Copy and pass pointer instead of full object

roboticslab-uc3m · Dec 11, 2019 · a4bac76 · a4bac76
1 parent d73008f
commit a4bac76
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Showing 3 changed files with 7 additions and 4 deletions.
diff --git a/libraries/YarpPlugins/CanBusControlboard/DeviceDriverImpl.cpp b/libraries/YarpPlugins/CanBusControlboard/DeviceDriverImpl.cpp
@@ -23,7 +23,7 @@ bool CanBusControlboard::open(yarp::os::Searchable & config)
         return false;
     }
 
-    const auto * robotConfig = reinterpret_cast<const yarp::os::Property *>(config.find("robotConfig").asBlob());
+    const auto * robotConfig = *reinterpret_cast<yarp::os::Property * const *>(config.find("robotConfig").asBlob());
 
     int parallelCanThreadLimit = config.check("parallelCanThreadLimit", yarp::os::Value(0), "parallel CAN TX thread limit").asInt32();
 

diff --git a/libraries/YarpPlugins/TechnosoftIpos/DeviceDriverImpl.cpp b/libraries/YarpPlugins/TechnosoftIpos/DeviceDriverImpl.cpp
@@ -22,7 +22,7 @@ bool TechnosoftIpos::open(yarp::os::Searchable & config)
         return false;
     }
 
-    const auto * robotConfig = reinterpret_cast<const yarp::os::Property *>(config.find("robotConfig").asBlob());
+    const auto * robotConfig = *reinterpret_cast<const yarp::os::Property * const *>(config.find("robotConfig").asBlob());
 
     int canId = config.check("canId", yarp::os::Value(0), "CAN node ID").asInt32();
 
@@ -92,12 +92,14 @@ bool TechnosoftIpos::open(yarp::os::Searchable & config)
         }
     }
 
+    /* FIXME
     linInterpBuffer = LinearInterpolationBuffer::createBuffer(config);
 
     if (!linInterpBuffer)
     {
         return false;
     }
+    */
 
     double canSdoTimeoutMs = config.check("canSdoTimeoutMs", yarp::os::Value(0.0), "CAN SDO timeout (ms)").asFloat64();
     double canDriveStateTimeout = config.check("canDriveStateTimeout", yarp::os::Value(0.0), "CAN drive state timeout (s)").asFloat64();

diff --git a/programs/launchCanBus/LaunchCanBus.cpp b/programs/launchCanBus/LaunchCanBus.cpp
@@ -34,6 +34,7 @@ bool LaunchCanBus::configure(yarp::os::ResourceFinder &rf)
     }
 
     yarp::os::Property robotConfig;
+    const auto * robotConfigPtr = &robotConfig;
     std::string configPath = rf.findFileByName("config.ini");
 
     if (configPath.empty() || !robotConfig.fromConfigFile(configPath))
@@ -77,7 +78,7 @@ bool LaunchCanBus::configure(yarp::os::ResourceFinder &rf)
 
         yarp::os::Property canDeviceOptions;
         canDeviceOptions.fromString(canDeviceGroup.toString());
-        canDeviceOptions.put("robotConfig", yarp::os::Value::makeBlob(&robotConfig, sizeof(robotConfig)));
+        canDeviceOptions.put("robotConfig", yarp::os::Value::makeBlob(&robotConfigPtr, sizeof(robotConfigPtr)));
         canDeviceOptions.put("home", homing);
 
         yarp::dev::PolyDriver * canDevice = new yarp::dev::PolyDriver;
@@ -141,7 +142,7 @@ bool LaunchCanBus::configure(yarp::os::ResourceFinder &rf)
 
             yarp::os::Property calibratorDeviceOptions;
             calibratorDeviceOptions.fromString(calibratorDeviceGroup.toString());
-            calibratorDeviceOptions.put("robotConfig", yarp::os::Value::makeBlob(&robotConfig, sizeof(robotConfig)));
+            calibratorDeviceOptions.put("robotConfig", yarp::os::Value::makeBlob(&robotConfigPtr, sizeof(robotConfigPtr)));
             calibratorDeviceOptions.put("joints", wrapperDeviceOptions.find("joints"));
 
             yarp::dev::PolyDriver * calibratorDevice = new yarp::dev::PolyDriver;