New class for return values of interface methods.

src/devices/RemoteControlBoard/RemoteControlBoard.cpp

@@ -1567,12 +1567,12 @@ bool RemoteControlBoard::getNumberOfMotors(int *num)
     return get1V1I(VOCAB_MOTORS_NUMBER, *num);
 }
 
-bool RemoteControlBoard::getTemperature      (int m, double* val)
+yarp_ret_value RemoteControlBoard::getTemperature      (int m, double* val)
 {
     return get1V1I1D(VOCAB_TEMPERATURE, m, val);
 }
 
-bool RemoteControlBoard::getTemperatures     (double *vals)
+yarp_ret_value RemoteControlBoard::getTemperatures     (double *vals)
 {
     return get1VDA(VOCAB_TEMPERATURES, vals);
 }

src/devices/RemoteControlBoard/RemoteControlBoard.h

@@ -329,8 +329,8 @@ class RemoteControlBoard :
 
     // IMotor
     bool getNumberOfMotors(int *num) override;
-    bool getTemperature(int m, double* val) override;
-    bool getTemperatures(double *vals) override;
+    yarp::dev::yarp_ret_value getTemperature(int m, double* val) override;
+    yarp::dev::yarp_ret_value getTemperatures(double *vals) override;
     bool getTemperatureLimit (int m, double* val) override;
     bool setTemperatureLimit (int m, const double val) override;
     bool getGearboxRatio(int m, double* val) override;

src/devices/controlBoardRemapper/ControlBoardRemapper.cpp

@@ -1986,7 +1986,7 @@ bool ControlBoardRemapper::getNumberOfMotors(int *num)
     return true;
 }
 
-bool ControlBoardRemapper::getTemperature(int m, double* val)
+yarp::dev::yarp_ret_value ControlBoardRemapper::getTemperature(int m, double* val)
 {
     int off=(int)remappedControlBoards.lut[m].axisIndexInSubControlBoard;
     size_t subIndex=remappedControlBoards.lut[m].subControlBoardIndex;
@@ -2006,7 +2006,7 @@ bool ControlBoardRemapper::getTemperature(int m, double* val)
     return false;
 }
 
-bool ControlBoardRemapper::getTemperatures(double *vals)
+yarp::dev::yarp_ret_value ControlBoardRemapper::getTemperatures(double *vals)
 {
     bool ret=true;
     for(int l=0;l<controlledJoints;l++)

src/devices/controlBoardRemapper/ControlBoardRemapper.h

@@ -451,9 +451,9 @@ class ControlBoardRemapper :
     /* IMotor */
     bool getNumberOfMotors(int *num) override;
 
-    bool getTemperature(int m, double *val) override;
+    yarp::dev::yarp_ret_value getTemperature(int m, double *val) override;
 
-    bool getTemperatures(double *vals) override;
+    yarp::dev::yarp_ret_value getTemperatures(double *vals) override;
 
     bool getTemperatureLimit(int m, double *val) override;
 

src/devices/fakeMotionControl/fakeMotionControl.cpp

@@ -3163,15 +3163,15 @@ bool FakeMotionControl::getNumberOfMotorsRaw(int* num)
     return true;
 }
 
-bool FakeMotionControl::getTemperatureRaw(int m, double* val)
+yarp_ret_value FakeMotionControl::getTemperatureRaw(int m, double* val)
 {
     *val = 37.5+double(m);
-    return true;
+    return yarp_ret_value(true);
 }
 
-bool FakeMotionControl::getTemperaturesRaw(double *vals)
+yarp_ret_value FakeMotionControl::getTemperaturesRaw(double *vals)
 {
-    bool ret = true;
+    yarp_ret_value ret = true;
     for(int j=0; j< _njoints; j++)
     {
         ret &= getTemperatureRaw(j, &vals[j]);

src/devices/fakeMotionControl/fakeMotionControl.h

@@ -475,8 +475,8 @@ class FakeMotionControl :
 
