[Jderobot-admin] jderobot-r1078 - in trunk/src: stable/components stable/components/giraffeClient stable/components/giraffeServer testing/components

rocapal en jderobot.org rocapal en jderobot.org
Vie Oct 25 12:56:31 CEST 2013


Author: rocapal
Date: 2013-10-25 12:56:31 +0200 (Fri, 25 Oct 2013)
New Revision: 1078

Added:
   trunk/src/stable/components/giraffeClient/
   trunk/src/stable/components/giraffeClient/giraffeClient.cfg
   trunk/src/stable/components/giraffeClient/giraffeClient.cpp
   trunk/src/stable/components/giraffeClient/giraffeClient.glade
   trunk/src/stable/components/giraffeServer/
Removed:
   trunk/src/stable/components/giraffeClient/build/
   trunk/src/stable/components/giraffeClient/giraffeclient.cfg
   trunk/src/stable/components/giraffeClient/giraffeclient.cpp
   trunk/src/stable/components/giraffeClient/giraffeclient.glade
   trunk/src/stable/components/giraffeServer/JointMotor.cpp
   trunk/src/stable/components/giraffeServer/JointMotor.h
   trunk/src/stable/components/giraffeServer/JointMotor.ice
   trunk/src/stable/components/giraffeServer/__/
   trunk/src/stable/components/giraffeServer/build
   trunk/src/testing/components/giraffeServer/
   trunk/src/testing/components/giraffeclient/
Modified:
   trunk/src/stable/components/giraffeClient/CMakeLists.txt
   trunk/src/stable/components/giraffeClient/controller.cpp
   trunk/src/stable/components/giraffeClient/controller.h
   trunk/src/stable/components/giraffeClient/view.cpp
   trunk/src/stable/components/giraffeClient/view.h
   trunk/src/stable/components/giraffeServer/CMakeLists.txt
   trunk/src/stable/components/giraffeServer/README
   trunk/src/stable/components/giraffeServer/dynamixel.h
   trunk/src/stable/components/giraffeServer/jointmotorComp.cpp
   trunk/src/stable/components/giraffeServer/jointmotorI.h
   trunk/src/stable/components/giraffeServer/killserver.sh
   trunk/src/stable/components/giraffeServer/moc_monitor.cpp
   trunk/src/stable/components/giraffeServer/moc_q4serialport.cpp
   trunk/src/stable/components/giraffeServer/moc_worker.cpp
   trunk/src/stable/components/giraffeServer/monitor.cpp
   trunk/src/stable/components/giraffeServer/monitor.h
   trunk/src/stable/components/giraffeServer/servo.h
   trunk/src/stable/components/giraffeServer/worker.cpp
   trunk/src/stable/components/giraffeServer/worker.h
Log:
#79 added and refactored giraffeClient and giraffeServer


Modified: trunk/src/stable/components/giraffeClient/CMakeLists.txt
===================================================================
--- trunk/src/testing/components/giraffeclient/CMakeLists.txt	2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeClient/CMakeLists.txt	2013-10-25 10:56:31 UTC (rev 1078)
@@ -1,32 +1,30 @@
-SET( SOURCE_FILES giraffeclient.cpp  controller.cpp controller.h view.cpp cameraconf.cpp )
+SET( SOURCE_FILES giraffeClient.cpp  controller.cpp controller.h view.cpp cameraconf.cpp )
 
+add_definitions(-DGLADE_DIR="${gladedir}")
 
 include_directories(
     ${INTERFACES_CPP_DIR}
     ${LIBS_DIR}
     ${CMAKE_CURRENT_SOURCE_DIR}
+    ${gtkmm_INCLUDE_DIRS}
+    ${libglademm_INCLUDE_DIRS}
 )
 
-set( CMAKE_CXX_FLAGS "-lgsl -lgslcblas " ) # Opciones para el compilador -lGL -lGLU -lglut -lgazebo
 
 
-add_executable (giraffeclient ${SOURCE_FILES})
+add_executable (giraffeClient ${SOURCE_FILES})
 
-TARGET_LINK_LIBRARIES(giraffeclient 
+TARGET_LINK_LIBRARIES(giraffeClient
+    ${CMAKE_THREAD_LIBS_INIT}  
     ${opencv_LIBRARIES}
     ${gtkmm_LIBRARIES}
     ${libglademm_LIBRARIES}
-#    ${gthread_LIBRARIES}
-#    ${libgnomecanvas_LIBRARIES}
-#    ${libgnomecanvasmm_LIBRARIES}
-#    ${gtkglextmm_LIBRARIES}
+    ${gsl_LIBRARIES}
     ${OpenCV_LIBRARIES}
-    ${LIBS_DIR}/colorspaces/libcolorspacesmm.so
-    ${INTERFACES_CPP_DIR}/jderobot/libJderobotInterfaces.so
-    ${LIBS_DIR}/jderobotice/libjderobotice.so
-    ${LIBS_DIR}/jderobotutil/libjderobotutil.so
-    ${LIBS_DIR}/progeo/libprogeo.so
-    ${Gearbox_LIBRARIES}
+    colorspacesmm
+    JderobotInterfaces
+    jderobotutil
+    progeo
     ${ZeroCIce_LIBRARIES}
 )
 

Modified: trunk/src/stable/components/giraffeClient/controller.cpp
===================================================================
--- trunk/src/testing/components/giraffeclient/controller.cpp	2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeClient/controller.cpp	2013-10-25 10:56:31 UTC (rev 1078)
@@ -25,7 +25,7 @@
 namespace giraffeClient {
 
 	Controller::Controller(RoboCompJointMotor::JointMotorPrx jprx) {
-		this->gladepath = std::string("./giraffeClient.glade");
+		this->gladepath = std::string(GLADE_DIR) + std::string("/giraffeClient.glade");
 		this->jprx = jprx;
 		this->camera = new CameraConf(this->jprx);
 	}

Modified: trunk/src/stable/components/giraffeClient/controller.h
===================================================================
--- trunk/src/testing/components/giraffeclient/controller.h	2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeClient/controller.h	2013-10-25 10:56:31 UTC (rev 1078)
@@ -25,7 +25,7 @@
 
 #include <string>
 #include <iostream>
-#include <colorspaces/colorspacesmm.h>
+#include <visionlib/colorspaces/colorspacesmm.h>
 #include <jderobot/jointmotor.h>
 #include "cameraconf.h"
 

Copied: trunk/src/stable/components/giraffeClient/giraffeClient.cfg (from rev 1076, trunk/src/testing/components/giraffeclient/giraffeclient.cfg)
===================================================================
--- trunk/src/stable/components/giraffeClient/giraffeClient.cfg	                        (rev 0)
+++ trunk/src/stable/components/giraffeClient/giraffeClient.cfg	2013-10-25 10:56:31 UTC (rev 1078)
@@ -0,0 +1,3 @@
+giraffeClient.JointMotor.Proxy=jointmotor:tcp -h localhost -p 10067
+giraffeClient.Camera.Proxy=cameraA:tcp -h 127.0.0.1 -p 9998
+

Copied: trunk/src/stable/components/giraffeClient/giraffeClient.cpp (from rev 1076, trunk/src/testing/components/giraffeclient/giraffeclient.cpp)
===================================================================
--- trunk/src/stable/components/giraffeClient/giraffeClient.cpp	                        (rev 0)
+++ trunk/src/stable/components/giraffeClient/giraffeClient.cpp	2013-10-25 10:56:31 UTC (rev 1078)
@@ -0,0 +1,125 @@
+/*
+ *  Copyright (C) 2010 Eduardo Perdices García
+ *
+ *  This program is free software; you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation; either version 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Library General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program; if not, write to the Free Software
+ *  Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ *   Authors : Eduardo Perdices García <eperdices en gsyc.es>,
+ *             Jose María Cañas Plaza <jmplaza en gsyc.es>
+ *
+ */
+
+#include <iostream>
+#include <Ice/Ice.h>
+#include <IceUtil/IceUtil.h>
+#include <jderobot/camera.h>
+#include <visionlib/colorspaces/colorspacesmm.h>
+#include "view.h"
+#include <jderobot/jointmotor.h>
+
+using namespace std;
+
+int main(int argc, char** argv){
+
+	int status;
+	giraffeClient::View * view;
+	giraffeClient::Controller * controller;
+	Ice::CommunicatorPtr ic;
+	RoboCompJointMotor::MotorParamsList motorsparams;
+	RoboCompJointMotor::MotorStateMap motorsstate;
+
+	std::cout << "init " << std::endl;
+
+	try{
+		ic = Ice::initialize(argc,argv);
+		/*Get to giraffe server*/
+		Ice::ObjectPrx base1 = ic->propertyToProxy("giraffeClient.JointMotor.Proxy");
+		if (0==base1)
+			throw "Could not create proxy to giraffe server";
+
+		/*cast to JointMotorPrx*/
+		RoboCompJointMotor::JointMotorPrx jprx = RoboCompJointMotor::JointMotorPrx::checkedCast(base1);
+		if (0==jprx)
+			throw "Invalid proxy";
+
+		/*Get driver camera*/		
+		Ice::ObjectPrx base2 = ic->propertyToProxy("giraffeClient.Camera.Proxy");
+		if (0==base2)
+			throw "Could not create proxy to camera server";
+
+		/*cast to CameraPrx*/
+		jderobot::CameraPrx cprx = jderobot::CameraPrx::checkedCast(base2);
+		if (0==cprx)
+			throw "Invalid proxy";	
+
+		/*Create Controller and View*/
+		//std::cout << "Antes del view:" << std::endl;
+		controller = new giraffeClient::Controller(jprx);
+		view = new giraffeClient::View(controller);
+
+		/*Show params of motors*/
+
+		/*
+		motorsparams = jprx->getAllMotorParams();
+
+		std::cout << "Motors params:" << std::endl;
+		for(vector<RoboCompJointMotor::MotorParams>::iterator it = motorsparams.begin(); it != motorsparams.end(); it++) {
+			cout << endl;
+			cout << "Name: " << (*it).name << endl;
+			cout << "Id: " << (int) (*it).busId << endl;
+			cout << "minPos: " << (*it).minPos << endl;
+			cout << "maxPos: " << (*it).maxPos << endl;
+			cout << "maxVel: " << (*it).maxVelocity << endl;
+			cout << "zeroPos: " << (*it).zeroPos << endl;
+			cout << "inverted: " << (*it).invertedSign << endl;
+		}
+
+		//Get current pos of motors
+		jprx->getAllMotorState(motorsstate);
+		view->setInitialValues(motorsstate["neck"].pos, motorsstate["tilt"].pos, motorsstate["leftPan"].pos, motorsstate["rightPan"].pos);
+		view->setRealValues(motorsstate["neck"].pos, motorsstate["tilt"].pos, motorsstate["leftPan"].pos, motorsstate["rightPan"].pos);
+*/
+		while(view->isVisible()){
+
+			/*Get status of motors*/
+			//jprx->getAllMotorState(motorsstate);
+
+			//view->setRealValues(motorsstate["neck"].pos, motorsstate["tilt"].pos, motorsstate["leftPan"].pos, motorsstate["rightPan"].pos);
+
+			/*Get image*/
+			jderobot::ImageDataPtr data = cprx->getImageData();
+			colorspaces::Image::FormatPtr fmt = colorspaces::Image::Format::searchFormat(data->description->format);
+			if (!fmt)
+				throw "Format not supported";
+
+			colorspaces::Image image(data->description->width,
+					data->description->height,
+					fmt,
+					&(data->pixelData[0]));
+
+			view->display(image);
+			usleep(10*1000);
+		}
+	}catch (const Ice::Exception& ex) {
+		std::cerr << ex << std::endl;
+		status = 1;
+	} catch (const char* msg) {
+		std::cerr << msg << std::endl;
+		status = 1;
+	}
+
+	if (ic)
+		ic->destroy();
+	return status;
+}

Copied: trunk/src/stable/components/giraffeClient/giraffeClient.glade (from rev 1076, trunk/src/testing/components/giraffeclient/giraffeclient.glade)
===================================================================
--- trunk/src/stable/components/giraffeClient/giraffeClient.glade	                        (rev 0)
+++ trunk/src/stable/components/giraffeClient/giraffeClient.glade	2013-10-25 10:56:31 UTC (rev 1078)
@@ -0,0 +1,450 @@
+<?xml version="1.0"?>
+<glade-interface>
+  <!-- interface-requires gtk+ 2.6 -->
+  <!-- interface-naming-policy toplevel-contextual -->
+  <widget class="GtkWindow" id="mainwindow">
+    <property name="visible">True</property>
+    <property name="title" translatable="yes">Giraffe Client</property>
+    <child>
+      <widget class="GtkVBox" id="vbox1">
+        <property name="visible">True</property>
+        <child>
+          <widget class="GtkMenuBar" id="menubar1">
+            <property name="visible">True</property>
+            <child>
+              <widget class="GtkMenuItem" id="menuitem1">
+                <property name="visible">True</property>
+                <property name="label" translatable="yes">Options</property>
+                <property name="use_underline">True</property>
+                <child>
+                  <widget class="GtkMenu" id="menuitem1_menu">
+                    <child>
+                      <widget class="GtkCheckMenuItem" id="active_image">
+                        <property name="visible">True</property>
+                        <property name="label" translatable="yes">Image</property>
+                        <property name="use_underline">True</property>
+                        <signal name="activate" handler="on_Active_image_activate"/>
+                      </widget>
+                    </child>
+                  </widget>
+                </child>
+              </widget>
+            </child>
+          </widget>
+          <packing>
+            <property name="expand">False</property>
+            <property name="fill">False</property>
+            <property name="position">0</property>
+          </packing>
+        </child>
+        <child>
+          <widget class="GtkVBox" id="vbox2">
+            <property name="visible">True</property>
+            <child>
+              <widget class="GtkTable" id="table2">
+                <property name="visible">True</property>
+                <property name="n_rows">2</property>
+                <property name="n_columns">2</property>
+                <child>
+                  <widget class="GtkTable" id="tableMotors">
+                    <property name="height_request">500</property>
+                    <property name="visible">True</property>
+                    <property name="n_rows">4</property>
+                    <property name="n_columns">4</property>
+                    <child>
+                      <widget class="GtkLabel" id="label25">
+                        <property name="visible">True</property>
+                        <property name="label" translatable="yes">Pan</property>
+                      </widget>
+                      <packing>
+                        <property name="x_options">GTK_FILL</property>
+                        <property name="y_options"></property>
+                      </packing>
+                    </child>
+                    <child>
+                      <widget class="GtkLabel" id="label26">
+                        <property name="visible">True</property>
+                        <property name="label" translatable="yes">Tilt</property>
+                      </widget>
+                      <packing>
+                        <property name="left_attach">1</property>
+                        <property name="right_attach">2</property>
+                        <property name="x_options">GTK_FILL</property>
+                        <property name="y_options"></property>
+                      </packing>
+                    </child>
+                    <child>
+                      <widget class="GtkLabel" id="label27">
+                        <property name="visible">True</property>
+                        <property name="label" translatable="yes">Left</property>
+                      </widget>
+                      <packing>
+                        <property name="left_attach">2</property>
+                        <property name="right_attach">3</property>
+                        <property name="x_options">GTK_FILL</property>
+                        <property name="y_options"></property>
+                      </packing>
+                    </child>
+                    <child>
+                      <widget class="GtkLabel" id="label28">
+                        <property name="visible">True</property>
+                        <property name="label" translatable="yes">Right</property>
+                        <property name="justify">center</property>
+                      </widget>
+                      <packing>
+                        <property name="left_attach">3</property>
+                        <property name="right_attach">4</property>
+                        <property name="x_options">GTK_FILL</property>
+                        <property name="y_options"></property>
+                      </packing>
+                    </child>
+                    <child>
+                      <widget class="GtkTable" id="table1">
+                        <property name="visible">True</property>
+                        <child>
+                          <widget class="GtkVScale" id="pos_pan">
+                            <property name="width_request">50</property>
+                            <property name="height_request">200</property>
+                            <property name="visible">True</property>
+                            <property name="can_focus">True</property>
+                            <property name="adjustment">0 -1.3999999999999999 1.3999999999999999 0 0 0</property>
+                            <property name="inverted">True</property>
+                            <property name="digits">2</property>
+                          </widget>
+                        </child>
+                      </widget>
+                      <packing>
+                        <property name="top_attach">1</property>
+                        <property name="bottom_attach">2</property>
+                      </packing>
+                    </child>
+                    <child>
+                      <widget class="GtkTable" id="table3">
+                        <property name="visible">True</property>
+                        <child>
+                          <widget class="GtkVScale" id="pos_tilt">
+                            <property name="width_request">50</property>
+                            <property name="visible">True</property>
+                            <property name="can_focus">True</property>
+                            <property name="adjustment">0 -1 1 0 0 0</property>
+                            <property name="inverted">True</property>
+                            <property name="digits">2</property>
+                          </widget>
+                        </child>
+                      </widget>
+                      <packing>
+                        <property name="left_attach">1</property>
+                        <property name="right_attach">2</property>
+                        <property name="top_attach">1</property>
+                        <property name="bottom_attach">2</property>
+                      </packing>
+                    </child>
+                    <child>
+                      <widget class="GtkTable" id="table4">
+                        <property name="visible">True</property>
+                        <child>
+                          <widget class="GtkVScale" id="pos_left">
+                            <property name="width_request">50</property>
+                            <property name="visible">True</property>
+                            <property name="can_focus">True</property>
+                            <property name="adjustment">0 -1 1 0 0 0</property>
+                            <property name="inverted">True</property>
+                            <property name="digits">2</property>
+                          </widget>
+                        </child>
+                      </widget>
+                      <packing>
+                        <property name="left_attach">2</property>
+                        <property name="right_attach">3</property>
+                        <property name="top_attach">1</property>
+                        <property name="bottom_attach">2</property>
+                      </packing>
+                    </child>
+                    <child>
+                      <widget class="GtkTable" id="table5">
+                        <property name="visible">True</property>
+                        <child>
+                          <widget class="GtkVScale" id="pos_right">
+                            <property name="width_request">50</property>
+                            <property name="visible">True</property>
+                            <property name="can_focus">True</property>
+                            <property name="adjustment">0 -1 1 0 0 0</property>
+                            <property name="inverted">True</property>
+                            <property name="digits">2</property>
+                          </widget>
+                        </child>
+                      </widget>
+                      <packing>
+                        <property name="left_attach">3</property>
+                        <property name="right_attach">4</property>
+                        <property name="top_attach">1</property>
+                        <property name="bottom_attach">2</property>
+                      </packing>
+                    </child>
+                    <child>
+                      <widget class="GtkButton" id="button_pan_c">
+                        <property name="label" translatable="yes">Center</property>
+                        <property name="visible">True</property>
+                        <property name="can_focus">True</property>
+                        <property name="receives_default">True</property>
+                        <property name="image_position">bottom</property>
+                      </widget>
+                      <packing>
+                        <property name="top_attach">3</property>
+                        <property name="bottom_attach">4</property>
+                        <property name="x_options">GTK_FILL</property>
+                        <property name="y_options">GTK_FILL</property>
+                      </packing>
+                    </child>
+                    <child>
+                      <widget class="GtkButton" id="button_tilt_c">
+                        <property name="label" translatable="yes">Center</property>
+                        <property name="visible">True</property>
+                        <property name="can_focus">True</property>
+                        <property name="receives_default">True</property>
+                        <property name="image_position">bottom</property>
+                      </widget>
+                      <packing>
+                        <property name="left_attach">1</property>
+                        <property name="right_attach">2</property>
+                        <property name="top_attach">3</property>
+                        <property name="bottom_attach">4</property>
+                        <property name="x_options">GTK_FILL</property>
+                        <property name="y_options">GTK_FILL</property>
+                      </packing>
+                    </child>
+                    <child>
+                      <widget class="GtkButton" id="button_left_c">
+                        <property name="label" translatable="yes">Center</property>
+                        <property name="visible">True</property>
+                        <property name="can_focus">True</property>
+                        <property name="receives_default">True</property>
+                        <property name="image_position">bottom</property>
+                      </widget>
+                      <packing>
+                        <property name="left_attach">2</property>
+                        <property name="right_attach">3</property>
+                        <property name="top_attach">3</property>
+                        <property name="bottom_attach">4</property>
+                        <property name="x_options">GTK_FILL</property>
+                        <property name="y_options">GTK_FILL</property>
+                      </packing>
+                    </child>
+                    <child>
+                      <widget class="GtkButton" id="button_right_c">
+                        <property name="label" translatable="yes">Center</property>
+                        <property name="visible">True</property>
+                        <property name="can_focus">True</property>
+                        <property name="receives_default">True</property>
+                        <property name="image_position">bottom</property>
+                      </widget>
+                      <packing>
+                        <property name="left_attach">3</property>
+                        <property name="right_attach">4</property>
+                        <property name="top_attach">3</property>
+                        <property name="bottom_attach">4</property>
+                        <property name="x_options">GTK_FILL</property>
+                        <property name="y_options">GTK_FILL</property>
+                      </packing>
+                    </child>
+                    <child>
+                      <widget class="GtkLabel" id="val_pan">
+                        <property name="width_request">100</property>
+                        <property name="visible">True</property>
+                        <property name="label" translatable="yes">0</property>
+                      </widget>
+                      <packing>
+                        <property name="top_attach">2</property>
+                        <property name="bottom_attach">3</property>
+                        <property name="x_options">GTK_FILL</property>
+                        <property name="y_options"></property>
+                      </packing>
+                    </child>
+                    <child>
+                      <widget class="GtkLabel" id="val_tilt">
+                        <property name="width_request">100</property>
+                        <property name="visible">True</property>
+                        <property name="label" translatable="yes">0</property>
+                      </widget>
+                      <packing>
+                        <property name="left_attach">1</property>
+                        <property name="right_attach">2</property>
+                        <property name="top_attach">2</property>
+                        <property name="bottom_attach">3</property>
+                        <property name="x_options">GTK_FILL</property>
+                        <property name="y_options"></property>
+                      </packing>
+                    </child>
+                    <child>
+                      <widget class="GtkLabel" id="val_left">
+                        <property name="width_request">100</property>
+                        <property name="visible">True</property>
+                        <property name="label" translatable="yes">0</property>
+                      </widget>
+                      <packing>
+                        <property name="left_attach">2</property>
+                        <property name="right_attach">3</property>
+                        <property name="top_attach">2</property>
+                        <property name="bottom_attach">3</property>
+                        <property name="x_options">GTK_FILL</property>
+                        <property name="y_options"></property>
+                      </packing>
+                    </child>
+                    <child>
+                      <widget class="GtkLabel" id="val_right">
+                        <property name="width_request">100</property>
+                        <property name="visible">True</property>
+                        <property name="label" translatable="yes">0</property>
+                      </widget>
+                      <packing>
+                        <property name="left_attach">3</property>
+                        <property name="right_attach">4</property>
+                        <property name="top_attach">2</property>
+                        <property name="bottom_attach">3</property>
+                        <property name="x_options">GTK_FILL</property>
+                        <property name="y_options"></property>
+                      </packing>
+                    </child>
+                  </widget>
+                </child>
+                <child>
+                  <widget class="GtkHBox" id="hbox1">
+                    <property name="visible">True</property>
+                    <child>
+                      <widget class="GtkVSeparator" id="vseparator1">
+                        <property name="visible">True</property>
+                      </widget>
+                      <packing>
+                        <property name="expand">False</property>
+                        <property name="position">0</property>
+                      </packing>
+                    </child>
+                    <child>
+                      <widget class="GtkImage" id="image">
+                        <property name="visible">True</property>
+                        <property name="stock">gtk-missing-image</property>
+                      </widget>
+                      <packing>
+                        <property name="position">1</property>
+                      </packing>
+                    </child>
+                  </widget>
+                  <packing>
+                    <property name="left_attach">1</property>
+                    <property name="right_attach">2</property>
+                  </packing>
+                </child>
+                <child>
+                  <placeholder/>
+                </child>
+                <child>
+                  <widget class="GtkTable" id="table6">
+                    <property name="visible">True</property>
+                    <property name="n_rows">3</property>
+                    <property name="n_columns">3</property>
+                    <child>
+                      <widget class="GtkLabel" id="label1">
+                        <property name="visible">True</property>
+                        <property name="label" translatable="yes">X</property>
+                      </widget>
+                    </child>
+                    <child>
+                      <widget class="GtkLabel" id="label2">
+                        <property name="visible">True</property>
+                        <property name="label" translatable="yes">Y</property>
+                      </widget>
+                      <packing>
+                        <property name="top_attach">1</property>
+                        <property name="bottom_attach">2</property>
+                      </packing>
+                    </child>
+                    <child>
+                      <widget class="GtkLabel" id="label3">
+                        <property name="visible">True</property>
+                        <property name="label" translatable="yes">Z</property>
+                      </widget>
+                      <packing>
+                        <property name="top_attach">2</property>
+                        <property name="bottom_attach">3</property>
+                      </packing>
+                    </child>
+                    <child>
+                      <widget class="GtkHScale" id="look_x">
+                        <property name="width_request">250</property>
+                        <property name="visible">True</property>
+                        <property name="can_focus">True</property>
+                        <property name="adjustment">0 0 4000 1 10 10</property>
+                      </widget>
+                      <packing>
+                        <property name="left_attach">1</property>
+                        <property name="right_attach">2</property>
+                      </packing>
+                    </child>
+                    <child>
+                      <widget class="GtkHScale" id="look_y">
+                        <property name="width_request">250</property>
+                        <property name="visible">True</property>
+                        <property name="can_focus">True</property>
+                        <property name="adjustment">0 -3000 3000 1 10 10</property>
+                      </widget>
+                      <packing>
+                        <property name="left_attach">1</property>
+                        <property name="right_attach">2</property>
+                        <property name="top_attach">1</property>
+                        <property name="bottom_attach">2</property>
+                      </packing>
+                    </child>
+                    <child>
+                      <widget class="GtkHScale" id="look_z">
+                        <property name="width_request">250</property>
+                        <property name="visible">True</property>
+                        <property name="can_focus">True</property>
+                        <property name="adjustment">0 0 2000 1 10 10</property>
+                      </widget>
+                      <packing>
+                        <property name="left_attach">1</property>
+                        <property name="right_attach">2</property>
+                        <property name="top_attach">2</property>
+                        <property name="bottom_attach">3</property>
+                      </packing>
+                    </child>
+                    <child>
+                      <placeholder/>
+                    </child>
+                    <child>
+                      <placeholder/>
+                    </child>
+                    <child>
+                      <widget class="GtkButton" id="button_lookat">
+                        <property name="label" translatable="yes">Look at</property>
+                        <property name="visible">True</property>
+                        <property name="can_focus">True</property>
+                        <property name="receives_default">True</property>
+                      </widget>
+                      <packing>
+                        <property name="left_attach">2</property>
+                        <property name="right_attach">3</property>
+                        <property name="top_attach">1</property>
+                        <property name="bottom_attach">2</property>
+                      </packing>
+                    </child>
+                  </widget>
+                  <packing>
+                    <property name="top_attach">1</property>
+                    <property name="bottom_attach">2</property>
+                  </packing>
+                </child>
+              </widget>
+              <packing>
+                <property name="position">0</property>
+              </packing>
+            </child>
+          </widget>
+          <packing>
+            <property name="position">1</property>
+          </packing>
+        </child>
+      </widget>
+    </child>
+  </widget>
+</glade-interface>

