_driver/interfaces/pantilti.hpp

@@ -20,18 +20,19 @@
 #ifndef _EVI_PANTILTI_H_
 #define _EVI_PANTILTI_H_
 
-#include <jderobot/pantilt.h>
+#include <jderobot/ptmotors.h>
 #include <Ice/Ice.h>
 #include <EVI-D100P.h>
 
 namespace pantilt
 {
-	class PanTiltI: virtual public jderobot::PanTilt
+	class PanTiltI: virtual public jderobot::PTMotors
 	{
 		public:
 			PanTiltI(EVI_D100P* cam);
 			virtual ~PanTiltI();
-			virtual Ice::Int setPanTiltData(jderobot::PanTiltDataPtr const & data, Ice::Current const & c);
+			virtual Ice::Int setPTMotorsData(const jderobot::PTMotorsDataPtr& data, const Ice::Current& c);
+			virtual jderobot::PTMotorsParamsPtr getPTMotorsParams(Ice::Current const&);
 		private:
 			EVI_D100P* cam;
 

src/drivers/evicam_driver/src/interfaces/pantilti.cpp

@@ -33,16 +33,16 @@ namespace pantilt
 
 	}
 
-	Ice::Int PanTiltI::setPanTiltData(jderobot::PanTiltDataPtr const & data, Ice::Current const & c)
+	Ice::Int PanTiltI::setPTMotorsData(const jderobot::PTMotorsDataPtr& data, const Ice::Current& c)
 	{
-		int pp = data->panPos;
+		int pp = data->pan;
 		if (pp< EVILIB_minpan){
 			pp = EVILIB_minpan;
 		}
 		if (pp > EVILIB_maxpan){
 			pp = EVILIB_maxpan;
 		}
-		int tp = data->tiltPos;
+		int tp = data->tilt;
 		if (tp< EVILIB_mintilt){
 			tp = EVILIB_mintilt;
 		}
@@ -55,4 +55,21 @@ namespace pantilt
 
 		return 0;
 	}
+
+	jderobot::PTMotorsParamsPtr PanTiltI::getPTMotorsParams(Ice::Current const&){
+		jderobot::PTMotorsParams * data = new jderobot::PTMotorsParams();
+		data->maxPan = EVILIB_maxpan;
+		data->minPan = EVILIB_minpan;
+		data->maxTilt = EVILIB_maxtilt;
+		data->minTilt = EVILIB_mintilt;
+		data->maxPanSpeed = EVILIB_max_pspeed;
+		data->maxTiltSpeed = EVILIB_max_tspeed;
+
+		jderobot::PTMotorsParamsPtr dataptr (data);
+
+		return dataptr;
+
+
+
+	}
 }

src/drivers/evicam_driver/src/test.cpp

@@ -23,7 +23,7 @@
 #include <iostream>
 #include <Ice/Ice.h>
 #include <IceUtil/IceUtil.h>
-#include <jderobot/pantilt.h>
+#include <jderobot/ptmotors.h>
 
 #include "easyiceconfig/EasyIce.h" 
 
@@ -45,28 +45,28 @@ int main(int argc, char** argv){
 			throw "Could not create proxy to Pan Tilt";
 
 		/*cast to JointMotorPrx*/
-		jderobot::PanTiltPrx ptprx = jderobot::PanTiltPrx::checkedCast(base1);
+		jderobot::PTMotorsPrx ptprx = jderobot::PTMotorsPrx::checkedCast(base1);
 		if (0==ptprx)
 			throw "Invalid proxy";
 
 
 		while(true){
-			jderobot::PanTiltDataPtr data=new jderobot::PanTiltData();
+			jderobot::PTMotorsDataPtr data=new jderobot::PTMotorsData();
 			data->panSpeed = 10;
-			data->panPos = 100;
+			data->pan = 100;
 			data->tiltSpeed = 10;
-			data->tiltPos= 30 ;
+			data->tilt= 30 ;
 
-			ptprx->setPanTiltData(data);
+			ptprx->setPTMotorsData(data);
 
 			usleep(1000000);
 
 			data->panSpeed = 10;
-			data->panPos = -100;
+			data->pan = -100;
 			data->tiltSpeed = 10;
-			data->tiltPos= -30 ;
+			data->tilt = -30 ;
 
-			ptprx->setPanTiltData(data);
+			ptprx->setPTMotorsData(data);
 
 			usleep(10000000);
 		}