     // IMotor interface
     bool getNumberOfMotorsRaw(int * num) override;
-    bool getTemperatureRaw(int m, double* val) override;
-    bool getTemperaturesRaw(double *vals) override;
+    yarp::dev::yarp_ret_value getTemperatureRaw(int m, double* val) override;
+    yarp::dev::yarp_ret_value getTemperaturesRaw(double *vals) override;
     bool getTemperatureLimitRaw(int m, double *temp) override;
     bool setTemperatureLimitRaw(int m, const double temp) override;
     bool getGearboxRatioRaw(int m, double* gearbox) override;

src/libYARP_dev/src/CMakeLists.txt

@@ -115,6 +115,7 @@ set(YARP_dev_HDRS
   yarp/dev/PolyDriverDescriptor.h
   yarp/dev/PolyDriverList.h
   yarp/dev/RGBDSensorParamParser.h
+  yarp/dev/ReturnValue.h
   yarp/dev/ServiceInterfaces.h
   yarp/dev/WrapperMultiple.h
   yarp/dev/WrapperSingle.h
@@ -223,6 +224,7 @@ set(YARP_dev_SRCS
   yarp/dev/PolyDriver.cpp
   yarp/dev/PolyDriverDescriptor.cpp
   yarp/dev/PolyDriverList.cpp
+  yarp/dev/ReturnValue.cpp
   yarp/dev/RGBDSensorParamParser.cpp
   yarp/dev/WrapperMultiple.cpp
   yarp/dev/WrapperSingle.cpp

src/libYARP_dev/src/yarp/dev/IMotor.h

@@ -9,6 +9,7 @@
 #include <yarp/os/Vocab.h>
 #include <yarp/os/Log.h>
 #include <yarp/dev/api.h>
+#include <yarp/dev/ReturnValue.h>
 
 namespace yarp::dev {
 class IMotorRaw;
@@ -41,17 +42,17 @@ class YARP_dev_API yarp::dev::IMotorRaw
      * @param val retrieved motor temperature
      * @return true/false
      */
-    virtual bool getTemperatureRaw(int m, double* val)=0;
+    virtual yarp::dev::yarp_ret_value getTemperatureRaw(int m, double* val)=0;
 
     /**
      * Get temperature of all the motors.
      * @param vals pointer to an array containing all motor temperatures
      * @return true/false
      */
-    virtual bool getTemperaturesRaw(double *vals)=0;
+    virtual yarp::dev::yarp_ret_value getTemperaturesRaw(double *vals)=0;
 
     /**
-     * Retreives the current temperature limit for a specific motor.
+     * Retrieves the current temperature limit for a specific motor.
      * The specific behavior of the motor when the temperature limit is exceeded depends on the implementation (power off recommended)
      * @param m motor number
      * @param temp the current temperature limit.
@@ -111,17 +112,17 @@ class YARP_dev_API yarp::dev::IMotor
      * @param val retrieved motor temperature
      * @return true/false
      */
-    virtual bool getTemperature(int m, double *val)=0;
+    virtual yarp::dev::yarp_ret_value getTemperature(int m, double *val)=0;
 
     /**
      * Get temperature of all the motors.
      * @param vals pointer to an array containing all motor temperatures
      * @return true/false
      */
-    virtual bool getTemperatures(double *vals)=0;
+    virtual yarp::dev::yarp_ret_value getTemperatures(double *vals)=0;
 
     /**
-     * Retreives the current temperature limit for a specific motor.
+     * Retrieves the current temperature limit for a specific motor.
      * The specific behavior of the motor when the temperature limit is exceeded depends on the implementation (power off recommended)
      * @param m motor number
      * @param temp the current temperature limit.

src/libYARP_dev/src/yarp/dev/ImplementMotor.cpp

@@ -67,10 +67,10 @@ bool ImplementMotor::getNumberOfMotors(int *num)
     return true;
 }
 
-bool ImplementMotor::getTemperature(int m, double* value)
+yarp::dev::yarp_ret_value ImplementMotor::getTemperature(int m, double* value)
 {
     JOINTIDCHECK
-    bool ret;
+    yarp::dev::yarp_ret_value ret;
     int k=castToMapper(helper)->toHw(m);
 
     ret=imotor->getTemperatureRaw(k, value);
@@ -122,11 +122,11 @@ bool ImplementMotor::setGearboxRatio(int m, const double value)
     return ret;
 }
 
-bool ImplementMotor::getTemperatures(double *v)
+yarp::dev::yarp_ret_value ImplementMotor::getTemperatures(double *v)
 {
     yarp::dev::impl::Buffer<double> buffValues = doubleBuffManager->getBuffer();
 
-    bool ret = imotor->getTemperaturesRaw(buffValues.getData());
+    yarp::dev::yarp_ret_value ret = imotor->getTemperaturesRaw(buffValues.getData());
     for (size_t i=0; i< buffValues.getSize(); i++)
     {
         int k = castToMapper(helper)->toHw(i);

src/libYARP_dev/src/yarp/dev/ImplementMotor.h

@@ -54,8 +54,8 @@ class YARP_dev_API yarp::dev::ImplementMotor: public IMotor
 
     bool getNumberOfMotors(int *num) override;
 