Deleted: trunk/src/stable/components/giraffeClient/giraffeclient.cfg
===================================================================
--- trunk/src/testing/components/giraffeclient/giraffeclient.cfg	2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeClient/giraffeclient.cfg	2013-10-25 10:56:31 UTC (rev 1078)
@@ -1,3 +0,0 @@
-giraffeClient.JointMotor.Proxy=jointmotor:tcp -h localhost -p 10067
-giraffeClient.Camera.Proxy=cameraA:tcp -h 127.0.0.1 -p 9999
-

Deleted: trunk/src/stable/components/giraffeClient/giraffeclient.cpp
===================================================================
--- trunk/src/testing/components/giraffeclient/giraffeclient.cpp	2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeClient/giraffeclient.cpp	2013-10-25 10:56:31 UTC (rev 1078)
@@ -1,120 +0,0 @@
-/*
- *  Copyright (C) 2010 Eduardo Perdices García
- *
- *  This program is free software; you can redistribute it and/or modify
- *  it under the terms of the GNU General Public License as published by
- *  the Free Software Foundation; either version 2 of the License, or
- *  (at your option) any later version.
- *
- *  This program is distributed in the hope that it will be useful,
- *  but WITHOUT ANY WARRANTY; without even the implied warranty of
- *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- *  GNU Library General Public License for more details.
- *
- *  You should have received a copy of the GNU General Public License
- *  along with this program; if not, write to the Free Software
- *  Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
- *
- *   Authors : Eduardo Perdices García <eperdices en gsyc.es>,
- *             Jose María Cañas Plaza <jmplaza en gsyc.es>
- *
- */
-
-#include <iostream>
-#include <Ice/Ice.h>
-#include <IceUtil/IceUtil.h>
-#include <jderobot/camera.h>
-#include <colorspaces/colorspacesmm.h>
-#include "view.h"
-#include <jderobot/jointmotor.h>
-
-using namespace std;
-
-int main(int argc, char** argv){
-
-	int status;
-	giraffeClient::View * view;
-	giraffeClient::Controller * controller;
-	Ice::CommunicatorPtr ic;
-	RoboCompJointMotor::MotorParamsList motorsparams;
-	RoboCompJointMotor::MotorStateMap motorsstate;
-
-	try{
-		ic = Ice::initialize(argc,argv);
-		/*Get to giraffe server*/
-		Ice::ObjectPrx base1 = ic->propertyToProxy("giraffeClient.JointMotor.Proxy");
-		if (0==base1)
-			throw "Could not create proxy to giraffe server";
-
-		/*cast to JointMotorPrx*/
-		RoboCompJointMotor::JointMotorPrx jprx = RoboCompJointMotor::JointMotorPrx::checkedCast(base1);
-		if (0==jprx)
-			throw "Invalid proxy";
-
-		/*Get driver camera*/		
-		Ice::ObjectPrx base2 = ic->propertyToProxy("giraffeClient.Camera.Proxy");
-		if (0==base2)
-			throw "Could not create proxy to camera server";
-
-		/*cast to CameraPrx*/
-		jderobot::CameraPrx cprx = jderobot::CameraPrx::checkedCast(base2);
-		if (0==cprx)
-			throw "Invalid proxy";	
-
-		/*Create Controller and View*/
-		controller = new giraffeClient::Controller(jprx);
-		view = new giraffeClient::View(controller);
-
-		/*Show params of motors*/
-		motorsparams = jprx->getAllMotorParams();
-
-		cout << "Motors params:" << endl;
-		for(vector<RoboCompJointMotor::MotorParams>::iterator it = motorsparams.begin(); it != motorsparams.end(); it++) {
-			cout << endl;
-			cout << "Name: " << (*it).name << endl;
-			cout << "Id: " << (int) (*it).busId << endl;
-			cout << "minPos: " << (*it).minPos << endl;
-			cout << "maxPos: " << (*it).maxPos << endl;
-			cout << "maxVel: " << (*it).maxVelocity << endl;
-			cout << "zeroPos: " << (*it).zeroPos << endl;
-			cout << "inverted: " << (*it).invertedSign << endl;
-		}
-
-		/*Get current pos of motors*/
-		jprx->getAllMotorState(motorsstate);
-		view->setInitialValues(motorsstate["neck"].pos, motorsstate["tilt"].pos, motorsstate["leftPan"].pos, motorsstate["rightPan"].pos);
-		view->setRealValues(motorsstate["neck"].pos, motorsstate["tilt"].pos, motorsstate["leftPan"].pos, motorsstate["rightPan"].pos);
-
-		while(view->isVisible()){
-
-			/*Get status of motors*/
-			jprx->getAllMotorState(motorsstate);
-
-			view->setRealValues(motorsstate["neck"].pos, motorsstate["tilt"].pos, motorsstate["leftPan"].pos, motorsstate["rightPan"].pos);
-
-			/*Get image*/
-      jderobot::ImageDataPtr data = cprx->getImageData();
-      colorspaces::Image::FormatPtr fmt = colorspaces::Image::Format::searchFormat(data->description->format);
-      if (!fmt)
-				throw "Format not supported";
-
-      colorspaces::Image image(data->description->width,
-			       data->description->height,
-			       fmt,
-			       &(data->pixelData[0]));
-
-      view->display(image);
-			usleep(10*1000);
-		}
-	}catch (const Ice::Exception& ex) {
-		std::cerr << ex << std::endl;
-		status = 1;
-	} catch (const char* msg) {
-		std::cerr << msg << std::endl;
-		status = 1;
-	}
-
-	if (ic)
-		ic->destroy();
-	return status;
-}

Deleted: trunk/src/stable/components/giraffeClient/giraffeclient.glade
===================================================================
--- trunk/src/testing/components/giraffeclient/giraffeclient.glade	2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeClient/giraffeclient.glade	2013-10-25 10:56:31 UTC (rev 1078)
@@ -1,450 +0,0 @@
-<?xml version="1.0"?>
-<glade-interface>
-  <!-- interface-requires gtk+ 2.6 -->
-  <!-- interface-naming-policy toplevel-contextual -->
-  <widget class="GtkWindow" id="mainwindow">
-    <property name="visible">True</property>
-    <property name="title" translatable="yes">Giraffe Client</property>
-    <child>
-      <widget class="GtkVBox" id="vbox1">
-        <property name="visible">True</property>
-        <child>
-          <widget class="GtkMenuBar" id="menubar1">
-            <property name="visible">True</property>
-            <child>
-              <widget class="GtkMenuItem" id="menuitem1">
-                <property name="visible">True</property>
-                <property name="label" translatable="yes">Options</property>
-                <property name="use_underline">True</property>
-                <child>
-                  <widget class="GtkMenu" id="menuitem1_menu">
-                    <child>
-                      <widget class="GtkCheckMenuItem" id="active_image">
-                        <property name="visible">True</property>
-                        <property name="label" translatable="yes">Image</property>
-                        <property name="use_underline">True</property>
-                        <signal name="activate" handler="on_Active_image_activate"/>
-                      </widget>
-                    </child>
-                  </widget>
-                </child>
-              </widget>
-            </child>
-          </widget>
-          <packing>
-            <property name="expand">False</property>
-            <property name="fill">False</property>
-            <property name="position">0</property>
-          </packing>
-        </child>
-        <child>
-          <widget class="GtkVBox" id="vbox2">
-            <property name="visible">True</property>
-            <child>
-              <widget class="GtkTable" id="table2">
-                <property name="visible">True</property>
-                <property name="n_rows">2</property>
-                <property name="n_columns">2</property>
-                <child>
-                  <widget class="GtkTable" id="tableMotors">
-                    <property name="height_request">500</property>
-                    <property name="visible">True</property>
-                    <property name="n_rows">4</property>
-                    <property name="n_columns">4</property>
-                    <child>
-                      <widget class="GtkLabel" id="label25">
-                        <property name="visible">True</property>
-                        <property name="label" translatable="yes">Pan</property>
-                      </widget>
-                      <packing>
-                        <property name="x_options">GTK_FILL</property>
-                        <property name="y_options"></property>
-                      </packing>
-                    </child>
-                    <child>
-                      <widget class="GtkLabel" id="label26">
-                        <property name="visible">True</property>
-                        <property name="label" translatable="yes">Tilt</property>
-                      </widget>
-                      <packing>
-                        <property name="left_attach">1</property>
-                        <property name="right_attach">2</property>
-                        <property name="x_options">GTK_FILL</property>
-                        <property name="y_options"></property>
-                      </packing>
-                    </child>
-                    <child>
-                      <widget class="GtkLabel" id="label27">
-                        <property name="visible">True</property>
-                        <property name="label" translatable="yes">Left</property>
-                      </widget>
-                      <packing>
-                        <property name="left_attach">2</property>
-                        <property name="right_attach">3</property>
-                        <property name="x_options">GTK_FILL</property>
-                        <property name="y_options"></property>
-                      </packing>
-                    </child>
-                    <child>
-                      <widget class="GtkLabel" id="label28">
-                        <property name="visible">True</property>
-                        <property name="label" translatable="yes">Right</property>
-                        <property name="justify">center</property>
-                      </widget>
-                      <packing>
-                        <property name="left_attach">3</property>
-                        <property name="right_attach">4</property>
-                        <property name="x_options">GTK_FILL</property>
-                        <property name="y_options"></property>
-                      </packing>
-                    </child>
-                    <child>
-                      <widget class="GtkTable" id="table1">
-                        <property name="visible">True</property>
-                        <child>
-                          <widget class="GtkVScale" id="pos_pan">
-                            <property name="width_request">50</property>
-                            <property name="height_request">200</property>
-                            <property name="visible">True</property>
-                            <property name="can_focus">True</property>
-                            <property name="adjustment">0 -1.3999999999999999 1.3999999999999999 0 0 0</property>
-                            <property name="inverted">True</property>
-                            <property name="digits">2</property>
-                          </widget>
-                        </child>
-                      </widget>
-                      <packing>
-                        <property name="top_attach">1</property>
-                        <property name="bottom_attach">2</property>
-                      </packing>
-                    </child>
-                    <child>
-                      <widget class="GtkTable" id="table3">
-                        <property name="visible">True</property>
-                        <child>
-                          <widget class="GtkVScale" id="pos_tilt">
-                            <property name="width_request">50</property>
-                            <property name="visible">True</property>
-                            <property name="can_focus">True</property>
-                            <property name="adjustment">0 -1 1 0 0 0</property>
-                            <property name="inverted">True</property>
-                            <property name="digits">2</property>
-                          </widget>
-                        </child>
-                      </widget>
-                      <packing>
-                        <property name="left_attach">1</property>
-                        <property name="right_attach">2</property>
-                        <property name="top_attach">1</property>
-                        <property name="bottom_attach">2</property>
-                      </packing>
-                    </child>
-                    <child>
-                      <widget class="GtkTable" id="table4">
-                        <property name="visible">True</property>
-                        <child>
-                          <widget class="GtkVScale" id="pos_left">
-                            <property name="width_request">50</property>
-                            <property name="visible">True</property>
-                            <property name="can_focus">True</property>
-                            <property name="adjustment">0 -1 1 0 0 0</property>
-                            <property name="inverted">True</property>
-                            <property name="digits">2</property>
-                          </widget>
-                        </child>
-                      </widget>
-                      <packing>
-                        <property name="left_attach">2</property>
-                        <property name="right_attach">3</property>
-                        <property name="top_attach">1</property>
-                        <property name="bottom_attach">2</property>
-                      </packing>
-                    </child>
-                    <child>
-                      <widget class="GtkTable" id="table5">
-                        <property name="visible">True</property>
-                        <child>
-                          <widget class="GtkVScale" id="pos_right">
-                            <property name="width_request">50</property>
-                            <property name="visible">True</property>
-                            <property name="can_focus">True</property>
-                            <property name="adjustment">0 -1 1 0 0 0</property>
-                            <property name="inverted">True</property>
-                            <property name="digits">2</property>
-                          </widget>
-                        </child>
-                      </widget>
-                      <packing>
-                        <property name="left_attach">3</property>
-                        <property name="right_attach">4</property>
-                        <property name="top_attach">1</property>
-                        <property name="bottom_attach">2</property>
-                      </packing>
-                    </child>
-                    <child>
-                      <widget class="GtkButton" id="button_pan_c">
-                        <property name="label" translatable="yes">Center</property>
-                        <property name="visible">True</property>
-                        <property name="can_focus">True</property>
-                        <property name="receives_default">True</property>
-                        <property name="image_position">bottom</property>
-                      </widget>
-                      <packing>
-                        <property name="top_attach">3</property>
-                        <property name="bottom_attach">4</property>
-                        <property name="x_options">GTK_FILL</property>
-                        <property name="y_options">GTK_FILL</property>
-                      </packing>
-                    </child>
-                    <child>
-                      <widget class="GtkButton" id="button_tilt_c">
-                        <property name="label" translatable="yes">Center</property>
-                        <property name="visible">True</property>
-                        <property name="can_focus">True</property>
-                        <property name="receives_default">True</property>
-                        <property name="image_position">bottom</property>
-                      </widget>
-                      <packing>
-                        <property name="left_attach">1</property>
-                        <property name="right_attach">2</property>
-                        <property name="top_attach">3</property>
-                        <property name="bottom_attach">4</property>
-                        <property name="x_options">GTK_FILL</property>
-                        <property name="y_options">GTK_FILL</property>
-                      </packing>
-                    </child>
-                    <child>
-                      <widget class="GtkButton" id="button_left_c">
-                        <property name="label" translatable="yes">Center</property>
-                        <property name="visible">True</property>
-                        <property name="can_focus">True</property>
-                        <property name="receives_default">True</property>
-                        <property name="image_position">bottom</property>
-                      </widget>
-                      <packing>
-                        <property name="left_attach">2</property>
-                        <property name="right_attach">3</property>
-                        <property name="top_attach">3</property>
-                        <property name="bottom_attach">4</property>
-                        <property name="x_options">GTK_FILL</property>
-                        <property name="y_options">GTK_FILL</property>
-                      </packing>
-                    </child>
-                    <child>
-                      <widget class="GtkButton" id="button_right_c">
-                        <property name="label" translatable="yes">Center</property>
-                        <property name="visible">True</property>
-                        <property name="can_focus">True</property>
-                        <property name="receives_default">True</property>
-                        <property name="image_position">bottom</property>
-                      </widget>
-                      <packing>
-                        <property name="left_attach">3</property>
-                        <property name="right_attach">4</property>
-                        <property name="top_attach">3</property>
-                        <property name="bottom_attach">4</property>
-                        <property name="x_options">GTK_FILL</property>
-                        <property name="y_options">GTK_FILL</property>
-                      </packing>
-                    </child>
-                    <child>
-                      <widget class="GtkLabel" id="val_pan">
-                        <property name="width_request">100</property>
-                        <property name="visible">True</property>
-                        <property name="label" translatable="yes">0</property>
-                      </widget>
-                      <packing>
-                        <property name="top_attach">2</property>
-                        <property name="bottom_attach">3</property>
-                        <property name="x_options">GTK_FILL</property>
-                        <property name="y_options"></property>
-                      </packing>
-                    </child>
-                    <child>
-                      <widget class="GtkLabel" id="val_tilt">
-                        <property name="width_request">100</property>
-                        <property name="visible">True</property>
-                        <property name="label" translatable="yes">0</property>
-                      </widget>
-                      <packing>
-                        <property name="left_attach">1</property>
-                        <property name="right_attach">2</property>
-                        <property name="top_attach">2</property>
-                        <property name="bottom_attach">3</property>
-                        <property name="x_options">GTK_FILL</property>
-                        <property name="y_options"></property>
-                      </packing>
-                    </child>
-                    <child>
-                      <widget class="GtkLabel" id="val_left">
-                        <property name="width_request">100</property>
-                        <property name="visible">True</property>
-                        <property name="label" translatable="yes">0</property>
-                      </widget>
-                      <packing>
-                        <property name="left_attach">2</property>
-                        <property name="right_attach">3</property>
-                        <property name="top_attach">2</property>
-                        <property name="bottom_attach">3</property>
-                        <property name="x_options">GTK_FILL</property>
-                        <property name="y_options"></property>
-                      </packing>
-                    </child>
-                    <child>
-                      <widget class="GtkLabel" id="val_right">
-                        <property name="width_request">100</property>
-                        <property name="visible">True</property>
-                        <property name="label" translatable="yes">0</property>
-                      </widget>
-                      <packing>
-                        <property name="left_attach">3</property>
-                        <property name="right_attach">4</property>
-                        <property name="top_attach">2</property>
-                        <property name="bottom_attach">3</property>
-                        <property name="x_options">GTK_FILL</property>
-                        <property name="y_options"></property>
-                      </packing>
-                    </child>
-                  </widget>
-                </child>
-                <child>
-                  <widget class="GtkHBox" id="hbox1">
-                    <property name="visible">True</property>
-                    <child>
-                      <widget class="GtkVSeparator" id="vseparator1">
-                        <property name="visible">True</property>
-                      </widget>
-                      <packing>
-                        <property name="expand">False</property>
-                        <property name="position">0</property>
-                      </packing>
-                    </child>
-                    <child>
-                      <widget class="GtkImage" id="image">
-                        <property name="visible">True</property>
-                        <property name="stock">gtk-missing-image</property>
-                      </widget>
-                      <packing>
-                        <property name="position">1</property>
-                      </packing>
-                    </child>
-                  </widget>
-                  <packing>
-                    <property name="left_attach">1</property>
-                    <property name="right_attach">2</property>
-                  </packing>
-                </child>
-                <child>
-                  <placeholder/>
-                </child>
-                <child>
-                  <widget class="GtkTable" id="table6">
-                    <property name="visible">True</property>
-                    <property name="n_rows">3</property>
-                    <property name="n_columns">3</property>
-                    <child>
-                      <widget class="GtkLabel" id="label1">
-                        <property name="visible">True</property>
-                        <property name="label" translatable="yes">X</property>
-                      </widget>
-                    </child>
-                    <child>
-                      <widget class="GtkLabel" id="label2">
-                        <property name="visible">True</property>
-                        <property name="label" translatable="yes">Y</property>
-                      </widget>
-                      <packing>
-                        <property name="top_attach">1</property>
-                        <property name="bottom_attach">2</property>
-                      </packing>
-                    </child>
-                    <child>
-                      <widget class="GtkLabel" id="label3">
-                        <property name="visible">True</property>
-                        <property name="label" translatable="yes">Z</property>
-                      </widget>
-                      <packing>
-                        <property name="top_attach">2</property>
-                        <property name="bottom_attach">3</property>
-                      </packing>
-                    </child>
-                    <child>
-                      <widget class="GtkHScale" id="look_x">
-                        <property name="width_request">250</property>
-                        <property name="visible">True</property>
-                        <property name="can_focus">True</property>
-                        <property name="adjustment">0 0 4000 1 10 10</property>
-                      </widget>
-                      <packing>
-                        <property name="left_attach">1</property>
-                        <property name="right_attach">2</property>
-                      </packing>
-                    </child>
-                    <child>
-                      <widget class="GtkHScale" id="look_y">
-                        <property name="width_request">250</property>
-                        <property name="visible">True</property>
-                        <property name="can_focus">True</property>
-                        <property name="adjustment">0 -3000 3000 1 10 10</property>
-                      </widget>
-                      <packing>
-                        <property name="left_attach">1</property>
-                        <property name="right_attach">2</property>
-                        <property name="top_attach">1</property>
-                        <property name="bottom_attach">2</property>
-                      </packing>
-                    </child>
-                    <child>
-                      <widget class="GtkHScale" id="look_z">
-                        <property name="width_request">250</property>
-                        <property name="visible">True</property>
-                        <property name="can_focus">True</property>
-                        <property name="adjustment">0 0 2000 1 10 10</property>
-                      </widget>
-                      <packing>
-                        <property name="left_attach">1</property>
-                        <property name="right_attach">2</property>
-                        <property name="top_attach">2</property>
-                        <property name="bottom_attach">3</property>
-                      </packing>
-                    </child>
-                    <child>
-                      <placeholder/>
-                    </child>
-                    <child>
-                      <placeholder/>
-                    </child>
-                    <child>
-                      <widget class="GtkButton" id="button_lookat">
-                        <property name="label" translatable="yes">Look at</property>
-                        <property name="visible">True</property>
-                        <property name="can_focus">True</property>
-                        <property name="receives_default">True</property>
-                      </widget>
-                      <packing>
-                        <property name="left_attach">2</property>
-                        <property name="right_attach">3</property>
-                        <property name="top_attach">1</property>
-                        <property name="bottom_attach">2</property>
-                      </packing>
-                    </child>
-                  </widget>
-                  <packing>
-                    <property name="top_attach">1</property>
-                    <property name="bottom_attach">2</property>
-                  </packing>
-                </child>
-              </widget>
-              <packing>
-                <property name="position">0</property>
-              </packing>
-            </child>
-          </widget>
-          <packing>
-            <property name="position">1</property>
-          </packing>
-        </child>
-      </widget>
-    </child>
-  </widget>
-</glade-interface>

Modified: trunk/src/stable/components/giraffeClient/view.cpp
===================================================================
--- trunk/src/testing/components/giraffeclient/view.cpp	2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeClient/view.cpp	2013-10-25 10:56:31 UTC (rev 1078)
@@ -88,17 +88,17 @@
   void View::display(const colorspaces::Image& image)
   {
 		/*Manage image*/
-		this->controller->drawWorld(image);
+		//this->controller->drawWorld(image);
 
 		/*Set image*/
-		colorspaces::ImageRGB8 img_rgb8(image);//conversion will happen if needed
-		Glib::RefPtr<Gdk::Pixbuf> imgBuff = Gdk::Pixbuf::create_from_data((const guint8*)img_rgb8.data,
+		colorspaces::ImageRGB8 img_rgb888(image);//conversion will happen if needed
+		Glib::RefPtr<Gdk::Pixbuf> imgBuff = Gdk::Pixbuf::create_from_data((const guint8*)img_rgb888.data,
 				    Gdk::COLORSPACE_RGB,
 				    false,
 				    8,
-				    img_rgb8.width,
-				    img_rgb8.height,
-				    img_rgb8.step); 
+				    img_rgb888.width,
+				    img_rgb888.height,
+				    img_rgb888.step); 
     gtk_image->clear();
     gtk_image->set(imgBuff);
 

Modified: trunk/src/stable/components/giraffeClient/view.h
===================================================================
--- trunk/src/testing/components/giraffeclient/view.h	2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeClient/view.h	2013-10-25 10:56:31 UTC (rev 1078)
@@ -30,7 +30,7 @@
 #include <IceUtil/Thread.h>
 #include <IceUtil/Time.h>
 #include "controller.h"
-#include <colorspaces/colorspacesmm.h>
+#include <visionlib/colorspaces/colorspacesmm.h>
 
 namespace giraffeClient {
   class View {

Modified: trunk/src/stable/components/giraffeServer/CMakeLists.txt
===================================================================
--- trunk/src/testing/components/giraffeServer/CMakeLists.txt	2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/CMakeLists.txt	2013-10-25 10:56:31 UTC (rev 1078)
@@ -1,56 +1,23 @@
-cmake_minimum_required(VERSION 2.6)
-PROJECT( jointmotorComp )
+SET( SOURCE_FILES jointmotorComp.cpp jointmotorI.cpp worker.cpp dynamixel.cpp monitor.cpp servo.cpp q4serialport/q4serialport.cpp moc_monitor.cpp  moc_q4serialport.cpp  moc_worker.cpp)
 
-# Sources set
-SET ( SOURCES
-  jointmotorComp.cpp
-  jointmotorI.cpp
-  worker.cpp
-  dynamixel.cpp
-  #fakehandler.cpp
-  #megaroboticshandler.cpp
-  monitor.cpp
-  servo.cpp
-  $ENV{ROBOCOMP}/Classes/rapplication/rapplication.cpp
-  $ENV{ROBOCOMP}/Classes/q4serialport/q4serialport.cpp
 
+include_directories(
+    ${INTERFACES_CPP_DIR}
+    ${LIBS_DIR}
+    ${CMAKE_CURRENT_SOURCE_DIR}
+    ${gtkmm_INCLUDE_DIRS}
+    ${libglademm_INCLUDE_DIRS}
 )
 
-# Headers set
-SET ( HEADERS
-  worker.h
-  monitor.h
-  $ENV{ROBOCOMP}/Classes/q4serialport/q4serialport.h
-)
+add_executable (giraffeServer ${SOURCE_FILES})
 
-# RoboComp
-INCLUDE( $ENV{ROBOCOMP}/CMake/robocomp.cmake )
-ROBOCOMP_INITIALIZE( $ENV{ROBOCOMP}/ )
-ROBOCOMP_WRAP_ICE( JointMotor)
-
-SET (EXECUTABLE_OUTPUT_PATH $ENV{ROBOCOMP}/Components/HAL/jointmotorComp/bin)
-
-# IPP
-# INCLUDE( $ENV{ROBOCOMP}/CMake/ipp.cmake )
-
-# Qt4
-ADD_DEFINITIONS( -Wall -DQT_DLL -DQT_GUI_LIB -DQT_CORE_LIB )
-FIND_PACKAGE( Qt4 REQUIRED )
-SET( QT_USE_QTGUI TRUE )
-SET( QT_USE_QTOPENGL TRUE )
-INCLUDE( ${QT_USE_FILE} )
-QT4_WRAP_CPP( MOC_SOURCES ${HEADERS} )
-
-# Gazebo
-INCLUDE( $ENV{ROBOCOMP}/CMake/gazebo.cmake )
-IF (GAZEBO_FOUND EQUAL 0)
-  MESSAGE(STATUS "\n\nGazebo motor handle will NOT be built!\n\n")
-ELSE (GAZEBO_FOUND EQUAL 0)
-  MESSAGE(STATUS "\n\nGazebo motor handle WILL be built!\n\n")
-ENDIF (GAZEBO_FOUND EQUAL 0)
-
-# Specify construction and link process
-ADD_EXECUTABLE( jointmotorComp ${SOURCES} ${MOC_SOURCES} ${RC_SOURCES} ${UI_HEADERS} )
-TARGET_LINK_LIBRARIES( jointmotorComp ${QT_LIBRARIES} ${LIBS})
-
-INSTALL(FILES ${EXECUTABLE_OUTPUT_PATH}/jointmotorComp DESTINATION /opt/robocomp/bin/ )
+TARGET_LINK_LIBRARIES(giraffeServer
+    ${CMAKE_THREAD_LIBS_INIT}
+    ${gtkmm_LIBRARIES}
+    ${libglademm_LIBRARIES}
+    ${ZeroCIce_LIBRARIES}   
+    ${QT_LIBRARIES_JDE}
+    JderobotInterfaces
+    QtCore
+    QtGui
+)