-    bool getTemperature      (int m, double* val) override;
-    bool getTemperatures     (double *vals) override;
+    yarp::dev::yarp_ret_value getTemperature      (int m, double* val) override;
+    yarp::dev::yarp_ret_value getTemperatures     (double *vals) override;
     bool getTemperatureLimit (int m, double* val) override;
     bool setTemperatureLimit (int m, const double val) override;
     bool getGearboxRatio     (int m, double* val) override;

src/libYARP_dev/src/yarp/dev/ReturnValue.cpp

@@ -0,0 +1,94 @@
+/*
+ * SPDX-FileCopyrightText: 2023-2023 Istituto Italiano di Tecnologia (IIT)
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include <yarp/dev/ReturnValue.h>
+
+using namespace yarp::dev;
+
+yarp_ret_value::yarp_ret_value()
+{
+}
+
+yarp_ret_value::yarp_ret_value(const bool& val)
+{
+    if (val)
+    {
+        value_b = return_code::return_value_ok;
+    }
+    else
+    {
+        value_b = return_code::return_value_error_generic;
+    }
+}
+
+/*/yarp_ret_value::yarp_ret_value(const yarp_ret_value& other)
+{
+    this->value_b=other.value_b;
+}*/
+
+yarp_ret_value& yarp_ret_value::operator&=(const yarp_ret_value& other)
+{
+    if (other.operator bool() == true)
+    {
+        return *this;
+    }
+    else
+    {
+        value_b = return_code::return_value_error_generic;
+    }
+    return *this;
+}
+
+yarp_ret_value& yarp_ret_value::operator=(const bool& bool_val)
+{
+    if (bool_val)
+    {
+        value_b = return_code::return_value_ok;
+    }
+    else
+    {
+        value_b = return_code::return_value_error_generic;
+    }
+    return *this;
+}
+
+std::string yarp_ret_value::toString()
+{
+    switch (value_b)
+    {
+        case return_code::return_value_ok:
+            return std::string("ok");
+        case return_code::return_value_unitialized:
+            return std::string("return_value_unitialized");
+        case return_code::return_value_error_deprecated:
+            return std::string("return_value_error_deprecated");
+        case return_code::return_value_error_generic:
+            return std::string("return_value_error_generic");
+        case return_code::return_value_error_method_failed:
+            return std::string("return_value_error_method_fail");
+        case return_code::return_value_error_not_implemented_by_device:
+            return std::string("return_value_error_not_implemented_by_device");
+        case return_code::return_value_error_nws_nwc_communication_error:
+            return std::string("return_value_error_nws_nwc_communication_error");
+        default:
+            return std::string("unknown");
+    }
+}
+
+yarp_ret_value::operator bool() const
+{
+    return value_b == return_code::return_value_ok;
+}
+
+yarp_ret_value::yarp_ret_value(return_code code)
+{
+    value_b = code;
+}
+
+bool yarp_ret_value::operator == (const return_code& code) const
+{
+    if (code == this->value_b) return true;
+    return false;
+}

src/libYARP_dev/src/yarp/dev/ReturnValue.h

@@ -0,0 +1,46 @@
+/*
+ * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
+ * SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#ifndef YARP_RET_VALUE_H
+#define YARP_RET_VALUE_H
+
+#include <yarp/dev/api.h>
+#include <string>
+
+namespace yarp::dev {
+
+class YARP_dev_API yarp_ret_value
+{
+    public:
+    enum class YARP_dev_API return_code
+    {
+        return_value_ok = 0,
+        return_value_error_generic = 1,
+        return_value_error_not_implemented_by_device = 2,
+        return_value_error_nws_nwc_communication_error = 3,
+        return_value_error_deprecated = 4,
+        return_value_error_method_failed = 5,
+        return_value_unitialized = 100
+    };
+
+    private:
+    return_code value_b = return_code::return_value_unitialized;
+
+    public:
+    yarp_ret_value();
+    yarp_ret_value(const bool& val);
+    yarp_ret_value(return_code code);
+    yarp_ret_value(const yarp_ret_value& other) = default;
+    yarp_ret_value& operator&=(const yarp_ret_value& other);
+    yarp_ret_value& operator=(const bool& bool_val);
+    bool operator == (const return_code& code) const;
+    std::string toString();
+    operator bool() const;
+};
+
+}
+
+#endif // YARP_RET_VALUE_H

src/libYARP_dev/tests/CMakeLists.txt

@@ -8,6 +8,7 @@ target_sources(harness_dev
   PRIVATE
     MapGrid2DTest.cpp
     PolyDriverTest.cpp
+    ReturnValueTest.cpp
 )
 
 target_link_libraries(harness_dev