Deleted: trunk/src/stable/components/giraffeServer/JointMotor.cpp
===================================================================
--- trunk/src/testing/components/giraffeServer/JointMotor.cpp	2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/JointMotor.cpp	2013-10-25 10:56:31 UTC (rev 1078)
@@ -1,2716 +0,0 @@
-// **********************************************************************
-//
-// Copyright (c) 2003-2009 ZeroC, Inc. All rights reserved.
-//
-// This copy of Ice is licensed to you under the terms described in the
-// ICE_LICENSE file included in this distribution.
-//
-// **********************************************************************
-
-// Ice version 3.3.1
-// Generated from file `JointMotor.ice'
-
-#include <JointMotor.h>
-#include <Ice/LocalException.h>
-#include <Ice/ObjectFactory.h>
-#include <Ice/BasicStream.h>
-#include <IceUtil/Iterator.h>
-#include <IceUtil/ScopedArray.h>
-
-#ifndef ICE_IGNORE_VERSION
-#   if ICE_INT_VERSION / 100 != 303
-#       error Ice version mismatch!
-#   endif
-#   if ICE_INT_VERSION % 100 > 50
-#       error Beta header file detected
-#   endif
-#   if ICE_INT_VERSION % 100 < 1
-#       error Ice patch level mismatch!
-#   endif
-#endif
-
-static const ::std::string __RoboCompJointMotor__JointMotor__setPosition_name = "setPosition";
-
-static const ::std::string __RoboCompJointMotor__JointMotor__setVelocity_name = "setVelocity";
-
-static const ::std::string __RoboCompJointMotor__JointMotor__setSyncPosition_name = "setSyncPosition";
-
-static const ::std::string __RoboCompJointMotor__JointMotor__getMotorParams_name = "getMotorParams";
-
-static const ::std::string __RoboCompJointMotor__JointMotor__getMotorState_name = "getMotorState";
-
-static const ::std::string __RoboCompJointMotor__JointMotor__getMotorStateMap_name = "getMotorStateMap";
-
-static const ::std::string __RoboCompJointMotor__JointMotor__getAllMotorState_name = "getAllMotorState";
-
-static const ::std::string __RoboCompJointMotor__JointMotor__getAllMotorParams_name = "getAllMotorParams";
-
-static const ::std::string __RoboCompJointMotor__JointMotor__getBusParams_name = "getBusParams";
-
-::Ice::Object* IceInternal::upCast(::RoboCompJointMotor::JointMotor* p) { return p; }
-::IceProxy::Ice::Object* IceInternal::upCast(::IceProxy::RoboCompJointMotor::JointMotor* p) { return p; }
-
-void
-RoboCompJointMotor::__read(::IceInternal::BasicStream* __is, ::RoboCompJointMotor::JointMotorPrx& v)
-{
-    ::Ice::ObjectPrx proxy;
-    __is->read(proxy);
-    if(!proxy)
-    {
-        v = 0;
-    }
-    else
-    {
-        v = new ::IceProxy::RoboCompJointMotor::JointMotor;
-        v->__copyFrom(proxy);
-    }
-}
-
-RoboCompJointMotor::HardwareFailedException::HardwareFailedException(const ::std::string& __ice_what) :
-#if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
-    UserException(),
-#else
-    ::Ice::UserException(),
-#endif
-    what(__ice_what)
-{
-}
-
-RoboCompJointMotor::HardwareFailedException::~HardwareFailedException() throw()
-{
-}
-
-static const char* __RoboCompJointMotor__HardwareFailedException_name = "RoboCompJointMotor::HardwareFailedException";
-
-::std::string
-RoboCompJointMotor::HardwareFailedException::ice_name() const
-{
-    return __RoboCompJointMotor__HardwareFailedException_name;
-}
-
-::Ice::Exception*
-RoboCompJointMotor::HardwareFailedException::ice_clone() const
-{
-    return new HardwareFailedException(*this);
-}
-
-void
-RoboCompJointMotor::HardwareFailedException::ice_throw() const
-{
-    throw *this;
-}
-
-void
-RoboCompJointMotor::HardwareFailedException::__write(::IceInternal::BasicStream* __os) const
-{
-    __os->write(::std::string("::RoboCompJointMotor::HardwareFailedException"), false);
-    __os->startWriteSlice();
-    __os->write(what);
-    __os->endWriteSlice();
-}
-
-void
-RoboCompJointMotor::HardwareFailedException::__read(::IceInternal::BasicStream* __is, bool __rid)
-{
-    if(__rid)
-    {
-        ::std::string myId;
-        __is->read(myId, false);
-    }
-    __is->startReadSlice();
-    __is->read(what);
-    __is->endReadSlice();
-}
-
-void
-RoboCompJointMotor::HardwareFailedException::__write(const ::Ice::OutputStreamPtr&) const
-{
-    Ice::MarshalException ex(__FILE__, __LINE__);
-    ex.reason = "exception RoboCompJointMotor::HardwareFailedException was not generated with stream support";
-    throw ex;
-}
-
-void
-RoboCompJointMotor::HardwareFailedException::__read(const ::Ice::InputStreamPtr&, bool)
-{
-    Ice::MarshalException ex(__FILE__, __LINE__);
-    ex.reason = "exception RoboCompJointMotor::HardwareFailedException was not generated with stream support";
-    throw ex;
-}
-
-struct __F__RoboCompJointMotor__HardwareFailedException : public ::IceInternal::UserExceptionFactory
-{
-    virtual void
-    createAndThrow()
-    {
-        throw ::RoboCompJointMotor::HardwareFailedException();
-    }
-};
-
-static ::IceInternal::UserExceptionFactoryPtr __F__RoboCompJointMotor__HardwareFailedException__Ptr = new __F__RoboCompJointMotor__HardwareFailedException;
-
-const ::IceInternal::UserExceptionFactoryPtr&
-RoboCompJointMotor::HardwareFailedException::ice_factory()
-{
-    return __F__RoboCompJointMotor__HardwareFailedException__Ptr;
-}
-
-class __F__RoboCompJointMotor__HardwareFailedException__Init
-{
-public:
-
-    __F__RoboCompJointMotor__HardwareFailedException__Init()
-    {
-        ::IceInternal::factoryTable->addExceptionFactory("::RoboCompJointMotor::HardwareFailedException", ::RoboCompJointMotor::HardwareFailedException::ice_factory());
-    }
-
-    ~__F__RoboCompJointMotor__HardwareFailedException__Init()
-    {
-        ::IceInternal::factoryTable->removeExceptionFactory("::RoboCompJointMotor::HardwareFailedException");
-    }
-};
-
-static __F__RoboCompJointMotor__HardwareFailedException__Init __F__RoboCompJointMotor__HardwareFailedException__i;
-
-#ifdef __APPLE__
-extern "C" { void __F__RoboCompJointMotor__HardwareFailedException__initializer() {} }
-#endif
-
-RoboCompJointMotor::OutOfRangeException::OutOfRangeException(const ::std::string& __ice_what) :
-#if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
-    UserException(),
-#else
-    ::Ice::UserException(),
-#endif
-    what(__ice_what)
-{
-}
-
-RoboCompJointMotor::OutOfRangeException::~OutOfRangeException() throw()
-{
-}
-
-static const char* __RoboCompJointMotor__OutOfRangeException_name = "RoboCompJointMotor::OutOfRangeException";
-
-::std::string
-RoboCompJointMotor::OutOfRangeException::ice_name() const
-{
-    return __RoboCompJointMotor__OutOfRangeException_name;
-}
-
-::Ice::Exception*
-RoboCompJointMotor::OutOfRangeException::ice_clone() const
-{
-    return new OutOfRangeException(*this);
-}
-
-void
-RoboCompJointMotor::OutOfRangeException::ice_throw() const
-{
-    throw *this;
-}
-
-void
-RoboCompJointMotor::OutOfRangeException::__write(::IceInternal::BasicStream* __os) const
-{
-    __os->write(::std::string("::RoboCompJointMotor::OutOfRangeException"), false);
-    __os->startWriteSlice();
-    __os->write(what);
-    __os->endWriteSlice();
-}
-
-void
-RoboCompJointMotor::OutOfRangeException::__read(::IceInternal::BasicStream* __is, bool __rid)
-{
-    if(__rid)
-    {
-        ::std::string myId;
-        __is->read(myId, false);
-    }
-    __is->startReadSlice();
-    __is->read(what);
-    __is->endReadSlice();
-}
-
-void
-RoboCompJointMotor::OutOfRangeException::__write(const ::Ice::OutputStreamPtr&) const
-{
-    Ice::MarshalException ex(__FILE__, __LINE__);
-    ex.reason = "exception RoboCompJointMotor::OutOfRangeException was not generated with stream support";
-    throw ex;
-}
-
-void
-RoboCompJointMotor::OutOfRangeException::__read(const ::Ice::InputStreamPtr&, bool)
-{
-    Ice::MarshalException ex(__FILE__, __LINE__);
-    ex.reason = "exception RoboCompJointMotor::OutOfRangeException was not generated with stream support";
-    throw ex;
-}
-
-struct __F__RoboCompJointMotor__OutOfRangeException : public ::IceInternal::UserExceptionFactory
-{
-    virtual void
-    createAndThrow()
-    {
-        throw ::RoboCompJointMotor::OutOfRangeException();
-    }
-};
-
-static ::IceInternal::UserExceptionFactoryPtr __F__RoboCompJointMotor__OutOfRangeException__Ptr = new __F__RoboCompJointMotor__OutOfRangeException;
-
-const ::IceInternal::UserExceptionFactoryPtr&
-RoboCompJointMotor::OutOfRangeException::ice_factory()
-{
-    return __F__RoboCompJointMotor__OutOfRangeException__Ptr;
-}
-
-class __F__RoboCompJointMotor__OutOfRangeException__Init
-{
-public:
-
-    __F__RoboCompJointMotor__OutOfRangeException__Init()
-    {
-        ::IceInternal::factoryTable->addExceptionFactory("::RoboCompJointMotor::OutOfRangeException", ::RoboCompJointMotor::OutOfRangeException::ice_factory());
-    }
-
-    ~__F__RoboCompJointMotor__OutOfRangeException__Init()
-    {
-        ::IceInternal::factoryTable->removeExceptionFactory("::RoboCompJointMotor::OutOfRangeException");
-    }
-};
-
-static __F__RoboCompJointMotor__OutOfRangeException__Init __F__RoboCompJointMotor__OutOfRangeException__i;
-
-#ifdef __APPLE__
-extern "C" { void __F__RoboCompJointMotor__OutOfRangeException__initializer() {} }
-#endif
-
-RoboCompJointMotor::UnknownMotorException::UnknownMotorException(const ::std::string& __ice_what) :
-#if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
-    UserException(),
-#else
-    ::Ice::UserException(),
-#endif
-    what(__ice_what)
-{
-}
-
-RoboCompJointMotor::UnknownMotorException::~UnknownMotorException() throw()
-{
-}
-
-static const char* __RoboCompJointMotor__UnknownMotorException_name = "RoboCompJointMotor::UnknownMotorException";
-
-::std::string
-RoboCompJointMotor::UnknownMotorException::ice_name() const
-{
-    return __RoboCompJointMotor__UnknownMotorException_name;
-}
-
-::Ice::Exception*
-RoboCompJointMotor::UnknownMotorException::ice_clone() const
-{
-    return new UnknownMotorException(*this);
-}
-
-void
-RoboCompJointMotor::UnknownMotorException::ice_throw() const
-{
-    throw *this;
-}
-
-void
-RoboCompJointMotor::UnknownMotorException::__write(::IceInternal::BasicStream* __os) const
-{
-    __os->write(::std::string("::RoboCompJointMotor::UnknownMotorException"), false);
-    __os->startWriteSlice();
-    __os->write(what);
-    __os->endWriteSlice();
-}
-
-void
-RoboCompJointMotor::UnknownMotorException::__read(::IceInternal::BasicStream* __is, bool __rid)
-{
-    if(__rid)
-    {
-        ::std::string myId;
-        __is->read(myId, false);
-    }
-    __is->startReadSlice();
-    __is->read(what);
-    __is->endReadSlice();
-}
-
-void
-RoboCompJointMotor::UnknownMotorException::__write(const ::Ice::OutputStreamPtr&) const
-{
-    Ice::MarshalException ex(__FILE__, __LINE__);
-    ex.reason = "exception RoboCompJointMotor::UnknownMotorException was not generated with stream support";
-    throw ex;
-}
-
-void
-RoboCompJointMotor::UnknownMotorException::__read(const ::Ice::InputStreamPtr&, bool)
-{
-    Ice::MarshalException ex(__FILE__, __LINE__);
-    ex.reason = "exception RoboCompJointMotor::UnknownMotorException was not generated with stream support";
-    throw ex;
-}
-
-struct __F__RoboCompJointMotor__UnknownMotorException : public ::IceInternal::UserExceptionFactory
-{
-    virtual void
-    createAndThrow()
-    {
-        throw ::RoboCompJointMotor::UnknownMotorException();
-    }
-};
-
-static ::IceInternal::UserExceptionFactoryPtr __F__RoboCompJointMotor__UnknownMotorException__Ptr = new __F__RoboCompJointMotor__UnknownMotorException;
-
-const ::IceInternal::UserExceptionFactoryPtr&
-RoboCompJointMotor::UnknownMotorException::ice_factory()
-{
-    return __F__RoboCompJointMotor__UnknownMotorException__Ptr;
-}
-
-class __F__RoboCompJointMotor__UnknownMotorException__Init
-{
-public:
-
-    __F__RoboCompJointMotor__UnknownMotorException__Init()
-    {
-        ::IceInternal::factoryTable->addExceptionFactory("::RoboCompJointMotor::UnknownMotorException", ::RoboCompJointMotor::UnknownMotorException::ice_factory());
-    }
-
-    ~__F__RoboCompJointMotor__UnknownMotorException__Init()
-    {
-        ::IceInternal::factoryTable->removeExceptionFactory("::RoboCompJointMotor::UnknownMotorException");
-    }
-};
-
-static __F__RoboCompJointMotor__UnknownMotorException__Init __F__RoboCompJointMotor__UnknownMotorException__i;
-
-#ifdef __APPLE__
-extern "C" { void __F__RoboCompJointMotor__UnknownMotorException__initializer() {} }
-#endif
-
-bool
-RoboCompJointMotor::MotorState::operator==(const MotorState& __rhs) const
-{
-    if(this == &__rhs)
-    {
-        return true;
-    }
-    if(pos != __rhs.pos)
-    {
-        return false;
-    }
-    if(vel != __rhs.vel)
-    {
-        return false;
-    }
-    if(power != __rhs.power)
-    {
-        return false;
-    }
-    if(timeStamp != __rhs.timeStamp)
-    {
-        return false;
-    }
-    if(p != __rhs.p)
-    {
-        return false;
-    }
-    if(v != __rhs.v)
-    {
-        return false;
-    }
-    if(isMoving != __rhs.isMoving)
-    {
-        return false;
-    }
-    return true;
-}
-
-bool
-RoboCompJointMotor::MotorState::operator<(const MotorState& __rhs) const
-{
-    if(this == &__rhs)
-    {
-        return false;
-    }
-    if(pos < __rhs.pos)
-    {
-        return true;
-    }
-    else if(__rhs.pos < pos)
-    {
-        return false;
-    }
-    if(vel < __rhs.vel)
-    {
-        return true;
-    }
-    else if(__rhs.vel < vel)
-    {
-        return false;
-    }
-    if(power < __rhs.power)
-    {
-        return true;
-    }
-    else if(__rhs.power < power)
-    {
-        return false;
-    }
-    if(timeStamp < __rhs.timeStamp)
-    {
-        return true;
-    }
-    else if(__rhs.timeStamp < timeStamp)
-    {
-        return false;
-    }
-    if(p < __rhs.p)
-    {
-        return true;
-    }
-    else if(__rhs.p < p)
-    {
-        return false;
-    }
-    if(v < __rhs.v)
-    {
-        return true;
-    }
-    else if(__rhs.v < v)
-    {
-        return false;
-    }
-    if(isMoving < __rhs.isMoving)
-    {
-        return true;
-    }
-    else if(__rhs.isMoving < isMoving)
-    {
-        return false;
-    }
-    return false;
-}
-
-void
-RoboCompJointMotor::MotorState::__write(::IceInternal::BasicStream* __os) const
-{
-    __os->write(pos);
-    __os->write(vel);
-    __os->write(power);
-    __os->write(timeStamp);
-    __os->write(p);
-    __os->write(v);
-    __os->write(isMoving);
-}
-
-void
-RoboCompJointMotor::MotorState::__read(::IceInternal::BasicStream* __is)
-{
-    __is->read(pos);
-    __is->read(vel);
-    __is->read(power);
-    __is->read(timeStamp);
-    __is->read(p);
-    __is->read(v);
-    __is->read(isMoving);
-}
-
-void
-RoboCompJointMotor::__writeMotorStateMap(::IceInternal::BasicStream* __os, const ::RoboCompJointMotor::MotorStateMap& v)
-{
-    __os->writeSize(::Ice::Int(v.size()));
-    ::RoboCompJointMotor::MotorStateMap::const_iterator p;
-    for(p = v.begin(); p != v.end(); ++p)
-    {
-        __os->write(p->first);
-        p->second.__write(__os);
-    }
-}
-
-void
-RoboCompJointMotor::__readMotorStateMap(::IceInternal::BasicStream* __is, ::RoboCompJointMotor::MotorStateMap& v)
-{
-    ::Ice::Int sz;
-    __is->readSize(sz);
-    while(sz--)
-    {
-        ::std::pair<const  ::std::string, ::RoboCompJointMotor::MotorState> pair;
-        __is->read(const_cast< ::std::string&>(pair.first));
-        ::RoboCompJointMotor::MotorStateMap::iterator __i = v.insert(v.end(), pair);
-        __i->second.__read(__is);
-    }
-}
-
-bool
-RoboCompJointMotor::MotorParams::operator==(const MotorParams& __rhs) const
-{
-    if(this == &__rhs)
-    {
-        return true;
-    }
-    if(name != __rhs.name)
-    {
-        return false;
-    }
-    if(busId != __rhs.busId)
-    {
-        return false;
-    }
-    if(minPos != __rhs.minPos)
-    {
-        return false;
-    }
-    if(maxPos != __rhs.maxPos)
-    {
-        return false;
-    }
-    if(maxVelocity != __rhs.maxVelocity)
-    {
-        return false;
-    }
-    if(zeroPos != __rhs.zeroPos)
-    {
-        return false;
-    }
-    if(invertedSign != __rhs.invertedSign)
-    {
-        return false;
-    }
-    return true;
-}
-
-bool
-RoboCompJointMotor::MotorParams::operator<(const MotorParams& __rhs) const
-{
-    if(this == &__rhs)
-    {
-        return false;
-    }
-    if(name < __rhs.name)
-    {
-        return true;
-    }
-    else if(__rhs.name < name)
-    {
-        return false;
-    }
-    if(busId < __rhs.busId)
-    {
-        return true;
-    }
-    else if(__rhs.busId < busId)
-    {
-        return false;
-    }
-    if(minPos < __rhs.minPos)
-    {
-        return true;
-    }
-    else if(__rhs.minPos < minPos)
-    {
-        return false;
-    }
-    if(maxPos < __rhs.maxPos)
-    {
-        return true;
-    }
-    else if(__rhs.maxPos < maxPos)
-    {
-        return false;
-    }
-    if(maxVelocity < __rhs.maxVelocity)
-    {
-        return true;
-    }
-    else if(__rhs.maxVelocity < maxVelocity)
-    {
-        return false;
-    }
-    if(zeroPos < __rhs.zeroPos)
-    {
-        return true;
-    }
-    else if(__rhs.zeroPos < zeroPos)
-    {
-        return false;
-    }
-    if(invertedSign < __rhs.invertedSign)
-    {
-        return true;
-    }
-    else if(__rhs.invertedSign < invertedSign)
-    {
-        return false;
-    }
-    return false;
-}
-
-void
-RoboCompJointMotor::MotorParams::__write(::IceInternal::BasicStream* __os) const
-{
-    __os->write(name);
-    __os->write(busId);
-    __os->write(minPos);
-    __os->write(maxPos);
-    __os->write(maxVelocity);
-    __os->write(zeroPos);
-    __os->write(invertedSign);
-}
-
-void
-RoboCompJointMotor::MotorParams::__read(::IceInternal::BasicStream* __is)
-{
-    __is->read(name);
-    __is->read(busId);
-    __is->read(minPos);
-    __is->read(maxPos);
-    __is->read(maxVelocity);
-    __is->read(zeroPos);
-    __is->read(invertedSign);
-}
-
-void
-RoboCompJointMotor::__writeMotorParamsList(::IceInternal::BasicStream* __os, const ::RoboCompJointMotor::MotorParams* begin, const ::RoboCompJointMotor::MotorParams* end)
-{
-    ::Ice::Int size = static_cast< ::Ice::Int>(end - begin);
-    __os->writeSize(size);
-    for(int i = 0; i < size; ++i)
-    {
-        begin[i].__write(__os);
-    }
-}
-
-void
-RoboCompJointMotor::__readMotorParamsList(::IceInternal::BasicStream* __is, ::RoboCompJointMotor::MotorParamsList& v)
-{
-    ::Ice::Int sz;
-    __is->readSize(sz);
-    __is->startSeq(sz, 19);
-    v.resize(sz);
-    for(int i = 0; i < sz; ++i)
-    {
-        v[i].__read(__is);
-        __is->checkSeq();
-        __is->endElement();
-    }
-    __is->endSeq(sz);
-}
-
-bool
-RoboCompJointMotor::BusParams::operator==(const BusParams& __rhs) const
-{
-    if(this == &__rhs)
-    {
-        return true;
-    }
-    if(handler != __rhs.handler)
-    {
-        return false;
-    }
-    if(device != __rhs.device)
-    {
-        return false;
-    }
-    if(numMotors != __rhs.numMotors)
-    {
-        return false;
-    }
-    if(baudRate != __rhs.baudRate)
-    {
-        return false;
-    }
-    if(basicPeriod != __rhs.basicPeriod)
-    {
-        return false;
-    }
-    return true;
-}
-
-bool
-RoboCompJointMotor::BusParams::operator<(const BusParams& __rhs) const
-{
-    if(this == &__rhs)
-    {
-        return false;
-    }
-    if(handler < __rhs.handler)
-    {
-        return true;
-    }
-    else if(__rhs.handler < handler)
-    {
-        return false;
-    }
-    if(device < __rhs.device)
-    {
-        return true;
-    }
-    else if(__rhs.device < device)
-    {
-        return false;
-    }
-    if(numMotors < __rhs.numMotors)
-    {
-        return true;
-    }
-    else if(__rhs.numMotors < numMotors)
-    {
-        return false;
-    }
-    if(baudRate < __rhs.baudRate)
-    {
-        return true;
-    }
-    else if(__rhs.baudRate < baudRate)
-    {
-        return false;
-    }
-    if(basicPeriod < __rhs.basicPeriod)
-    {
-        return true;
-    }
-    else if(__rhs.basicPeriod < basicPeriod)
-    {
-        return false;
-    }
-    return false;
-}
-
-void
-RoboCompJointMotor::BusParams::__write(::IceInternal::BasicStream* __os) const
-{
-    __os->write(handler);
-    __os->write(device);
-    __os->write(numMotors);
-    __os->write(baudRate);
-    __os->write(basicPeriod);
-}
-
-void
-RoboCompJointMotor::BusParams::__read(::IceInternal::BasicStream* __is)
-{
-    __is->read(handler);
-    __is->read(device);
-    __is->read(numMotors);
-    __is->read(baudRate);
-    __is->read(basicPeriod);
-}
-
-bool
-RoboCompJointMotor::MotorGoalPosition::operator==(const MotorGoalPosition& __rhs) const
-{
-    if(this == &__rhs)
-    {
-        return true;
-    }
-    if(name != __rhs.name)
-    {
-        return false;
-    }
-    if(position != __rhs.position)
-    {
-        return false;
-    }
-    if(maxSpeed != __rhs.maxSpeed)
-    {
-        return false;
-    }
-    return true;
-}
-
-bool
-RoboCompJointMotor::MotorGoalPosition::operator<(const MotorGoalPosition& __rhs) const
-{
-    if(this == &__rhs)
-    {
-        return false;
-    }
-    if(name < __rhs.name)
-    {
-        return true;
-    }
-    else if(__rhs.name < name)
-    {
-        return false;
-    }
-    if(position < __rhs.position)
-    {
-        return true;
-    }
-    else if(__rhs.position < position)
-    {
-        return false;
-    }
-    if(maxSpeed < __rhs.maxSpeed)
-    {
-        return true;
-    }
-    else if(__rhs.maxSpeed < maxSpeed)
-    {
-        return false;
-    }
-    return false;
-}
-
-void
-RoboCompJointMotor::MotorGoalPosition::__write(::IceInternal::BasicStream* __os) const
-{
-    __os->write(name);
-    __os->write(position);
-    __os->write(maxSpeed);
-}
-
-void
-RoboCompJointMotor::MotorGoalPosition::__read(::IceInternal::BasicStream* __is)
-{
-    __is->read(name);
-    __is->read(position);
-    __is->read(maxSpeed);
-}
-
-void
-RoboCompJointMotor::__writeMotorGoalPositionList(::IceInternal::BasicStream* __os, const ::RoboCompJointMotor::MotorGoalPosition* begin, const ::RoboCompJointMotor::MotorGoalPosition* end)
-{
-    ::Ice::Int size = static_cast< ::Ice::Int>(end - begin);
-    __os->writeSize(size);
-    for(int i = 0; i < size; ++i)
-    {
-        begin[i].__write(__os);
-    }
-}
-
-void
-RoboCompJointMotor::__readMotorGoalPositionList(::IceInternal::BasicStream* __is, ::RoboCompJointMotor::MotorGoalPositionList& v)
-{
-    ::Ice::Int sz;
-    __is->readSize(sz);
-    __is->startSeq(sz, 9);
-    v.resize(sz);
-    for(int i = 0; i < sz; ++i)
-    {
-        v[i].__read(__is);
-        __is->checkSeq();
-        __is->endElement();
-    }
-    __is->endSeq(sz);
-}
-
-bool
-RoboCompJointMotor::MotorGoalVelocity::operator==(const MotorGoalVelocity& __rhs) const
-{
-    if(this == &__rhs)
-    {
-        return true;
-    }
-    if(name != __rhs.name)
-    {
-        return false;
-    }
-    if(velocity != __rhs.velocity)
-    {
-        return false;
-    }
-    if(maxAcc != __rhs.maxAcc)
-    {
-        return false;
-    }
-    return true;
-}
-
-bool
-RoboCompJointMotor::MotorGoalVelocity::operator<(const MotorGoalVelocity& __rhs) const
-{
-    if(this == &__rhs)
-    {
-        return false;
-    }
-    if(name < __rhs.name)
-    {
-        return true;
-    }
-    else if(__rhs.name < name)
-    {
-        return false;
-    }
-    if(velocity < __rhs.velocity)
-    {
-        return true;
-    }
-    else if(__rhs.velocity < velocity)
-    {
-        return false;
-    }
-    if(maxAcc < __rhs.maxAcc)
-    {
-        return true;
-    }
-    else if(__rhs.maxAcc < maxAcc)
-    {
-        return false;
-    }
-    return false;
-}
-
-void
-RoboCompJointMotor::MotorGoalVelocity::__write(::IceInternal::BasicStream* __os) const
-{
-    __os->write(name);
-    __os->write(velocity);
-    __os->write(maxAcc);
-}
-
-void
-RoboCompJointMotor::MotorGoalVelocity::__read(::IceInternal::BasicStream* __is)
-{
-    __is->read(name);
-    __is->read(velocity);
-    __is->read(maxAcc);
-}
-
-void
-IceProxy::RoboCompJointMotor::JointMotor::setPosition(const ::RoboCompJointMotor::MotorGoalPosition& goal, const ::Ice::Context* __ctx)
-{
-    int __cnt = 0;
-    while(true)
-    {
-        ::IceInternal::Handle< ::IceDelegate::Ice::Object> __delBase;
-        try
-        {
-#if defined(__BCPLUSPLUS__) && (__BCPLUSPLUS__ >= 0x0600) // C++Builder 2009 compiler bug
-            IceUtil::DummyBCC dummy;
-#endif
-            __checkTwowayOnly(__RoboCompJointMotor__JointMotor__setPosition_name);
-            __delBase = __getDelegate(false);
-            ::IceDelegate::RoboCompJointMotor::JointMotor* __del = dynamic_cast< ::IceDelegate::RoboCompJointMotor::JointMotor*>(__delBase.get());
-            __del->setPosition(goal, __ctx);
-            return;
-        }
-        catch(const ::IceInternal::LocalExceptionWrapper& __ex)
-        {
-            __handleExceptionWrapper(__delBase, __ex, 0);
-        }
-        catch(const ::Ice::LocalException& __ex)
-        {
-            __handleException(__delBase, __ex, 0, __cnt);
-        }
-    }
-}
-
-void
-IceProxy::RoboCompJointMotor::JointMotor::setVelocity(const ::RoboCompJointMotor::MotorGoalVelocity& goal, const ::Ice::Context* __ctx)
-{
-    int __cnt = 0;
-    while(true)
-    {
-        ::IceInternal::Handle< ::IceDelegate::Ice::Object> __delBase;
-        try
-        {
-#if defined(__BCPLUSPLUS__) && (__BCPLUSPLUS__ >= 0x0600) // C++Builder 2009 compiler bug
-            IceUtil::DummyBCC dummy;
-#endif
-            __checkTwowayOnly(__RoboCompJointMotor__JointMotor__setVelocity_name);
-            __delBase = __getDelegate(false);
-            ::IceDelegate::RoboCompJointMotor::JointMotor* __del = dynamic_cast< ::IceDelegate::RoboCompJointMotor::JointMotor*>(__delBase.get());
-            __del->setVelocity(goal, __ctx);
-            return;
-        }
-        catch(const ::IceInternal::LocalExceptionWrapper& __ex)
-        {
-            __handleExceptionWrapper(__delBase, __ex, 0);
-        }
-        catch(const ::Ice::LocalException& __ex)
-        {
-            __handleException(__delBase, __ex, 0, __cnt);
-        }
-    }
-}
-
-void
-IceProxy::RoboCompJointMotor::JointMotor::setSyncPosition(const ::RoboCompJointMotor::MotorGoalPositionList& listGoals, const ::Ice::Context* __ctx)
-{
-    int __cnt = 0;
-    while(true)
-    {
-        ::IceInternal::Handle< ::IceDelegate::Ice::Object> __delBase;
-        try
-        {
-#if defined(__BCPLUSPLUS__) && (__BCPLUSPLUS__ >= 0x0600) // C++Builder 2009 compiler bug
-            IceUtil::DummyBCC dummy;
-#endif
-            __checkTwowayOnly(__RoboCompJointMotor__JointMotor__setSyncPosition_name);
-            __delBase = __getDelegate(false);
-            ::IceDelegate::RoboCompJointMotor::JointMotor* __del = dynamic_cast< ::IceDelegate::RoboCompJointMotor::JointMotor*>(__delBase.get());
-            __del->setSyncPosition(listGoals, __ctx);
-            return;
-        }
-        catch(const ::IceInternal::LocalExceptionWrapper& __ex)
-        {
-            __handleExceptionWrapper(__delBase, __ex, 0);
-        }
-        catch(const ::Ice::LocalException& __ex)
-        {
-            __handleException(__delBase, __ex, 0, __cnt);
-        }
-    }
-}
-
-::RoboCompJointMotor::MotorParams
-IceProxy::RoboCompJointMotor::JointMotor::getMotorParams(const ::std::string& motor, const ::Ice::Context* __ctx)
-{
-    int __cnt = 0;
-    while(true)
-    {
-        ::IceInternal::Handle< ::IceDelegate::Ice::Object> __delBase;
-        try
-        {
-#if defined(__BCPLUSPLUS__) && (__BCPLUSPLUS__ >= 0x0600) // C++Builder 2009 compiler bug
-            IceUtil::DummyBCC dummy;
-#endif
-            __checkTwowayOnly(__RoboCompJointMotor__JointMotor__getMotorParams_name);
-            __delBase = __getDelegate(false);
-            ::IceDelegate::RoboCompJointMotor::JointMotor* __del = dynamic_cast< ::IceDelegate::RoboCompJointMotor::JointMotor*>(__delBase.get());
-            return __del->getMotorParams(motor, __ctx);
-        }
-        catch(const ::IceInternal::LocalExceptionWrapper& __ex)
-        {
-            __handleExceptionWrapper(__delBase, __ex, 0);
-        }
-        catch(const ::Ice::LocalException& __ex)
-        {
-            __handleException(__delBase, __ex, 0, __cnt);
-        }
-    }
-}
-
-::RoboCompJointMotor::MotorState
-IceProxy::RoboCompJointMotor::JointMotor::getMotorState(const ::std::string& motor, const ::Ice::Context* __ctx)
-{
-    int __cnt = 0;
-    while(true)
-    {
-        ::IceInternal::Handle< ::IceDelegate::Ice::Object> __delBase;
-        try
-        {
-#if defined(__BCPLUSPLUS__) && (__BCPLUSPLUS__ >= 0x0600) // C++Builder 2009 compiler bug
-            IceUtil::DummyBCC dummy;
-#endif
-            __checkTwowayOnly(__RoboCompJointMotor__JointMotor__getMotorState_name);
-            __delBase = __getDelegate(false);
-            ::IceDelegate::RoboCompJointMotor::JointMotor* __del = dynamic_cast< ::IceDelegate::RoboCompJointMotor::JointMotor*>(__delBase.get());
-            return __del->getMotorState(motor, __ctx);
-        }
-        catch(const ::IceInternal::LocalExceptionWrapper& __ex)
-        {
-            __handleExceptionWrapper(__delBase, __ex, 0);
-        }
-        catch(const ::Ice::LocalException& __ex)
-        {
-            __handleException(__delBase, __ex, 0, __cnt);
-        }
-    }
-}
-
-::RoboCompJointMotor::MotorStateMap
-IceProxy::RoboCompJointMotor::JointMotor::getMotorStateMap(const ::RoboCompJointMotor::MotorList& mList, const ::Ice::Context* __ctx)
-{
-    int __cnt = 0;
-    while(true)
-    {
-        ::IceInternal::Handle< ::IceDelegate::Ice::Object> __delBase;
-        try
-        {
-#if defined(__BCPLUSPLUS__) && (__BCPLUSPLUS__ >= 0x0600) // C++Builder 2009 compiler bug
-            IceUtil::DummyBCC dummy;
-#endif
-            __checkTwowayOnly(__RoboCompJointMotor__JointMotor__getMotorStateMap_name);
-            __delBase = __getDelegate(false);
-            ::IceDelegate::RoboCompJointMotor::JointMotor* __del = dynamic_cast< ::IceDelegate::RoboCompJointMotor::JointMotor*>(__delBase.get());
-            return __del->getMotorStateMap(mList, __ctx);
-        }
-        catch(const ::IceInternal::LocalExceptionWrapper& __ex)
-        {
-            __handleExceptionWrapper(__delBase, __ex, 0);
-        }
-        catch(const ::Ice::LocalException& __ex)
-        {
-            __handleException(__delBase, __ex, 0, __cnt);
-        }
-    }
-}
-
-void
-IceProxy::RoboCompJointMotor::JointMotor::getAllMotorState(::RoboCompJointMotor::MotorStateMap& mstateMap, const ::Ice::Context* __ctx)
-{
-    int __cnt = 0;
-    while(true)
-    {
-        ::IceInternal::Handle< ::IceDelegate::Ice::Object> __delBase;
-        try
-        {
-#if defined(__BCPLUSPLUS__) && (__BCPLUSPLUS__ >= 0x0600) // C++Builder 2009 compiler bug
-            IceUtil::DummyBCC dummy;
-#endif
-            __checkTwowayOnly(__RoboCompJointMotor__JointMotor__getAllMotorState_name);
-            __delBase = __getDelegate(false);
-            ::IceDelegate::RoboCompJointMotor::JointMotor* __del = dynamic_cast< ::IceDelegate::RoboCompJointMotor::JointMotor*>(__delBase.get());
-            __del->getAllMotorState(mstateMap, __ctx);
-            return;
-        }
-        catch(const ::IceInternal::LocalExceptionWrapper& __ex)
-        {
-            __handleExceptionWrapper(__delBase, __ex, 0);
-        }
-        catch(const ::Ice::LocalException& __ex)
-        {
-            __handleException(__delBase, __ex, 0, __cnt);
-        }
-    }
-}
-
-::RoboCompJointMotor::MotorParamsList
-IceProxy::RoboCompJointMotor::JointMotor::getAllMotorParams(const ::Ice::Context* __ctx)
-{
-    int __cnt = 0;
-    while(true)
-    {
-        ::IceInternal::Handle< ::IceDelegate::Ice::Object> __delBase;
-        try
-        {
-#if defined(__BCPLUSPLUS__) && (__BCPLUSPLUS__ >= 0x0600) // C++Builder 2009 compiler bug
-            IceUtil::DummyBCC dummy;
-#endif
-            __checkTwowayOnly(__RoboCompJointMotor__JointMotor__getAllMotorParams_name);
-            __delBase = __getDelegate(false);
-            ::IceDelegate::RoboCompJointMotor::JointMotor* __del = dynamic_cast< ::IceDelegate::RoboCompJointMotor::JointMotor*>(__delBase.get());
-            return __del->getAllMotorParams(__ctx);
-        }
-        catch(const ::IceInternal::LocalExceptionWrapper& __ex)
-        {
-            __handleExceptionWrapper(__delBase, __ex, 0);
-        }
-        catch(const ::Ice::LocalException& __ex)
-        {
-            __handleException(__delBase, __ex, 0, __cnt);
-        }
-    }
-}
-
-::RoboCompJointMotor::BusParams
-IceProxy::RoboCompJointMotor::JointMotor::getBusParams(const ::Ice::Context* __ctx)
-{
-    int __cnt = 0;
-    while(true)
-    {
-        ::IceInternal::Handle< ::IceDelegate::Ice::Object> __delBase;
-        try
-        {
-#if defined(__BCPLUSPLUS__) && (__BCPLUSPLUS__ >= 0x0600) // C++Builder 2009 compiler bug
-            IceUtil::DummyBCC dummy;
-#endif
-            __checkTwowayOnly(__RoboCompJointMotor__JointMotor__getBusParams_name);
-            __delBase = __getDelegate(false);
-            ::IceDelegate::RoboCompJointMotor::JointMotor* __del = dynamic_cast< ::IceDelegate::RoboCompJointMotor::JointMotor*>(__delBase.get());
-            return __del->getBusParams(__ctx);
-        }
-        catch(const ::IceInternal::LocalExceptionWrapper& __ex)
-        {
-            __handleExceptionWrapper(__delBase, __ex, 0);
-        }
-        catch(const ::Ice::LocalException& __ex)
-        {
-            __handleException(__delBase, __ex, 0, __cnt);
-        }
-    }
-}
-
-const ::std::string&
-IceProxy::RoboCompJointMotor::JointMotor::ice_staticId()
-{
-    return ::RoboCompJointMotor::JointMotor::ice_staticId();
-}
-
-::IceInternal::Handle< ::IceDelegateM::Ice::Object>
-IceProxy::RoboCompJointMotor::JointMotor::__createDelegateM()
-{
-    return ::IceInternal::Handle< ::IceDelegateM::Ice::Object>(new ::IceDelegateM::RoboCompJointMotor::JointMotor);
-}
-
-::IceInternal::Handle< ::IceDelegateD::Ice::Object>
-IceProxy::RoboCompJointMotor::JointMotor::__createDelegateD()
-{
-    return ::IceInternal::Handle< ::IceDelegateD::Ice::Object>(new ::IceDelegateD::RoboCompJointMotor::JointMotor);
-}
-
-::IceProxy::Ice::Object*
-IceProxy::RoboCompJointMotor::JointMotor::__newInstance() const
-{
-    return new JointMotor;
-}
-
-void
-IceDelegateM::RoboCompJointMotor::JointMotor::setPosition(const ::RoboCompJointMotor::MotorGoalPosition& goal, const ::Ice::Context* __context)
-{
-    ::IceInternal::Outgoing __og(__handler.get(), __RoboCompJointMotor__JointMotor__setPosition_name, ::Ice::Normal, __context);
-    try
-    {
-        ::IceInternal::BasicStream* __os = __og.os();
-        goal.__write(__os);
-    }
-    catch(const ::Ice::LocalException& __ex)
-    {
-        __og.abort(__ex);
-    }
-    bool __ok = __og.invoke();
-    try
-    {
-        if(!__ok)
-        {
-            try
-            {
-                __og.throwUserException();
-            }
-            catch(const ::RoboCompJointMotor::HardwareFailedException&)
-            {
-                throw;
-            }
-            catch(const ::RoboCompJointMotor::UnknownMotorException&)
-            {
-                throw;
-            }
-            catch(const ::Ice::UserException& __ex)
-            {
-                ::Ice::UnknownUserException __uue(__FILE__, __LINE__, __ex.ice_name());
-                throw __uue;
-            }
-        }
-        __og.is()->skipEmptyEncaps();
-    }
-    catch(const ::Ice::LocalException& __ex)
-    {
-        throw ::IceInternal::LocalExceptionWrapper(__ex, false);
-    }
-}
-
-void
-IceDelegateM::RoboCompJointMotor::JointMotor::setVelocity(const ::RoboCompJointMotor::MotorGoalVelocity& goal, const ::Ice::Context* __context)
-{
-    ::IceInternal::Outgoing __og(__handler.get(), __RoboCompJointMotor__JointMotor__setVelocity_name, ::Ice::Normal, __context);
-    try
-    {
-        ::IceInternal::BasicStream* __os = __og.os();
-        goal.__write(__os);
-    }
-    catch(const ::Ice::LocalException& __ex)
-    {
-        __og.abort(__ex);
-    }
-    bool __ok = __og.invoke();
-    try
-    {
-        if(!__ok)
-        {
-            try
-            {
-                __og.throwUserException();
-            }
-            catch(const ::RoboCompJointMotor::HardwareFailedException&)
-            {
-                throw;
-            }
-            catch(const ::RoboCompJointMotor::UnknownMotorException&)
-            {
-                throw;
-            }
-            catch(const ::Ice::UserException& __ex)
-            {
-                ::Ice::UnknownUserException __uue(__FILE__, __LINE__, __ex.ice_name());
-                throw __uue;
-            }
-        }
-        __og.is()->skipEmptyEncaps();
-    }
-    catch(const ::Ice::LocalException& __ex)
-    {
-        throw ::IceInternal::LocalExceptionWrapper(__ex, false);
-    }
-}
-
-void
-IceDelegateM::RoboCompJointMotor::JointMotor::setSyncPosition(const ::RoboCompJointMotor::MotorGoalPositionList& listGoals, const ::Ice::Context* __context)
-{
-    ::IceInternal::Outgoing __og(__handler.get(), __RoboCompJointMotor__JointMotor__setSyncPosition_name, ::Ice::Normal, __context);
-    try
-    {
-        ::IceInternal::BasicStream* __os = __og.os();
-        if(listGoals.size() == 0)
-        {
-            __os->writeSize(0);
-        }
-        else
-        {
-            ::RoboCompJointMotor::__writeMotorGoalPositionList(__os, &listGoals[0], &listGoals[0] + listGoals.size());
-        }
-    }
-    catch(const ::Ice::LocalException& __ex)
-    {
-        __og.abort(__ex);
-    }
-    bool __ok = __og.invoke();
-    try
-    {
-        if(!__ok)
-        {
-            try
-            {
-                __og.throwUserException();
-            }
-            catch(const ::RoboCompJointMotor::HardwareFailedException&)
-            {
-                throw;
-            }
-            catch(const ::RoboCompJointMotor::UnknownMotorException&)
-            {
-                throw;
-            }
-            catch(const ::Ice::UserException& __ex)
-            {
-                ::Ice::UnknownUserException __uue(__FILE__, __LINE__, __ex.ice_name());
-                throw __uue;
-            }
-        }
-        __og.is()->skipEmptyEncaps();
-    }
-    catch(const ::Ice::LocalException& __ex)
-    {
-        throw ::IceInternal::LocalExceptionWrapper(__ex, false);
-    }
-}
-
-::RoboCompJointMotor::MotorParams
-IceDelegateM::RoboCompJointMotor::JointMotor::getMotorParams(const ::std::string& motor, const ::Ice::Context* __context)
-{
-    ::IceInternal::Outgoing __og(__handler.get(), __RoboCompJointMotor__JointMotor__getMotorParams_name, ::Ice::Normal, __context);
-    try
-    {
-        ::IceInternal::BasicStream* __os = __og.os();
-        __os->write(motor);
-    }
-    catch(const ::Ice::LocalException& __ex)
-    {
-        __og.abort(__ex);
-    }
-    bool __ok = __og.invoke();
-    ::RoboCompJointMotor::MotorParams __ret;
-    try
-    {
-        if(!__ok)
-        {
-            try
-            {
-                __og.throwUserException();
-            }
-            catch(const ::RoboCompJointMotor::UnknownMotorException&)
-            {
-                throw;
-            }
-            catch(const ::Ice::UserException& __ex)
-            {
-                ::Ice::UnknownUserException __uue(__FILE__, __LINE__, __ex.ice_name());
-                throw __uue;
-            }
-        }
-        ::IceInternal::BasicStream* __is = __og.is();
-        __is->startReadEncaps();
-        __ret.__read(__is);
-        __is->endReadEncaps();
-        return __ret;
-    }
-    catch(const ::Ice::LocalException& __ex)
-    {
-        throw ::IceInternal::LocalExceptionWrapper(__ex, false);
-    }
-}
-
-::RoboCompJointMotor::MotorState
-IceDelegateM::RoboCompJointMotor::JointMotor::getMotorState(const ::std::string& motor, const ::Ice::Context* __context)
-{
-    ::IceInternal::Outgoing __og(__handler.get(), __RoboCompJointMotor__JointMotor__getMotorState_name, ::Ice::Normal, __context);
-    try
-    {
-        ::IceInternal::BasicStream* __os = __og.os();
-        __os->write(motor);
-    }
-    catch(const ::Ice::LocalException& __ex)
-    {
-        __og.abort(__ex);
-    }
-    bool __ok = __og.invoke();
-    ::RoboCompJointMotor::MotorState __ret;
-    try
-    {
-        if(!__ok)
-        {
-            try
-            {
-                __og.throwUserException();
-            }
-            catch(const ::RoboCompJointMotor::UnknownMotorException&)
-            {
-                throw;
-            }
-            catch(const ::Ice::UserException& __ex)
-            {
-                ::Ice::UnknownUserException __uue(__FILE__, __LINE__, __ex.ice_name());
-                throw __uue;
-            }
-        }
-        ::IceInternal::BasicStream* __is = __og.is();
-        __is->startReadEncaps();
-        __ret.__read(__is);
-        __is->endReadEncaps();
-        return __ret;
-    }
-    catch(const ::Ice::LocalException& __ex)
-    {
-        throw ::IceInternal::LocalExceptionWrapper(__ex, false);
-    }
-}
-
-::RoboCompJointMotor::MotorStateMap
-IceDelegateM::RoboCompJointMotor::JointMotor::getMotorStateMap(const ::RoboCompJointMotor::MotorList& mList, const ::Ice::Context* __context)
-{
-    ::IceInternal::Outgoing __og(__handler.get(), __RoboCompJointMotor__JointMotor__getMotorStateMap_name, ::Ice::Normal, __context);
-    try
-    {
-        ::IceInternal::BasicStream* __os = __og.os();
-        if(mList.size() == 0)
-        {
-            __os->writeSize(0);
-        }
-        else
-        {
-            __os->write(&mList[0], &mList[0] + mList.size());
-        }
-    }
-    catch(const ::Ice::LocalException& __ex)
-    {
-        __og.abort(__ex);
-    }
-    bool __ok = __og.invoke();
-    ::RoboCompJointMotor::MotorStateMap __ret;
-    try
-    {
-        if(!__ok)
-        {
-            try
-            {
-                __og.throwUserException();
-            }
-            catch(const ::RoboCompJointMotor::UnknownMotorException&)
-            {
-                throw;
-            }
-            catch(const ::Ice::UserException& __ex)
-            {
-                ::Ice::UnknownUserException __uue(__FILE__, __LINE__, __ex.ice_name());
-                throw __uue;
-            }
-        }
-        ::IceInternal::BasicStream* __is = __og.is();
-        __is->startReadEncaps();
-        ::RoboCompJointMotor::__readMotorStateMap(__is, __ret);
-        __is->endReadEncaps();
-        return __ret;
-    }
-    catch(const ::Ice::LocalException& __ex)
-    {
-        throw ::IceInternal::LocalExceptionWrapper(__ex, false);
-    }
-}
-
-void
-IceDelegateM::RoboCompJointMotor::JointMotor::getAllMotorState(::RoboCompJointMotor::MotorStateMap& mstateMap, const ::Ice::Context* __context)
-{
-    ::IceInternal::Outgoing __og(__handler.get(), __RoboCompJointMotor__JointMotor__getAllMotorState_name, ::Ice::Normal, __context);
-    bool __ok = __og.invoke();
-    try
-    {
-        if(!__ok)
-        {
-            try
-            {
-                __og.throwUserException();
-            }
-            catch(const ::RoboCompJointMotor::UnknownMotorException&)
-            {
-                throw;
-            }
-            catch(const ::Ice::UserException& __ex)
-            {
-                ::Ice::UnknownUserException __uue(__FILE__, __LINE__, __ex.ice_name());
-                throw __uue;
-            }
-        }
-        ::IceInternal::BasicStream* __is = __og.is();
-        __is->startReadEncaps();
-        ::RoboCompJointMotor::__readMotorStateMap(__is, mstateMap);
-        __is->endReadEncaps();
-    }
-    catch(const ::Ice::LocalException& __ex)
-    {
-        throw ::IceInternal::LocalExceptionWrapper(__ex, false);
-    }
-}
-
-::RoboCompJointMotor::MotorParamsList
-IceDelegateM::RoboCompJointMotor::JointMotor::getAllMotorParams(const ::Ice::Context* __context)
-{
-    ::IceInternal::Outgoing __og(__handler.get(), __RoboCompJointMotor__JointMotor__getAllMotorParams_name, ::Ice::Normal, __context);
-    bool __ok = __og.invoke();
-    ::RoboCompJointMotor::MotorParamsList __ret;
-    try
-    {
-        if(!__ok)
-        {
-            try
-            {
-                __og.throwUserException();
-            }
-            catch(const ::Ice::UserException& __ex)
-            {
-                ::Ice::UnknownUserException __uue(__FILE__, __LINE__, __ex.ice_name());
-                throw __uue;
-            }
-        }
-        ::IceInternal::BasicStream* __is = __og.is();
-        __is->startReadEncaps();
-        ::RoboCompJointMotor::__readMotorParamsList(__is, __ret);
-        __is->endReadEncaps();
-        return __ret;
-    }
-    catch(const ::Ice::LocalException& __ex)
-    {
-        throw ::IceInternal::LocalExceptionWrapper(__ex, false);
-    }
-}
-
-::RoboCompJointMotor::BusParams
-IceDelegateM::RoboCompJointMotor::JointMotor::getBusParams(const ::Ice::Context* __context)
-{
-    ::IceInternal::Outgoing __og(__handler.get(), __RoboCompJointMotor__JointMotor__getBusParams_name, ::Ice::Normal, __context);
-    bool __ok = __og.invoke();
-    ::RoboCompJointMotor::BusParams __ret;
-    try
-    {
-        if(!__ok)
-        {
-            try
-            {
-                __og.throwUserException();
-            }
-            catch(const ::Ice::UserException& __ex)
-            {
-                ::Ice::UnknownUserException __uue(__FILE__, __LINE__, __ex.ice_name());
-                throw __uue;
-            }
-        }
-        ::IceInternal::BasicStream* __is = __og.is();
-        __is->startReadEncaps();
-        __ret.__read(__is);
-        __is->endReadEncaps();
-        return __ret;
-    }
-    catch(const ::Ice::LocalException& __ex)
-    {
-        throw ::IceInternal::LocalExceptionWrapper(__ex, false);
-    }
-}
-
-void
-IceDelegateD::RoboCompJointMotor::JointMotor::setPosition(const ::RoboCompJointMotor::MotorGoalPosition& goal, const ::Ice::Context* __context)
-{
-    class _DirectI : public ::IceInternal::Direct
-    {
-    public:
-
-        _DirectI(const ::RoboCompJointMotor::MotorGoalPosition& goal, const ::Ice::Current& __current) : 
-            ::IceInternal::Direct(__current),
-            _m_goal(goal)
-        {
-        }
-        
-        virtual ::Ice::DispatchStatus
-        run(::Ice::Object* object)
-        {
-            ::RoboCompJointMotor::JointMotor* servant = dynamic_cast< ::RoboCompJointMotor::JointMotor*>(object);
-            if(!servant)
-            {
-                throw ::Ice::OperationNotExistException(__FILE__, __LINE__, _current.id, _current.facet, _current.operation);
-            }
-            try
-            {
-                servant->setPosition(_m_goal, _current);
-                return ::Ice::DispatchOK;
-            }
-            catch(const ::Ice::UserException& __ex)
-            {
-                setUserException(__ex);
-                return ::Ice::DispatchUserException;
-            }
-        }
-        
-    private:
-        
-        const ::RoboCompJointMotor::MotorGoalPosition& _m_goal;
-    };
-    
-    ::Ice::Current __current;
-    __initCurrent(__current, __RoboCompJointMotor__JointMotor__setPosition_name, ::Ice::Normal, __context);
-    try
-    {
-        _DirectI __direct(goal, __current);
-        try
-        {
-            __direct.servant()->__collocDispatch(__direct);
-        }
-        catch(...)
-        {
-            __direct.destroy();
-            throw;
-        }
-        __direct.destroy();
-    }
-    catch(const ::RoboCompJointMotor::HardwareFailedException&)
-    {
-        throw;
-    }
-    catch(const ::RoboCompJointMotor::UnknownMotorException&)
-    {
-        throw;
-    }
-    catch(const ::Ice::SystemException&)
-    {
-        throw;
-    }
-    catch(const ::IceInternal::LocalExceptionWrapper&)
-    {
-        throw;
-    }
-    catch(const ::std::exception& __ex)
-    {
-        ::IceInternal::LocalExceptionWrapper::throwWrapper(__ex);
-    }
-    catch(...)
-    {
-        throw ::IceInternal::LocalExceptionWrapper(::Ice::UnknownException(__FILE__, __LINE__, "unknown c++ exception"), false);
-    }
-}
-
-void
-IceDelegateD::RoboCompJointMotor::JointMotor::setVelocity(const ::RoboCompJointMotor::MotorGoalVelocity& goal, const ::Ice::Context* __context)
-{
-    class _DirectI : public ::IceInternal::Direct
-    {
-    public:
-
-        _DirectI(const ::RoboCompJointMotor::MotorGoalVelocity& goal, const ::Ice::Current& __current) : 
-            ::IceInternal::Direct(__current),
-            _m_goal(goal)
-        {
-        }
-        
-        virtual ::Ice::DispatchStatus
-        run(::Ice::Object* object)
-        {
-            ::RoboCompJointMotor::JointMotor* servant = dynamic_cast< ::RoboCompJointMotor::JointMotor*>(object);
-            if(!servant)
-            {
-                throw ::Ice::OperationNotExistException(__FILE__, __LINE__, _current.id, _current.facet, _current.operation);
-            }
-            try
-            {
-                servant->setVelocity(_m_goal, _current);
-                return ::Ice::DispatchOK;
-            }
-            catch(const ::Ice::UserException& __ex)
-            {
-                setUserException(__ex);
-                return ::Ice::DispatchUserException;
-            }
-        }
-        
-    private:
-        
-        const ::RoboCompJointMotor::MotorGoalVelocity& _m_goal;
-    };
-    
-    ::Ice::Current __current;
-    __initCurrent(__current, __RoboCompJointMotor__JointMotor__setVelocity_name, ::Ice::Normal, __context);
-    try
-    {
-        _DirectI __direct(goal, __current);
-        try
-        {
-            __direct.servant()->__collocDispatch(__direct);
-        }
-        catch(...)
-        {
-            __direct.destroy();
-            throw;
-        }
-        __direct.destroy();
-    }
-    catch(const ::RoboCompJointMotor::HardwareFailedException&)
-    {
-        throw;
-    }
-    catch(const ::RoboCompJointMotor::UnknownMotorException&)
-    {
-        throw;
-    }
-    catch(const ::Ice::SystemException&)
-    {
-        throw;
-    }
-    catch(const ::IceInternal::LocalExceptionWrapper&)
-    {
-        throw;
-    }
-    catch(const ::std::exception& __ex)
-    {
-        ::IceInternal::LocalExceptionWrapper::throwWrapper(__ex);
-    }
-    catch(...)
-    {
-        throw ::IceInternal::LocalExceptionWrapper(::Ice::UnknownException(__FILE__, __LINE__, "unknown c++ exception"), false);
-    }
-}
-
-void
-IceDelegateD::RoboCompJointMotor::JointMotor::setSyncPosition(const ::RoboCompJointMotor::MotorGoalPositionList& listGoals, const ::Ice::Context* __context)
-{
-    class _DirectI : public ::IceInternal::Direct
-    {
-    public:
-
-        _DirectI(const ::RoboCompJointMotor::MotorGoalPositionList& listGoals, const ::Ice::Current& __current) : 
-            ::IceInternal::Direct(__current),
-            _m_listGoals(listGoals)
-        {
-        }
-        
-        virtual ::Ice::DispatchStatus
-        run(::Ice::Object* object)
-        {
-            ::RoboCompJointMotor::JointMotor* servant = dynamic_cast< ::RoboCompJointMotor::JointMotor*>(object);
-            if(!servant)
-            {
-                throw ::Ice::OperationNotExistException(__FILE__, __LINE__, _current.id, _current.facet, _current.operation);
-            }
-            try
-            {
-                servant->setSyncPosition(_m_listGoals, _current);
-                return ::Ice::DispatchOK;
-            }
-            catch(const ::Ice::UserException& __ex)
-            {
-                setUserException(__ex);
-                return ::Ice::DispatchUserException;
-            }
-        }
-        
-    private:
-        
-        const ::RoboCompJointMotor::MotorGoalPositionList& _m_listGoals;
-    };
-    
-    ::Ice::Current __current;
-    __initCurrent(__current, __RoboCompJointMotor__JointMotor__setSyncPosition_name, ::Ice::Normal, __context);
-    try
-    {
-        _DirectI __direct(listGoals, __current);
-        try
-        {
-            __direct.servant()->__collocDispatch(__direct);
-        }
-        catch(...)
-        {
-            __direct.destroy();
-            throw;
-        }
-        __direct.destroy();
-    }
-    catch(const ::RoboCompJointMotor::HardwareFailedException&)
-    {
-        throw;
-    }
-    catch(const ::RoboCompJointMotor::UnknownMotorException&)
-    {
-        throw;
-    }
-    catch(const ::Ice::SystemException&)
-    {
-        throw;
-    }
-    catch(const ::IceInternal::LocalExceptionWrapper&)
-    {
-        throw;
-    }
-    catch(const ::std::exception& __ex)
-    {
-        ::IceInternal::LocalExceptionWrapper::throwWrapper(__ex);
-    }
-    catch(...)
-    {
-        throw ::IceInternal::LocalExceptionWrapper(::Ice::UnknownException(__FILE__, __LINE__, "unknown c++ exception"), false);
-    }
-}
-
-::RoboCompJointMotor::MotorParams
-IceDelegateD::RoboCompJointMotor::JointMotor::getMotorParams(const ::std::string& motor, const ::Ice::Context* __context)
-{
-    class _DirectI : public ::IceInternal::Direct
-    {
-    public:
-
-        _DirectI(::RoboCompJointMotor::MotorParams& __result, const ::std::string& motor, const ::Ice::Current& __current) : 
-            ::IceInternal::Direct(__current),
-            _result(__result),
-            _m_motor(motor)
-        {
-        }
-        
-        virtual ::Ice::DispatchStatus
-        run(::Ice::Object* object)
-        {
-            ::RoboCompJointMotor::JointMotor* servant = dynamic_cast< ::RoboCompJointMotor::JointMotor*>(object);
-            if(!servant)
-            {
-                throw ::Ice::OperationNotExistException(__FILE__, __LINE__, _current.id, _current.facet, _current.operation);
-            }
-            try
-            {
-                _result = servant->getMotorParams(_m_motor, _current);
-                return ::Ice::DispatchOK;
-            }
-            catch(const ::Ice::UserException& __ex)
-            {
-                setUserException(__ex);
-                return ::Ice::DispatchUserException;
-            }
-        }
-        
-    private:
-        
-        ::RoboCompJointMotor::MotorParams& _result;
-        const ::std::string& _m_motor;
-    };
-    
-    ::Ice::Current __current;
-    __initCurrent(__current, __RoboCompJointMotor__JointMotor__getMotorParams_name, ::Ice::Normal, __context);
-    ::RoboCompJointMotor::MotorParams __result;
-    try
-    {
-        _DirectI __direct(__result, motor, __current);
-        try
-        {
-            __direct.servant()->__collocDispatch(__direct);
-        }
-        catch(...)
-        {
-            __direct.destroy();
-            throw;
-        }
-        __direct.destroy();
-    }
-    catch(const ::RoboCompJointMotor::UnknownMotorException&)
-    {
-        throw;
-    }
-    catch(const ::Ice::SystemException&)
-    {
-        throw;
-    }
-    catch(const ::IceInternal::LocalExceptionWrapper&)
-    {
-        throw;
-    }
-    catch(const ::std::exception& __ex)
-    {
-        ::IceInternal::LocalExceptionWrapper::throwWrapper(__ex);
-    }
-    catch(...)
-    {
-        throw ::IceInternal::LocalExceptionWrapper(::Ice::UnknownException(__FILE__, __LINE__, "unknown c++ exception"), false);
-    }
-    return __result;
-}
-
-::RoboCompJointMotor::MotorState
-IceDelegateD::RoboCompJointMotor::JointMotor::getMotorState(const ::std::string& motor, const ::Ice::Context* __context)
-{
-    class _DirectI : public ::IceInternal::Direct
-    {
-    public:
-
-        _DirectI(::RoboCompJointMotor::MotorState& __result, const ::std::string& motor, const ::Ice::Current& __current) : 
-            ::IceInternal::Direct(__current),
-            _result(__result),
-            _m_motor(motor)
-        {
-        }
-        
-        virtual ::Ice::DispatchStatus
-        run(::Ice::Object* object)
-        {
-            ::RoboCompJointMotor::JointMotor* servant = dynamic_cast< ::RoboCompJointMotor::JointMotor*>(object);
-            if(!servant)
-            {
-                throw ::Ice::OperationNotExistException(__FILE__, __LINE__, _current.id, _current.facet, _current.operation);
-            }
-            try
-            {
-                _result = servant->getMotorState(_m_motor, _current);
-                return ::Ice::DispatchOK;
-            }
-            catch(const ::Ice::UserException& __ex)
-            {
-                setUserException(__ex);
-                return ::Ice::DispatchUserException;
-            }
-        }
-        
-    private:
-        
-        ::RoboCompJointMotor::MotorState& _result;
-        const ::std::string& _m_motor;
-    };
-    
-    ::Ice::Current __current;
-    __initCurrent(__current, __RoboCompJointMotor__JointMotor__getMotorState_name, ::Ice::Normal, __context);
-    ::RoboCompJointMotor::MotorState __result;
-    try
-    {
-        _DirectI __direct(__result, motor, __current);
-        try
-        {
-            __direct.servant()->__collocDispatch(__direct);
-        }
-        catch(...)
-        {
-            __direct.destroy();
-            throw;
-        }
-        __direct.destroy();
-    }
-    catch(const ::RoboCompJointMotor::UnknownMotorException&)
-    {
-        throw;
-    }
-    catch(const ::Ice::SystemException&)
-    {
-        throw;
-    }
-    catch(const ::IceInternal::LocalExceptionWrapper&)
-    {
-        throw;
-    }
-    catch(const ::std::exception& __ex)
-    {
-        ::IceInternal::LocalExceptionWrapper::throwWrapper(__ex);
-    }
-    catch(...)
-    {
-        throw ::IceInternal::LocalExceptionWrapper(::Ice::UnknownException(__FILE__, __LINE__, "unknown c++ exception"), false);
-    }
-    return __result;
-}
-
-::RoboCompJointMotor::MotorStateMap
-IceDelegateD::RoboCompJointMotor::JointMotor::getMotorStateMap(const ::RoboCompJointMotor::MotorList& mList, const ::Ice::Context* __context)
-{
-    class _DirectI : public ::IceInternal::Direct
-    {
-    public:
-
-        _DirectI(::RoboCompJointMotor::MotorStateMap& __result, const ::RoboCompJointMotor::MotorList& mList, const ::Ice::Current& __current) : 
-            ::IceInternal::Direct(__current),
-            _result(__result),
-            _m_mList(mList)
-        {
-        }
-        
-        virtual ::Ice::DispatchStatus
-        run(::Ice::Object* object)
-        {
-            ::RoboCompJointMotor::JointMotor* servant = dynamic_cast< ::RoboCompJointMotor::JointMotor*>(object);
-            if(!servant)
-            {
-                throw ::Ice::OperationNotExistException(__FILE__, __LINE__, _current.id, _current.facet, _current.operation);
-            }
-            try
-            {
-                _result = servant->getMotorStateMap(_m_mList, _current);
-                return ::Ice::DispatchOK;
-            }
-            catch(const ::Ice::UserException& __ex)
-            {
-                setUserException(__ex);
-                return ::Ice::DispatchUserException;
-            }
-        }
-        
-    private:
-        
-        ::RoboCompJointMotor::MotorStateMap& _result;
-        const ::RoboCompJointMotor::MotorList& _m_mList;
-    };
-    
-    ::Ice::Current __current;
-    __initCurrent(__current, __RoboCompJointMotor__JointMotor__getMotorStateMap_name, ::Ice::Normal, __context);
-    ::RoboCompJointMotor::MotorStateMap __result;
-    try
-    {
-        _DirectI __direct(__result, mList, __current);
-        try
-        {
-            __direct.servant()->__collocDispatch(__direct);
-        }
-        catch(...)
-        {
-            __direct.destroy();
-            throw;
-        }
-        __direct.destroy();
-    }
-    catch(const ::RoboCompJointMotor::UnknownMotorException&)
-    {
-        throw;
-    }
-    catch(const ::Ice::SystemException&)
-    {
-        throw;
-    }
-    catch(const ::IceInternal::LocalExceptionWrapper&)
-    {
-        throw;
-    }
-    catch(const ::std::exception& __ex)
-    {
-        ::IceInternal::LocalExceptionWrapper::throwWrapper(__ex);
-    }
-    catch(...)
-    {
-        throw ::IceInternal::LocalExceptionWrapper(::Ice::UnknownException(__FILE__, __LINE__, "unknown c++ exception"), false);
-    }
-    return __result;
-}
-
-void
-IceDelegateD::RoboCompJointMotor::JointMotor::getAllMotorState(::RoboCompJointMotor::MotorStateMap& mstateMap, const ::Ice::Context* __context)
-{
-    class _DirectI : public ::IceInternal::Direct
-    {
-    public:
-
-        _DirectI(::RoboCompJointMotor::MotorStateMap& mstateMap, const ::Ice::Current& __current) : 
-            ::IceInternal::Direct(__current),
-            _m_mstateMap(mstateMap)
-        {
-        }
-        
-        virtual ::Ice::DispatchStatus
-        run(::Ice::Object* object)
-        {
-            ::RoboCompJointMotor::JointMotor* servant = dynamic_cast< ::RoboCompJointMotor::JointMotor*>(object);
-            if(!servant)
-            {
-                throw ::Ice::OperationNotExistException(__FILE__, __LINE__, _current.id, _current.facet, _current.operation);
-            }
-            try
-            {
-                servant->getAllMotorState(_m_mstateMap, _current);
-                return ::Ice::DispatchOK;
-            }
-            catch(const ::Ice::UserException& __ex)
-            {
-                setUserException(__ex);
-                return ::Ice::DispatchUserException;
-            }
-        }
-        
-    private:
-        
-        ::RoboCompJointMotor::MotorStateMap& _m_mstateMap;
-    };
-    
-    ::Ice::Current __current;
-    __initCurrent(__current, __RoboCompJointMotor__JointMotor__getAllMotorState_name, ::Ice::Normal, __context);
-    try
-    {
-        _DirectI __direct(mstateMap, __current);
-        try
-        {
-            __direct.servant()->__collocDispatch(__direct);
-        }
-        catch(...)
-        {
-            __direct.destroy();
-            throw;
-        }
-        __direct.destroy();
-    }
-    catch(const ::RoboCompJointMotor::UnknownMotorException&)
-    {
-        throw;
-    }
-    catch(const ::Ice::SystemException&)
-    {
-        throw;
-    }
-    catch(const ::IceInternal::LocalExceptionWrapper&)
-    {
-        throw;
-    }
-    catch(const ::std::exception& __ex)
-    {
-        ::IceInternal::LocalExceptionWrapper::throwWrapper(__ex);
-    }
-    catch(...)
-    {
-        throw ::IceInternal::LocalExceptionWrapper(::Ice::UnknownException(__FILE__, __LINE__, "unknown c++ exception"), false);
-    }
-}
-
-::RoboCompJointMotor::MotorParamsList
-IceDelegateD::RoboCompJointMotor::JointMotor::getAllMotorParams(const ::Ice::Context* __context)
-{
-    class _DirectI : public ::IceInternal::Direct
-    {
-    public:
-
-        _DirectI(::RoboCompJointMotor::MotorParamsList& __result, const ::Ice::Current& __current) : 
-            ::IceInternal::Direct(__current),
-            _result(__result)
-        {
-        }
-        
-        virtual ::Ice::DispatchStatus
-        run(::Ice::Object* object)
-        {
-            ::RoboCompJointMotor::JointMotor* servant = dynamic_cast< ::RoboCompJointMotor::JointMotor*>(object);
-            if(!servant)
-            {
-                throw ::Ice::OperationNotExistException(__FILE__, __LINE__, _current.id, _current.facet, _current.operation);
-            }
-            _result = servant->getAllMotorParams(_current);
-            return ::Ice::DispatchOK;
-        }
-        
-    private:
-        
-        ::RoboCompJointMotor::MotorParamsList& _result;
-    };
-    
-    ::Ice::Current __current;
-    __initCurrent(__current, __RoboCompJointMotor__JointMotor__getAllMotorParams_name, ::Ice::Normal, __context);
-    ::RoboCompJointMotor::MotorParamsList __result;
-    try
-    {
-        _DirectI __direct(__result, __current);
-        try
-        {
-            __direct.servant()->__collocDispatch(__direct);
-        }
-        catch(...)
-        {
-            __direct.destroy();
-            throw;
-        }
-        __direct.destroy();
-    }
-    catch(const ::Ice::SystemException&)
-    {
-        throw;
-    }
-    catch(const ::IceInternal::LocalExceptionWrapper&)
-    {
-        throw;
-    }
-    catch(const ::std::exception& __ex)
-    {
-        ::IceInternal::LocalExceptionWrapper::throwWrapper(__ex);
-    }
-    catch(...)
-    {
-        throw ::IceInternal::LocalExceptionWrapper(::Ice::UnknownException(__FILE__, __LINE__, "unknown c++ exception"), false);
-    }
-    return __result;
-}
-
-::RoboCompJointMotor::BusParams
-IceDelegateD::RoboCompJointMotor::JointMotor::getBusParams(const ::Ice::Context* __context)
-{
-    class _DirectI : public ::IceInternal::Direct
-    {
-    public:
-
-        _DirectI(::RoboCompJointMotor::BusParams& __result, const ::Ice::Current& __current) : 
-            ::IceInternal::Direct(__current),
-            _result(__result)
-        {
-        }
-        
-        virtual ::Ice::DispatchStatus
-        run(::Ice::Object* object)
-        {
-            ::RoboCompJointMotor::JointMotor* servant = dynamic_cast< ::RoboCompJointMotor::JointMotor*>(object);
-            if(!servant)
-            {
-                throw ::Ice::OperationNotExistException(__FILE__, __LINE__, _current.id, _current.facet, _current.operation);
-            }
-            _result = servant->getBusParams(_current);
-            return ::Ice::DispatchOK;
-        }
-        
-    private:
-        
-        ::RoboCompJointMotor::BusParams& _result;
-    };
-    
-    ::Ice::Current __current;
-    __initCurrent(__current, __RoboCompJointMotor__JointMotor__getBusParams_name, ::Ice::Normal, __context);
-    ::RoboCompJointMotor::BusParams __result;
-    try
-    {
-        _DirectI __direct(__result, __current);
-        try
-        {
-            __direct.servant()->__collocDispatch(__direct);
-        }
-        catch(...)
-        {
-            __direct.destroy();
-            throw;
-        }
-        __direct.destroy();
-    }
-    catch(const ::Ice::SystemException&)
-    {
-        throw;
-    }
-    catch(const ::IceInternal::LocalExceptionWrapper&)
-    {
-        throw;
-    }
-    catch(const ::std::exception& __ex)
-    {
-        ::IceInternal::LocalExceptionWrapper::throwWrapper(__ex);
-    }
-    catch(...)
-    {
-        throw ::IceInternal::LocalExceptionWrapper(::Ice::UnknownException(__FILE__, __LINE__, "unknown c++ exception"), false);
-    }
-    return __result;
-}
-
-::Ice::ObjectPtr
-RoboCompJointMotor::JointMotor::ice_clone() const
-{
-    throw ::Ice::CloneNotImplementedException(__FILE__, __LINE__);
-    return 0; // to avoid a warning with some compilers
-}
-
-static const ::std::string __RoboCompJointMotor__JointMotor_ids[2] =
-{
-    "::Ice::Object",
-    "::RoboCompJointMotor::JointMotor"
-};
-
-bool
-RoboCompJointMotor::JointMotor::ice_isA(const ::std::string& _s, const ::Ice::Current&) const
-{
-    return ::std::binary_search(__RoboCompJointMotor__JointMotor_ids, __RoboCompJointMotor__JointMotor_ids + 2, _s);
-}
-
-::std::vector< ::std::string>
-RoboCompJointMotor::JointMotor::ice_ids(const ::Ice::Current&) const
-{
-    return ::std::vector< ::std::string>(&__RoboCompJointMotor__JointMotor_ids[0], &__RoboCompJointMotor__JointMotor_ids[2]);
-}
-
-const ::std::string&
-RoboCompJointMotor::JointMotor::ice_id(const ::Ice::Current&) const
-{
-    return __RoboCompJointMotor__JointMotor_ids[1];
-}
-
-const ::std::string&
-RoboCompJointMotor::JointMotor::ice_staticId()
-{
-    return __RoboCompJointMotor__JointMotor_ids[1];
-}
-
-::Ice::DispatchStatus
-RoboCompJointMotor::JointMotor::___setPosition(::IceInternal::Incoming& __inS, const ::Ice::Current& __current)
-{
-    __checkMode(::Ice::Normal, __current.mode);
-    ::IceInternal::BasicStream* __is = __inS.is();
-    __is->startReadEncaps();
-    ::RoboCompJointMotor::MotorGoalPosition goal;
-    goal.__read(__is);
-    __is->endReadEncaps();
-    ::IceInternal::BasicStream* __os = __inS.os();
-    try
-    {
-        setPosition(goal, __current);
-    }
-    catch(const ::RoboCompJointMotor::HardwareFailedException& __ex)
-    {
-        __os->write(__ex);
-        return ::Ice::DispatchUserException;
-    }
-    catch(const ::RoboCompJointMotor::UnknownMotorException& __ex)
-    {
-        __os->write(__ex);
-        return ::Ice::DispatchUserException;
-    }
-    return ::Ice::DispatchOK;
-}
-
-::Ice::DispatchStatus
-RoboCompJointMotor::JointMotor::___setVelocity(::IceInternal::Incoming& __inS, const ::Ice::Current& __current)
-{
-    __checkMode(::Ice::Normal, __current.mode);
-    ::IceInternal::BasicStream* __is = __inS.is();
-    __is->startReadEncaps();
-    ::RoboCompJointMotor::MotorGoalVelocity goal;
-    goal.__read(__is);
-    __is->endReadEncaps();
-    ::IceInternal::BasicStream* __os = __inS.os();
-    try
-    {
-        setVelocity(goal, __current);
-    }
-    catch(const ::RoboCompJointMotor::HardwareFailedException& __ex)
-    {
-        __os->write(__ex);
-        return ::Ice::DispatchUserException;
-    }
-    catch(const ::RoboCompJointMotor::UnknownMotorException& __ex)
-    {
-        __os->write(__ex);
-        return ::Ice::DispatchUserException;
-    }
-    return ::Ice::DispatchOK;
-}
-
-::Ice::DispatchStatus
-RoboCompJointMotor::JointMotor::___setSyncPosition(::IceInternal::Incoming& __inS, const ::Ice::Current& __current)
-{
-    __checkMode(::Ice::Normal, __current.mode);
-    ::IceInternal::BasicStream* __is = __inS.is();
-    __is->startReadEncaps();
-    ::RoboCompJointMotor::MotorGoalPositionList listGoals;
-    ::RoboCompJointMotor::__readMotorGoalPositionList(__is, listGoals);
-    __is->endReadEncaps();
-    ::IceInternal::BasicStream* __os = __inS.os();
-    try
-    {
-        setSyncPosition(listGoals, __current);
-    }
-    catch(const ::RoboCompJointMotor::HardwareFailedException& __ex)
-    {
-        __os->write(__ex);
-        return ::Ice::DispatchUserException;
-    }
-    catch(const ::RoboCompJointMotor::UnknownMotorException& __ex)
-    {
-        __os->write(__ex);
-        return ::Ice::DispatchUserException;
-    }
-    return ::Ice::DispatchOK;
-}
-
-::Ice::DispatchStatus
-RoboCompJointMotor::JointMotor::___getMotorParams(::IceInternal::Incoming& __inS, const ::Ice::Current& __current)
-{
-    __checkMode(::Ice::Normal, __current.mode);
-    ::IceInternal::BasicStream* __is = __inS.is();
-    __is->startReadEncaps();
-    ::std::string motor;
-    __is->read(motor);
-    __is->endReadEncaps();
-    ::IceInternal::BasicStream* __os = __inS.os();
-    try
-    {
-        ::RoboCompJointMotor::MotorParams __ret = getMotorParams(motor, __current);
-        __ret.__write(__os);
-    }
-    catch(const ::RoboCompJointMotor::UnknownMotorException& __ex)
-    {
-        __os->write(__ex);
-        return ::Ice::DispatchUserException;
-    }
-    return ::Ice::DispatchOK;
-}
-
-::Ice::DispatchStatus
-RoboCompJointMotor::JointMotor::___getMotorState(::IceInternal::Incoming& __inS, const ::Ice::Current& __current)
-{
-    __checkMode(::Ice::Normal, __current.mode);
-    ::IceInternal::BasicStream* __is = __inS.is();
-    __is->startReadEncaps();
-    ::std::string motor;
-    __is->read(motor);
-    __is->endReadEncaps();
-    ::IceInternal::BasicStream* __os = __inS.os();
-    try
-    {
-        ::RoboCompJointMotor::MotorState __ret = getMotorState(motor, __current);
-        __ret.__write(__os);
-    }
-    catch(const ::RoboCompJointMotor::UnknownMotorException& __ex)
-    {
-        __os->write(__ex);
-        return ::Ice::DispatchUserException;
-    }
-    return ::Ice::DispatchOK;
-}
-
-::Ice::DispatchStatus
-RoboCompJointMotor::JointMotor::___getMotorStateMap(::IceInternal::Incoming& __inS, const ::Ice::Current& __current)
-{
-    __checkMode(::Ice::Normal, __current.mode);
-    ::IceInternal::BasicStream* __is = __inS.is();
-    __is->startReadEncaps();
-    ::RoboCompJointMotor::MotorList mList;
-    __is->read(mList);
-    __is->endReadEncaps();
-    ::IceInternal::BasicStream* __os = __inS.os();
-    try
-    {
-        ::RoboCompJointMotor::MotorStateMap __ret = getMotorStateMap(mList, __current);
-        ::RoboCompJointMotor::__writeMotorStateMap(__os, __ret);
-    }
-    catch(const ::RoboCompJointMotor::UnknownMotorException& __ex)
-    {
-        __os->write(__ex);
-        return ::Ice::DispatchUserException;
-    }
-    return ::Ice::DispatchOK;
-}
-
-::Ice::DispatchStatus
-RoboCompJointMotor::JointMotor::___getAllMotorState(::IceInternal::Incoming& __inS, const ::Ice::Current& __current)
-{
-    __checkMode(::Ice::Normal, __current.mode);
-    __inS.is()->skipEmptyEncaps();
-    ::IceInternal::BasicStream* __os = __inS.os();
-    ::RoboCompJointMotor::MotorStateMap mstateMap;
-    try
-    {
-        getAllMotorState(mstateMap, __current);
-        ::RoboCompJointMotor::__writeMotorStateMap(__os, mstateMap);
-    }
-    catch(const ::RoboCompJointMotor::UnknownMotorException& __ex)
-    {
-        __os->write(__ex);
-        return ::Ice::DispatchUserException;
-    }
-    return ::Ice::DispatchOK;
-}
-
-::Ice::DispatchStatus
-RoboCompJointMotor::JointMotor::___getAllMotorParams(::IceInternal::Incoming& __inS, const ::Ice::Current& __current)
-{
-    __checkMode(::Ice::Normal, __current.mode);
-    __inS.is()->skipEmptyEncaps();
-    ::IceInternal::BasicStream* __os = __inS.os();
-    ::RoboCompJointMotor::MotorParamsList __ret = getAllMotorParams(__current);
-    if(__ret.size() == 0)
-    {
-        __os->writeSize(0);
-    }
-    else
-    {
-        ::RoboCompJointMotor::__writeMotorParamsList(__os, &__ret[0], &__ret[0] + __ret.size());
-    }
-    return ::Ice::DispatchOK;
-}
-
-::Ice::DispatchStatus
-RoboCompJointMotor::JointMotor::___getBusParams(::IceInternal::Incoming& __inS, const ::Ice::Current& __current)
-{
-    __checkMode(::Ice::Normal, __current.mode);
-    __inS.is()->skipEmptyEncaps();
-    ::IceInternal::BasicStream* __os = __inS.os();
-    ::RoboCompJointMotor::BusParams __ret = getBusParams(__current);
-    __ret.__write(__os);
-    return ::Ice::DispatchOK;
-}
-
-static ::std::string __RoboCompJointMotor__JointMotor_all[] =
-{
-    "getAllMotorParams",
-    "getAllMotorState",
-    "getBusParams",
-    "getMotorParams",
-    "getMotorState",
-    "getMotorStateMap",
-    "ice_id",
-    "ice_ids",
-    "ice_isA",
-    "ice_ping",
-    "setPosition",
-    "setSyncPosition",
-    "setVelocity"
-};
-
-::Ice::DispatchStatus
-RoboCompJointMotor::JointMotor::__dispatch(::IceInternal::Incoming& in, const ::Ice::Current& current)
-{
-    ::std::pair< ::std::string*, ::std::string*> r = ::std::equal_range(__RoboCompJointMotor__JointMotor_all, __RoboCompJointMotor__JointMotor_all + 13, current.operation);
-    if(r.first == r.second)
-    {
-        throw ::Ice::OperationNotExistException(__FILE__, __LINE__, current.id, current.facet, current.operation);
-    }
-
-    switch(r.first - __RoboCompJointMotor__JointMotor_all)
-    {
-        case 0:
-        {
-            return ___getAllMotorParams(in, current);
-        }
-        case 1:
-        {
-            return ___getAllMotorState(in, current);
-        }
-        case 2:
-        {
-            return ___getBusParams(in, current);
-        }
-        case 3:
-        {
-            return ___getMotorParams(in, current);
-        }
-        case 4:
-        {
-            return ___getMotorState(in, current);
-        }
-        case 5:
-        {
-            return ___getMotorStateMap(in, current);
-        }
-        case 6:
-        {
-            return ___ice_id(in, current);
-        }
-        case 7:
-        {
-            return ___ice_ids(in, current);
-        }
-        case 8:
-        {
-            return ___ice_isA(in, current);
-        }
-        case 9:
-        {
-            return ___ice_ping(in, current);
-        }
-        case 10:
-        {
-            return ___setPosition(in, current);
-        }
-        case 11:
-        {
-            return ___setSyncPosition(in, current);
-        }
-        case 12:
-        {
-            return ___setVelocity(in, current);
-        }
-    }
-
-    assert(false);
-    throw ::Ice::OperationNotExistException(__FILE__, __LINE__, current.id, current.facet, current.operation);
-}
-
-void
-RoboCompJointMotor::JointMotor::__write(::IceInternal::BasicStream* __os) const
-{
-    __os->writeTypeId(ice_staticId());
-    __os->startWriteSlice();
-    __os->endWriteSlice();
-#if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
-    Object::__write(__os);
-#else
-    ::Ice::Object::__write(__os);
-#endif
-}
-
-void
-RoboCompJointMotor::JointMotor::__read(::IceInternal::BasicStream* __is, bool __rid)
-{
-    if(__rid)
-    {
-        ::std::string myId;
-        __is->readTypeId(myId);
-    }
-    __is->startReadSlice();
-    __is->endReadSlice();
-#if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
-    Object::__read(__is, true);
-#else
-    ::Ice::Object::__read(__is, true);
-#endif
-}
-
-void
-RoboCompJointMotor::JointMotor::__write(const ::Ice::OutputStreamPtr&) const
-{
-    Ice::MarshalException ex(__FILE__, __LINE__);
-    ex.reason = "type RoboCompJointMotor::JointMotor was not generated with stream support";
-    throw ex;
-}
-
-void
-RoboCompJointMotor::JointMotor::__read(const ::Ice::InputStreamPtr&, bool)
-{
-    Ice::MarshalException ex(__FILE__, __LINE__);
-    ex.reason = "type RoboCompJointMotor::JointMotor was not generated with stream support";
-    throw ex;
-}
-
-void 
-RoboCompJointMotor::__patch__JointMotorPtr(void* __addr, ::Ice::ObjectPtr& v)
-{
-    ::RoboCompJointMotor::JointMotorPtr* p = static_cast< ::RoboCompJointMotor::JointMotorPtr*>(__addr);
-    assert(p);
-    *p = ::RoboCompJointMotor::JointMotorPtr::dynamicCast(v);
-    if(v && !*p)
-    {
-        IceInternal::Ex::throwUOE(::RoboCompJointMotor::JointMotor::ice_staticId(), v->ice_id());
-    }
-}
-
-bool
-RoboCompJointMotor::operator==(const ::RoboCompJointMotor::JointMotor& l, const ::RoboCompJointMotor::JointMotor& r)
-{
-    return static_cast<const ::Ice::Object&>(l) == static_cast<const ::Ice::Object&>(r);
-}
-
-bool
-RoboCompJointMotor::operator<(const ::RoboCompJointMotor::JointMotor& l, const ::RoboCompJointMotor::JointMotor& r)
-{
-    return static_cast<const ::Ice::Object&>(l) < static_cast<const ::Ice::Object&>(r);
-}

Deleted: trunk/src/stable/components/giraffeServer/JointMotor.h
===================================================================
--- trunk/src/testing/components/giraffeServer/JointMotor.h	2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/JointMotor.h	2013-10-25 10:56:31 UTC (rev 1078)
@@ -1,828 +0,0 @@
-// **********************************************************************
-//
-// Copyright (c) 2003-2009 ZeroC, Inc. All rights reserved.
-//
-// This copy of Ice is licensed to you under the terms described in the
-// ICE_LICENSE file included in this distribution.
-//
-// **********************************************************************
-
-// Ice version 3.3.1
-// Generated from file `JointMotor.ice'
-
-#ifndef ____JointMotor_h__
-#define ____JointMotor_h__
-
-#include <Ice/LocalObjectF.h>
-#include <Ice/ProxyF.h>
-#include <Ice/ObjectF.h>
-#include <Ice/Exception.h>
-#include <Ice/LocalObject.h>
-#include <Ice/Proxy.h>
-#include <Ice/Object.h>
-#include <Ice/Outgoing.h>
-#include <Ice/Incoming.h>
-#include <Ice/Direct.h>
-#include <Ice/UserExceptionFactory.h>
-#include <Ice/FactoryTable.h>
-#include <Ice/StreamF.h>
-#include <Ice/UndefSysMacros.h>
-
-#ifndef ICE_IGNORE_VERSION
-#   if ICE_INT_VERSION / 100 != 303
-#       error Ice version mismatch!
-#   endif
-#   if ICE_INT_VERSION % 100 > 50
-#       error Beta header file detected
-#   endif
-#   if ICE_INT_VERSION % 100 < 1
-#       error Ice patch level mismatch!
-#   endif
-#endif
-
-namespace IceProxy
-{
-
-namespace RoboCompJointMotor
-{
-
-class JointMotor;
-
-}
-
-}
-
-namespace RoboCompJointMotor
-{
-
-class JointMotor;
-bool operator==(const JointMotor&, const JointMotor&);
-bool operator<(const JointMotor&, const JointMotor&);
-
-}
-
-namespace IceInternal
-{
-
-::Ice::Object* upCast(::RoboCompJointMotor::JointMotor*);
-::IceProxy::Ice::Object* upCast(::IceProxy::RoboCompJointMotor::JointMotor*);
-
-}
-
-namespace RoboCompJointMotor
-{
-
-typedef ::IceInternal::Handle< ::RoboCompJointMotor::JointMotor> JointMotorPtr;
-typedef ::IceInternal::ProxyHandle< ::IceProxy::RoboCompJointMotor::JointMotor> JointMotorPrx;
-
-void __read(::IceInternal::BasicStream*, JointMotorPrx&);
-void __patch__JointMotorPtr(void*, ::Ice::ObjectPtr&);
-
-}
-
-namespace RoboCompJointMotor
-{
-
-class HardwareFailedException : public ::Ice::UserException
-{
-public:
-
-    HardwareFailedException() {}
-    explicit HardwareFailedException(const ::std::string&);
-    virtual ~HardwareFailedException() throw();
-
-    virtual ::std::string ice_name() const;
-    virtual ::Ice::Exception* ice_clone() const;
-    virtual void ice_throw() const;
-
-    static const ::IceInternal::UserExceptionFactoryPtr& ice_factory();
-
-    ::std::string what;
-
-    virtual void __write(::IceInternal::BasicStream*) const;
-    virtual void __read(::IceInternal::BasicStream*, bool);
-    virtual void __write(const ::Ice::OutputStreamPtr&) const;
-    virtual void __read(const ::Ice::InputStreamPtr&, bool);
-};
-
-static HardwareFailedException __HardwareFailedException_init;
-
-class OutOfRangeException : public ::Ice::UserException
-{
-public:
-
-    OutOfRangeException() {}
-    explicit OutOfRangeException(const ::std::string&);
-    virtual ~OutOfRangeException() throw();
-
-    virtual ::std::string ice_name() const;
-    virtual ::Ice::Exception* ice_clone() const;
-    virtual void ice_throw() const;
-
-    static const ::IceInternal::UserExceptionFactoryPtr& ice_factory();
-
-    ::std::string what;
-
-    virtual void __write(::IceInternal::BasicStream*) const;
-    virtual void __read(::IceInternal::BasicStream*, bool);
-    virtual void __write(const ::Ice::OutputStreamPtr&) const;
-    virtual void __read(const ::Ice::InputStreamPtr&, bool);
-};
-
-class UnknownMotorException : public ::Ice::UserException
-{
-public:
-
-    UnknownMotorException() {}
-    explicit UnknownMotorException(const ::std::string&);
-    virtual ~UnknownMotorException() throw();
-
-    virtual ::std::string ice_name() const;
-    virtual ::Ice::Exception* ice_clone() const;
-    virtual void ice_throw() const;
-
-    static const ::IceInternal::UserExceptionFactoryPtr& ice_factory();
-
-    ::std::string what;
-
-    virtual void __write(::IceInternal::BasicStream*) const;
-    virtual void __read(::IceInternal::BasicStream*, bool);
-    virtual void __write(const ::Ice::OutputStreamPtr&) const;
-    virtual void __read(const ::Ice::InputStreamPtr&, bool);
-};
-
-struct MotorState
-{
-    ::Ice::Float pos;
-    ::Ice::Float vel;
-    ::Ice::Float power;
-    ::std::string timeStamp;
-    ::Ice::Int p;
-    ::Ice::Int v;
-    bool isMoving;
-
-    bool operator==(const MotorState&) const;
-    bool operator<(const MotorState&) const;
-    bool operator!=(const MotorState& __rhs) const
-    {
-        return !operator==(__rhs);
-    }
-    bool operator<=(const MotorState& __rhs) const
-    {
-        return operator<(__rhs) || operator==(__rhs);
-    }
-    bool operator>(const MotorState& __rhs) const
-    {
-        return !operator<(__rhs) && !operator==(__rhs);
-    }
-    bool operator>=(const MotorState& __rhs) const
-    {
-        return !operator<(__rhs);
-    }
-
-    void __write(::IceInternal::BasicStream*) const;
-    void __read(::IceInternal::BasicStream*);
-};
-
-typedef ::std::map< ::std::string, ::RoboCompJointMotor::MotorState> MotorStateMap;
-void __writeMotorStateMap(::IceInternal::BasicStream*, const MotorStateMap&);
-void __readMotorStateMap(::IceInternal::BasicStream*, MotorStateMap&);
-
-struct MotorParams
-{
-    ::std::string name;
-    ::Ice::Byte busId;
-    ::Ice::Float minPos;
-    ::Ice::Float maxPos;
-    ::Ice::Float maxVelocity;
-    ::Ice::Float zeroPos;
-    bool invertedSign;
-
-    bool operator==(const MotorParams&) const;
-    bool operator<(const MotorParams&) const;
-    bool operator!=(const MotorParams& __rhs) const
-    {
-        return !operator==(__rhs);
-    }
-    bool operator<=(const MotorParams& __rhs) const
-    {
-        return operator<(__rhs) || operator==(__rhs);
-    }
-    bool operator>(const MotorParams& __rhs) const
-    {
-        return !operator<(__rhs) && !operator==(__rhs);
-    }
-    bool operator>=(const MotorParams& __rhs) const
-    {
-        return !operator<(__rhs);
-    }
-
-    void __write(::IceInternal::BasicStream*) const;
-    void __read(::IceInternal::BasicStream*);
-};
-
-typedef ::std::vector< ::RoboCompJointMotor::MotorParams> MotorParamsList;
-void __writeMotorParamsList(::IceInternal::BasicStream*, const ::RoboCompJointMotor::MotorParams*, const ::RoboCompJointMotor::MotorParams*);
-void __readMotorParamsList(::IceInternal::BasicStream*, MotorParamsList&);
-
-struct BusParams
-{
-    ::std::string handler;
-    ::std::string device;
-    ::Ice::Int numMotors;
-    ::Ice::Int baudRate;
-    ::Ice::Int basicPeriod;
-
-    bool operator==(const BusParams&) const;
-    bool operator<(const BusParams&) const;
-    bool operator!=(const BusParams& __rhs) const
-    {
-        return !operator==(__rhs);
-    }
-    bool operator<=(const BusParams& __rhs) const
-    {
-        return operator<(__rhs) || operator==(__rhs);
-    }
-    bool operator>(const BusParams& __rhs) const
-    {
-        return !operator<(__rhs) && !operator==(__rhs);
-    }
-    bool operator>=(const BusParams& __rhs) const
-    {
-        return !operator<(__rhs);
-    }
-
-    void __write(::IceInternal::BasicStream*) const;
-    void __read(::IceInternal::BasicStream*);
-};
-
-struct MotorGoalPosition
-{
-    ::std::string name;
-    ::Ice::Float position;
-    ::Ice::Float maxSpeed;
-
-    bool operator==(const MotorGoalPosition&) const;
-    bool operator<(const MotorGoalPosition&) const;
-    bool operator!=(const MotorGoalPosition& __rhs) const
-    {
-        return !operator==(__rhs);
-    }
-    bool operator<=(const MotorGoalPosition& __rhs) const
-    {
-        return operator<(__rhs) || operator==(__rhs);
-    }
-    bool operator>(const MotorGoalPosition& __rhs) const
-    {
-        return !operator<(__rhs) && !operator==(__rhs);
-    }
-    bool operator>=(const MotorGoalPosition& __rhs) const
-    {
-        return !operator<(__rhs);
-    }
-
-    void __write(::IceInternal::BasicStream*) const;
-    void __read(::IceInternal::BasicStream*);
-};
-
-typedef ::std::vector< ::RoboCompJointMotor::MotorGoalPosition> MotorGoalPositionList;
-void __writeMotorGoalPositionList(::IceInternal::BasicStream*, const ::RoboCompJointMotor::MotorGoalPosition*, const ::RoboCompJointMotor::MotorGoalPosition*);
-void __readMotorGoalPositionList(::IceInternal::BasicStream*, MotorGoalPositionList&);
-
-struct MotorGoalVelocity
-{
-    ::std::string name;
-    ::Ice::Float velocity;
-    ::Ice::Float maxAcc;
-
-    bool operator==(const MotorGoalVelocity&) const;
-    bool operator<(const MotorGoalVelocity&) const;
-    bool operator!=(const MotorGoalVelocity& __rhs) const
-    {
-        return !operator==(__rhs);
-    }
-    bool operator<=(const MotorGoalVelocity& __rhs) const
-    {
-        return operator<(__rhs) || operator==(__rhs);
-    }
-    bool operator>(const MotorGoalVelocity& __rhs) const
-    {
-        return !operator<(__rhs) && !operator==(__rhs);
-    }
-    bool operator>=(const MotorGoalVelocity& __rhs) const
-    {
-        return !operator<(__rhs);
-    }
-
-    void __write(::IceInternal::BasicStream*) const;
-    void __read(::IceInternal::BasicStream*);
-};
-
-typedef ::std::vector< ::std::string> MotorList;
-
-}
-
-namespace IceProxy
-{
-
-namespace RoboCompJointMotor
-{
-
-class JointMotor : virtual public ::IceProxy::Ice::Object
-{
-public:
-
-    void setPosition(const ::RoboCompJointMotor::MotorGoalPosition& goal)
-    {
-        setPosition(goal, 0);
-    }
-    void setPosition(const ::RoboCompJointMotor::MotorGoalPosition& goal, const ::Ice::Context& __ctx)
-    {
-        setPosition(goal, &__ctx);
-    }
-    
-private:
-
-    void setPosition(const ::RoboCompJointMotor::MotorGoalPosition&, const ::Ice::Context*);
-    
-public:
-
-    void setVelocity(const ::RoboCompJointMotor::MotorGoalVelocity& goal)
-    {
-        setVelocity(goal, 0);
-    }
-    void setVelocity(const ::RoboCompJointMotor::MotorGoalVelocity& goal, const ::Ice::Context& __ctx)
-    {
-        setVelocity(goal, &__ctx);
-    }
-    
-private:
-
-    void setVelocity(const ::RoboCompJointMotor::MotorGoalVelocity&, const ::Ice::Context*);
-    
-public:
-
-    void setSyncPosition(const ::RoboCompJointMotor::MotorGoalPositionList& listGoals)
-    {
-        setSyncPosition(listGoals, 0);
-    }
-    void setSyncPosition(const ::RoboCompJointMotor::MotorGoalPositionList& listGoals, const ::Ice::Context& __ctx)
-    {
-        setSyncPosition(listGoals, &__ctx);
-    }
-    
-private:
-
-    void setSyncPosition(const ::RoboCompJointMotor::MotorGoalPositionList&, const ::Ice::Context*);
-    
-public:
-
-    ::RoboCompJointMotor::MotorParams getMotorParams(const ::std::string& motor)
-    {
-        return getMotorParams(motor, 0);
-    }
-    ::RoboCompJointMotor::MotorParams getMotorParams(const ::std::string& motor, const ::Ice::Context& __ctx)
-    {
-        return getMotorParams(motor, &__ctx);
-    }
-    
-private:
-
-    ::RoboCompJointMotor::MotorParams getMotorParams(const ::std::string&, const ::Ice::Context*);
-    
-public:
-
-    ::RoboCompJointMotor::MotorState getMotorState(const ::std::string& motor)
-    {
-        return getMotorState(motor, 0);
-    }
-    ::RoboCompJointMotor::MotorState getMotorState(const ::std::string& motor, const ::Ice::Context& __ctx)
-    {
-        return getMotorState(motor, &__ctx);
-    }
-    
-private:
-
-    ::RoboCompJointMotor::MotorState getMotorState(const ::std::string&, const ::Ice::Context*);
-    
-public:
-
-    ::RoboCompJointMotor::MotorStateMap getMotorStateMap(const ::RoboCompJointMotor::MotorList& mList)
-    {
-        return getMotorStateMap(mList, 0);
-    }
-    ::RoboCompJointMotor::MotorStateMap getMotorStateMap(const ::RoboCompJointMotor::MotorList& mList, const ::Ice::Context& __ctx)
-    {
-        return getMotorStateMap(mList, &__ctx);
-    }
-    
-private:
-
-    ::RoboCompJointMotor::MotorStateMap getMotorStateMap(const ::RoboCompJointMotor::MotorList&, const ::Ice::Context*);
-    
-public:
-
-    void getAllMotorState(::RoboCompJointMotor::MotorStateMap& mstateMap)
-    {
-        getAllMotorState(mstateMap, 0);
-    }
-    void getAllMotorState(::RoboCompJointMotor::MotorStateMap& mstateMap, const ::Ice::Context& __ctx)
-    {
-        getAllMotorState(mstateMap, &__ctx);
-    }
-    
-private:
-
-    void getAllMotorState(::RoboCompJointMotor::MotorStateMap&, const ::Ice::Context*);
-    
-public:
-
-    ::RoboCompJointMotor::MotorParamsList getAllMotorParams()
-    {
-        return getAllMotorParams(0);
-    }
-    ::RoboCompJointMotor::MotorParamsList getAllMotorParams(const ::Ice::Context& __ctx)
-    {
-        return getAllMotorParams(&__ctx);
-    }
-    
-private:
-
-    ::RoboCompJointMotor::MotorParamsList getAllMotorParams(const ::Ice::Context*);
-    
-public:
-
-    ::RoboCompJointMotor::BusParams getBusParams()
-    {
-        return getBusParams(0);
-    }
-    ::RoboCompJointMotor::BusParams getBusParams(const ::Ice::Context& __ctx)
-    {
-        return getBusParams(&__ctx);
-    }
-    
-private:
-
-    ::RoboCompJointMotor::BusParams getBusParams(const ::Ice::Context*);
-    
-public:
-    
-    ::IceInternal::ProxyHandle<JointMotor> ice_context(const ::Ice::Context& __context) const
-    {
-    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
-        typedef ::IceProxy::Ice::Object _Base;
-        return dynamic_cast<JointMotor*>(_Base::ice_context(__context).get());
-    #else
-        return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_context(__context).get());
-    #endif
-    }
-    
-    ::IceInternal::ProxyHandle<JointMotor> ice_adapterId(const std::string& __id) const
-    {
-    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
-        typedef ::IceProxy::Ice::Object _Base;
-        return dynamic_cast<JointMotor*>(_Base::ice_adapterId(__id).get());
-    #else
-        return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_adapterId(__id).get());
-    #endif
-    }
-    
-    ::IceInternal::ProxyHandle<JointMotor> ice_endpoints(const ::Ice::EndpointSeq& __endpoints) const
-    {
-    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
-        typedef ::IceProxy::Ice::Object _Base;
-        return dynamic_cast<JointMotor*>(_Base::ice_endpoints(__endpoints).get());
-    #else
-        return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_endpoints(__endpoints).get());
-    #endif
-    }
-    
-    ::IceInternal::ProxyHandle<JointMotor> ice_locatorCacheTimeout(int __timeout) const
-    {
-    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
-        typedef ::IceProxy::Ice::Object _Base;
-        return dynamic_cast<JointMotor*>(_Base::ice_locatorCacheTimeout(__timeout).get());
-    #else
-        return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_locatorCacheTimeout(__timeout).get());
-    #endif
-    }
-    
-    ::IceInternal::ProxyHandle<JointMotor> ice_connectionCached(bool __cached) const
-    {
-    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
-        typedef ::IceProxy::Ice::Object _Base;
-        return dynamic_cast<JointMotor*>(_Base::ice_connectionCached(__cached).get());
-    #else
-        return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_connectionCached(__cached).get());
-    #endif
-    }
-    
-    ::IceInternal::ProxyHandle<JointMotor> ice_endpointSelection(::Ice::EndpointSelectionType __est) const
-    {
-    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
-        typedef ::IceProxy::Ice::Object _Base;
-        return dynamic_cast<JointMotor*>(_Base::ice_endpointSelection(__est).get());
-    #else
-        return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_endpointSelection(__est).get());
-    #endif
-    }
-    
-    ::IceInternal::ProxyHandle<JointMotor> ice_secure(bool __secure) const
-    {
-    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
-        typedef ::IceProxy::Ice::Object _Base;
-        return dynamic_cast<JointMotor*>(_Base::ice_secure(__secure).get());
-    #else
-        return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_secure(__secure).get());
-    #endif
-    }
-    
-    ::IceInternal::ProxyHandle<JointMotor> ice_preferSecure(bool __preferSecure) const
-    {
-    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
-        typedef ::IceProxy::Ice::Object _Base;
-        return dynamic_cast<JointMotor*>(_Base::ice_preferSecure(__preferSecure).get());
-    #else
-        return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_preferSecure(__preferSecure).get());
-    #endif
-    }
-    
-    ::IceInternal::ProxyHandle<JointMotor> ice_router(const ::Ice::RouterPrx& __router) const
-    {
-    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
-        typedef ::IceProxy::Ice::Object _Base;
-        return dynamic_cast<JointMotor*>(_Base::ice_router(__router).get());
-    #else
-        return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_router(__router).get());
-    #endif
-    }
-    
-    ::IceInternal::ProxyHandle<JointMotor> ice_locator(const ::Ice::LocatorPrx& __locator) const
-    {
-    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
-        typedef ::IceProxy::Ice::Object _Base;
-        return dynamic_cast<JointMotor*>(_Base::ice_locator(__locator).get());
-    #else
-        return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_locator(__locator).get());
-    #endif
-    }
-    
-    ::IceInternal::ProxyHandle<JointMotor> ice_collocationOptimized(bool __co) const
-    {
-    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
-        typedef ::IceProxy::Ice::Object _Base;
-        return dynamic_cast<JointMotor*>(_Base::ice_collocationOptimized(__co).get());
-    #else
-        return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_collocationOptimized(__co).get());
-    #endif
-    }
-    
-    ::IceInternal::ProxyHandle<JointMotor> ice_twoway() const
-    {
-    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
-        typedef ::IceProxy::Ice::Object _Base;
-        return dynamic_cast<JointMotor*>(_Base::ice_twoway().get());
-    #else
-        return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_twoway().get());
-    #endif
-    }
-    
-    ::IceInternal::ProxyHandle<JointMotor> ice_oneway() const
-    {
-    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
-        typedef ::IceProxy::Ice::Object _Base;
-        return dynamic_cast<JointMotor*>(_Base::ice_oneway().get());
-    #else
-        return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_oneway().get());
-    #endif
-    }
-    
-    ::IceInternal::ProxyHandle<JointMotor> ice_batchOneway() const
-    {
-    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
-        typedef ::IceProxy::Ice::Object _Base;
-        return dynamic_cast<JointMotor*>(_Base::ice_batchOneway().get());
-    #else
-        return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_batchOneway().get());
-    #endif
-    }
-    
-    ::IceInternal::ProxyHandle<JointMotor> ice_datagram() const
-    {
-    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
-        typedef ::IceProxy::Ice::Object _Base;
-        return dynamic_cast<JointMotor*>(_Base::ice_datagram().get());
-    #else
-        return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_datagram().get());
-    #endif
-    }
-    
-    ::IceInternal::ProxyHandle<JointMotor> ice_batchDatagram() const
-    {
-    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
-        typedef ::IceProxy::Ice::Object _Base;
-        return dynamic_cast<JointMotor*>(_Base::ice_batchDatagram().get());
-    #else
-        return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_batchDatagram().get());
-    #endif
-    }
-    
-    ::IceInternal::ProxyHandle<JointMotor> ice_compress(bool __compress) const
-    {
-    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
-        typedef ::IceProxy::Ice::Object _Base;
-        return dynamic_cast<JointMotor*>(_Base::ice_compress(__compress).get());
-    #else
-        return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_compress(__compress).get());
-    #endif
-    }
-    
-    ::IceInternal::ProxyHandle<JointMotor> ice_timeout(int __timeout) const
-    {
-    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
-        typedef ::IceProxy::Ice::Object _Base;
-        return dynamic_cast<JointMotor*>(_Base::ice_timeout(__timeout).get());
-    #else
-        return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_timeout(__timeout).get());
-    #endif
-    }
-    
-    ::IceInternal::ProxyHandle<JointMotor> ice_connectionId(const std::string& __id) const
-    {
-    #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
-        typedef ::IceProxy::Ice::Object _Base;
-        return dynamic_cast<JointMotor*>(_Base::ice_connectionId(__id).get());
-    #else
-        return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_connectionId(__id).get());
-    #endif
-    }
-    
-    static const ::std::string& ice_staticId();
-
-private: 
-
-    virtual ::IceInternal::Handle< ::IceDelegateM::Ice::Object> __createDelegateM();
-    virtual ::IceInternal::Handle< ::IceDelegateD::Ice::Object> __createDelegateD();
-    virtual ::IceProxy::Ice::Object* __newInstance() const;
-};
-
-}
-
-}
-
-namespace IceDelegate
-{
-
-namespace RoboCompJointMotor
-{
-
-class JointMotor : virtual public ::IceDelegate::Ice::Object
-{
-public:
-
-    virtual void setPosition(const ::RoboCompJointMotor::MotorGoalPosition&, const ::Ice::Context*) = 0;
-
-    virtual void setVelocity(const ::RoboCompJointMotor::MotorGoalVelocity&, const ::Ice::Context*) = 0;
-
-    virtual void setSyncPosition(const ::RoboCompJointMotor::MotorGoalPositionList&, const ::Ice::Context*) = 0;
-
-    virtual ::RoboCompJointMotor::MotorParams getMotorParams(const ::std::string&, const ::Ice::Context*) = 0;
-
-    virtual ::RoboCompJointMotor::MotorState getMotorState(const ::std::string&, const ::Ice::Context*) = 0;
-
-    virtual ::RoboCompJointMotor::MotorStateMap getMotorStateMap(const ::RoboCompJointMotor::MotorList&, const ::Ice::Context*) = 0;
-
-    virtual void getAllMotorState(::RoboCompJointMotor::MotorStateMap&, const ::Ice::Context*) = 0;
-
-    virtual ::RoboCompJointMotor::MotorParamsList getAllMotorParams(const ::Ice::Context*) = 0;
-
-    virtual ::RoboCompJointMotor::BusParams getBusParams(const ::Ice::Context*) = 0;
-};
-
-}
-
-}
-
-namespace IceDelegateM
-{
-
-namespace RoboCompJointMotor
-{
-
-class JointMotor : virtual public ::IceDelegate::RoboCompJointMotor::JointMotor,
-                   virtual public ::IceDelegateM::Ice::Object
-{
-public:
-
-    virtual void setPosition(const ::RoboCompJointMotor::MotorGoalPosition&, const ::Ice::Context*);
-
-    virtual void setVelocity(const ::RoboCompJointMotor::MotorGoalVelocity&, const ::Ice::Context*);
-
-    virtual void setSyncPosition(const ::RoboCompJointMotor::MotorGoalPositionList&, const ::Ice::Context*);
-
-    virtual ::RoboCompJointMotor::MotorParams getMotorParams(const ::std::string&, const ::Ice::Context*);
-
-    virtual ::RoboCompJointMotor::MotorState getMotorState(const ::std::string&, const ::Ice::Context*);
-
-    virtual ::RoboCompJointMotor::MotorStateMap getMotorStateMap(const ::RoboCompJointMotor::MotorList&, const ::Ice::Context*);
-
-    virtual void getAllMotorState(::RoboCompJointMotor::MotorStateMap&, const ::Ice::Context*);
-
-    virtual ::RoboCompJointMotor::MotorParamsList getAllMotorParams(const ::Ice::Context*);
-
-    virtual ::RoboCompJointMotor::BusParams getBusParams(const ::Ice::Context*);
-};
-
-}
-
-}
-
-namespace IceDelegateD
-{
-
-namespace RoboCompJointMotor
-{
-
-class JointMotor : virtual public ::IceDelegate::RoboCompJointMotor::JointMotor,
-                   virtual public ::IceDelegateD::Ice::Object
-{
-public:
-
-    virtual void setPosition(const ::RoboCompJointMotor::MotorGoalPosition&, const ::Ice::Context*);
-
-    virtual void setVelocity(const ::RoboCompJointMotor::MotorGoalVelocity&, const ::Ice::Context*);
-
-    virtual void setSyncPosition(const ::RoboCompJointMotor::MotorGoalPositionList&, const ::Ice::Context*);
-
-    virtual ::RoboCompJointMotor::MotorParams getMotorParams(const ::std::string&, const ::Ice::Context*);
-
-    virtual ::RoboCompJointMotor::MotorState getMotorState(const ::std::string&, const ::Ice::Context*);
-
-    virtual ::RoboCompJointMotor::MotorStateMap getMotorStateMap(const ::RoboCompJointMotor::MotorList&, const ::Ice::Context*);
-
-    virtual void getAllMotorState(::RoboCompJointMotor::MotorStateMap&, const ::Ice::Context*);
-
-    virtual ::RoboCompJointMotor::MotorParamsList getAllMotorParams(const ::Ice::Context*);
-
-    virtual ::RoboCompJointMotor::BusParams getBusParams(const ::Ice::Context*);
-};
-
-}
-
-}
-
-namespace RoboCompJointMotor
-{
-
-class JointMotor : virtual public ::Ice::Object
-{
-public:
-
-    typedef JointMotorPrx ProxyType;
-    typedef JointMotorPtr PointerType;
-    
-    virtual ::Ice::ObjectPtr ice_clone() const;
-
-    virtual bool ice_isA(const ::std::string&, const ::Ice::Current& = ::Ice::Current()) const;
-    virtual ::std::vector< ::std::string> ice_ids(const ::Ice::Current& = ::Ice::Current()) const;
-    virtual const ::std::string& ice_id(const ::Ice::Current& = ::Ice::Current()) const;
-    static const ::std::string& ice_staticId();
-
-    virtual void setPosition(const ::RoboCompJointMotor::MotorGoalPosition&, const ::Ice::Current& = ::Ice::Current()) = 0;
-    ::Ice::DispatchStatus ___setPosition(::IceInternal::Incoming&, const ::Ice::Current&);
-
-    virtual void setVelocity(const ::RoboCompJointMotor::MotorGoalVelocity&, const ::Ice::Current& = ::Ice::Current()) = 0;
-    ::Ice::DispatchStatus ___setVelocity(::IceInternal::Incoming&, const ::Ice::Current&);
-
-    virtual void setSyncPosition(const ::RoboCompJointMotor::MotorGoalPositionList&, const ::Ice::Current& = ::Ice::Current()) = 0;
-    ::Ice::DispatchStatus ___setSyncPosition(::IceInternal::Incoming&, const ::Ice::Current&);
-
-    virtual ::RoboCompJointMotor::MotorParams getMotorParams(const ::std::string&, const ::Ice::Current& = ::Ice::Current()) = 0;
-    ::Ice::DispatchStatus ___getMotorParams(::IceInternal::Incoming&, const ::Ice::Current&);
-
-    virtual ::RoboCompJointMotor::MotorState getMotorState(const ::std::string&, const ::Ice::Current& = ::Ice::Current()) = 0;
-    ::Ice::DispatchStatus ___getMotorState(::IceInternal::Incoming&, const ::Ice::Current&);
-
-    virtual ::RoboCompJointMotor::MotorStateMap getMotorStateMap(const ::RoboCompJointMotor::MotorList&, const ::Ice::Current& = ::Ice::Current()) = 0;
-    ::Ice::DispatchStatus ___getMotorStateMap(::IceInternal::Incoming&, const ::Ice::Current&);
-
-    virtual void getAllMotorState(::RoboCompJointMotor::MotorStateMap&, const ::Ice::Current& = ::Ice::Current()) = 0;
-    ::Ice::DispatchStatus ___getAllMotorState(::IceInternal::Incoming&, const ::Ice::Current&);
-
-    virtual ::RoboCompJointMotor::MotorParamsList getAllMotorParams(const ::Ice::Current& = ::Ice::Current()) = 0;
-    ::Ice::DispatchStatus ___getAllMotorParams(::IceInternal::Incoming&, const ::Ice::Current&);
-
-    virtual ::RoboCompJointMotor::BusParams getBusParams(const ::Ice::Current& = ::Ice::Current()) = 0;
-    ::Ice::DispatchStatus ___getBusParams(::IceInternal::Incoming&, const ::Ice::Current&);
-
-    virtual ::Ice::DispatchStatus __dispatch(::IceInternal::Incoming&, const ::Ice::Current&);
-
-    virtual void __write(::IceInternal::BasicStream*) const;
-    virtual void __read(::IceInternal::BasicStream*, bool);
-    virtual void __write(const ::Ice::OutputStreamPtr&) const;
-    virtual void __read(const ::Ice::InputStreamPtr&, bool);
-};
-
-}
-
-#endif

Deleted: trunk/src/stable/components/giraffeServer/JointMotor.ice
===================================================================
--- trunk/src/testing/components/giraffeServer/JointMotor.ice	2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/JointMotor.ice	2013-10-25 10:56:31 UTC (rev 1078)
@@ -1,79 +0,0 @@
-#ifndef JOINTMOTOR_ICE
-#define JOINTMOTOR_ICE
-
-// Multi-joint motor control component.
-
-module RoboCompJointMotor
-{
-  exception HardwareFailedException{ string what; };
-  exception OutOfRangeException{ string what; }; 
-  exception UnknownMotorException{ string what; };
-  
-  struct MotorState    // In Radians
-  {
-    float pos;         //rads
-    float vel;         //rads/sg
-    float power; 
-    string timeStamp;
-    int p;             // in steps
-    int v;             // steps/sg
-    bool isMoving;
-  } ;
-  
-  dictionary<string,MotorState> MotorStateMap;
-  
-   struct MotorParams    //Configuration Params  
-  {
-    string name;         // name of motor
-    byte busId;          // bus identificacion
-    float minPos;        //rads
-    float maxPos;        //rads
-    float maxVelocity;   //rads/sec
-    float zeroPos;       // rads
-    bool invertedSign;   // invert angle range
-  };
-   
-  sequence<MotorParams> MotorParamsList;
-   
-  struct BusParams
-  {
-    string handler;
-    string device;
-    int numMotors;
-    int baudRate;
-    int basicPeriod; //milliseconds
-  };
-  
-  struct MotorGoalPosition
-  {
-    string name;
-    float position;
-    float maxSpeed;
-  };
-   
-  sequence<MotorGoalPosition> MotorGoalPositionList;
-   
-  struct MotorGoalVelocity
-  {
-    string name;
-    float velocity;
-    float maxAcc;
-  };
-   
-  sequence<string> MotorList;
-  
-  interface JointMotor
-  {
-    void setPosition(MotorGoalPosition goal) throws UnknownMotorException, HardwareFailedException;         
-    void setVelocity(MotorGoalVelocity goal) throws UnknownMotorException, HardwareFailedException;  
-    void setSyncPosition(MotorGoalPositionList listGoals) throws UnknownMotorException, HardwareFailedException;
-    MotorParams getMotorParams(string motor) throws UnknownMotorException;
-    MotorState getMotorState(string motor) throws UnknownMotorException;
-    MotorStateMap getMotorStateMap(MotorList mList) throws UnknownMotorException;
-    void getAllMotorState(out MotorStateMap mstateMap) throws UnknownMotorException;
-    MotorParamsList getAllMotorParams();
-    BusParams getBusParams();
-  };
-};
-
-#endif

Modified: trunk/src/stable/components/giraffeServer/README
===================================================================
--- trunk/src/testing/components/giraffeServer/README	2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/README	2013-10-25 10:56:31 UTC (rev 1078)
@@ -4,7 +4,7 @@
 
 Compilar giraffeServer:
 
-qmake -o Makefile giraffeServer.pro
+cmake.
 make
 
 Ejecutamos:

Deleted: trunk/src/stable/components/giraffeServer/build
===================================================================
--- trunk/src/testing/components/giraffeServer/build	2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/build	2013-10-25 10:56:31 UTC (rev 1078)
@@ -1,22 +0,0 @@
-if (NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
-    message(FATAL_ERROR "Cannot find install manifest: \"@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt\"")
-endif(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
-
-file(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files)
-string(REGEX REPLACE "\n" ";" files "${files}")
-list(REVERSE files)
-foreach (file ${files})
-    message(STATUS "Uninstalling \"$ENV{DESTDIR}${file}\"")
-    if (EXISTS "$ENV{DESTDIR}${file}")
-        execute_process(
-            COMMAND @CMAKE_COMMAND@ -E remove "$ENV{DESTDIR}${file}"
-            OUTPUT_VARIABLE rm_out
-            RESULT_VARIABLE rm_retval
-        )
-        if(NOT ${rm_retval} EQUAL 0)
-            message(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"")
-        endif (NOT ${rm_retval} EQUAL 0)
-    else (EXISTS "$ENV{DESTDIR}${file}")
-        message(STATUS "File \"$ENV{DESTDIR}${file}\" does not exist.")
-    endif (EXISTS "$ENV{DESTDIR}${file}")
-endforeach(file)
\ No newline at end of file

Modified: trunk/src/stable/components/giraffeServer/dynamixel.h
===================================================================
--- trunk/src/testing/components/giraffeServer/dynamixel.h	2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/dynamixel.h	2013-10-25 10:56:31 UTC (rev 1078)
@@ -23,7 +23,7 @@
 #include <q4serialport/q4serialport.h>
 #include <QtCore>
 #include "iostream"
-#include "JointMotor.h"
+#include <jderobot/jointmotor.h>
 
 #define BROADCAST 0xFE
 #define SYNC_WRITE 0x83

Modified: trunk/src/stable/components/giraffeServer/jointmotorComp.cpp
===================================================================
--- trunk/src/testing/components/giraffeServer/jointmotorComp.cpp	2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/jointmotorComp.cpp	2013-10-25 10:56:31 UTC (rev 1078)
@@ -139,11 +139,16 @@
 	//Monitor thread
 	Monitor *monitor = new Monitor( &params, &busParams , communicator(), PARAMETERS_SET_WAIT_CONDITION);
 	monitor->start();
-	
+
 	usleep(10000);
-	if ( worker->isFinished() )
-	  return status;
-	
+    if ( worker->isFinished() )
+    {
+      std::cout << "worker->isFinished()" << std::endl;
+      return status;
+    }
+    else
+    	std::cout << "worker not finished" << std::endl;
+
 	//Start up de ther server
 	try
 	{

Modified: trunk/src/stable/components/giraffeServer/jointmotorI.h
===================================================================
--- trunk/src/testing/components/giraffeServer/jointmotorI.h	2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/jointmotorI.h	2013-10-25 10:56:31 UTC (rev 1078)
@@ -24,7 +24,7 @@
 
 // ICE includes
 #include <Ice/Ice.h>
-#include <JointMotor.h>
+#include <jderobot/jointmotor.h>
 
 // User includes...
 #include "worker.h"

Modified: trunk/src/stable/components/giraffeServer/killserver.sh
===================================================================
--- trunk/src/testing/components/giraffeServer/killserver.sh	2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/killserver.sh	2013-10-25 10:56:31 UTC (rev 1078)
@@ -1,4 +1,4 @@
 #!/bin/bash
 
-killall -9 giraffeServer
+killall -9 giraffeserver
 

Modified: trunk/src/stable/components/giraffeServer/moc_monitor.cpp
===================================================================
--- trunk/src/testing/components/giraffeServer/moc_monitor.cpp	2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/moc_monitor.cpp	2013-10-25 10:56:31 UTC (rev 1078)
@@ -1,8 +1,7 @@
 /****************************************************************************
 ** Meta object code from reading C++ file 'monitor.h'
 **
-** Created: Mon Mar 19 03:08:44 2012
-**      by: The Qt Meta Object Compiler version 62 (Qt 4.6.2)
+** Created by: The Qt Meta Object Compiler version 63 (Qt 4.8.6)
 **
 ** WARNING! All changes made in this file will be lost!
 *****************************************************************************/
@@ -10,8 +9,8 @@
 #include "monitor.h"
 #if !defined(Q_MOC_OUTPUT_REVISION)
 #error "The header file 'monitor.h' doesn't include <QObject>."
-#elif Q_MOC_OUTPUT_REVISION != 62
-#error "This file was generated using the moc from 4.6.2. It"
+#elif Q_MOC_OUTPUT_REVISION != 63
+#error "This file was generated using the moc from 4.8.6. It"
 #error "cannot be used with the include files from this version of Qt."
 #error "(The moc has changed too much.)"
 #endif
@@ -20,7 +19,7 @@
 static const uint qt_meta_data_Monitor[] = {
 
  // content:
-       4,       // revision
+       6,       // revision
        0,       // classname
        0,    0, // classinfo
        0,    0, // methods
@@ -37,9 +36,21 @@
     "Monitor\0"
 };
 
+void Monitor::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a)
+{
+    Q_UNUSED(_o);
+    Q_UNUSED(_id);
+    Q_UNUSED(_c);
+    Q_UNUSED(_a);
+}
+
+const QMetaObjectExtraData Monitor::staticMetaObjectExtraData = {
+    0,  qt_static_metacall 
+};
+
 const QMetaObject Monitor::staticMetaObject = {
     { &QThread::staticMetaObject, qt_meta_stringdata_Monitor,
-      qt_meta_data_Monitor, 0 }
+      qt_meta_data_Monitor, &staticMetaObjectExtraData }
 };
 
 #ifdef Q_NO_DATA_RELOCATION

Modified: trunk/src/stable/components/giraffeServer/moc_q4serialport.cpp
===================================================================
--- trunk/src/testing/components/giraffeServer/moc_q4serialport.cpp	2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/moc_q4serialport.cpp	2013-10-25 10:56:31 UTC (rev 1078)
@@ -1,8 +1,7 @@
 /****************************************************************************
 ** Meta object code from reading C++ file 'q4serialport.h'
 **
-** Created: Mon Mar 19 03:08:45 2012
-**      by: The Qt Meta Object Compiler version 62 (Qt 4.6.2)
+** Created by: The Qt Meta Object Compiler version 63 (Qt 4.8.6)
 **
 ** WARNING! All changes made in this file will be lost!
 *****************************************************************************/
@@ -10,8 +9,8 @@
 #include "q4serialport/q4serialport.h"
 #if !defined(Q_MOC_OUTPUT_REVISION)
 #error "The header file 'q4serialport.h' doesn't include <QObject>."
-#elif Q_MOC_OUTPUT_REVISION != 62
-#error "This file was generated using the moc from 4.6.2. It"
+#elif Q_MOC_OUTPUT_REVISION != 63
+#error "This file was generated using the moc from 4.8.6. It"
 #error "cannot be used with the include files from this version of Qt."
 #error "(The moc has changed too much.)"
 #endif
@@ -20,7 +19,7 @@
 static const uint qt_meta_data_QSerialPort[] = {
 
  // content:
-       4,       // revision
+       6,       // revision
        0,       // classname
        0,    0, // classinfo
        2,   14, // methods
@@ -44,9 +43,26 @@
     "slotNotifierActivated()\0"
 };
 
+void QSerialPort::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a)
+{
+    if (_c == QMetaObject::InvokeMetaMethod) {
+        Q_ASSERT(staticMetaObject.cast(_o));
+        QSerialPort *_t = static_cast<QSerialPort *>(_o);
+        switch (_id) {
+        case 0: _t->readyRead((*reinterpret_cast< int(*)>(_a[1]))); break;
+        case 1: _t->slotNotifierActivated(); break;
+        default: ;
+        }
+    }
+}
+
+const QMetaObjectExtraData QSerialPort::staticMetaObjectExtraData = {
+    0,  qt_static_metacall 
+};
+
 const QMetaObject QSerialPort::staticMetaObject = {
     { &QIODevice::staticMetaObject, qt_meta_stringdata_QSerialPort,
-      qt_meta_data_QSerialPort, 0 }
+      qt_meta_data_QSerialPort, &staticMetaObjectExtraData }
 };
 
 #ifdef Q_NO_DATA_RELOCATION
@@ -72,11 +88,8 @@
     if (_id < 0)
         return _id;
     if (_c == QMetaObject::InvokeMetaMethod) {
-        switch (_id) {
-        case 0: readyRead((*reinterpret_cast< int(*)>(_a[1]))); break;
-        case 1: slotNotifierActivated(); break;
-        default: ;
-        }
+        if (_id < 2)
+            qt_static_metacall(this, _c, _id, _a);
         _id -= 2;
     }
     return _id;

Modified: trunk/src/stable/components/giraffeServer/moc_worker.cpp
===================================================================
--- trunk/src/testing/components/giraffeServer/moc_worker.cpp	2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/moc_worker.cpp	2013-10-25 10:56:31 UTC (rev 1078)
@@ -1,8 +1,7 @@
 /****************************************************************************
 ** Meta object code from reading C++ file 'worker.h'
 **
-** Created: Mon Mar 19 03:08:43 2012
-**      by: The Qt Meta Object Compiler version 62 (Qt 4.6.2)
+** Created by: The Qt Meta Object Compiler version 63 (Qt 4.8.6)
 **
 ** WARNING! All changes made in this file will be lost!
 *****************************************************************************/
@@ -10,8 +9,8 @@
 #include "worker.h"
 #if !defined(Q_MOC_OUTPUT_REVISION)
 #error "The header file 'worker.h' doesn't include <QObject>."
-#elif Q_MOC_OUTPUT_REVISION != 62
-#error "This file was generated using the moc from 4.6.2. It"
+#elif Q_MOC_OUTPUT_REVISION != 63
+#error "This file was generated using the moc from 4.8.6. It"
 #error "cannot be used with the include files from this version of Qt."
 #error "(The moc has changed too much.)"
 #endif
@@ -20,7 +19,7 @@
 static const uint qt_meta_data_Worker[] = {
 
  // content:
-       4,       // revision
+       6,       // revision
        0,       // classname
        0,    0, // classinfo
        0,    0, // methods
@@ -37,9 +36,21 @@
     "Worker\0"
 };
 
+void Worker::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a)
+{
+    Q_UNUSED(_o);
+    Q_UNUSED(_id);
+    Q_UNUSED(_c);
+    Q_UNUSED(_a);
+}
+
+const QMetaObjectExtraData Worker::staticMetaObjectExtraData = {
+    0,  qt_static_metacall 
+};
+
 const QMetaObject Worker::staticMetaObject = {
     { &QThread::staticMetaObject, qt_meta_stringdata_Worker,
-      qt_meta_data_Worker, 0 }
+      qt_meta_data_Worker, &staticMetaObjectExtraData }
 };
 
 #ifdef Q_NO_DATA_RELOCATION

Modified: trunk/src/stable/components/giraffeServer/monitor.cpp
===================================================================
--- trunk/src/testing/components/giraffeServer/monitor.cpp	2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/monitor.cpp	2013-10-25 10:56:31 UTC (rev 1078)
@@ -36,6 +36,7 @@
 
 void Monitor::run()
 {
+
   forever
   {
 	if ( initializedOk == false)
@@ -194,4 +195,4 @@
 	}
 	std::cout << name << " " << value << std::endl;
 	return true;
-}
\ No newline at end of file
+}

Modified: trunk/src/stable/components/giraffeServer/monitor.h
===================================================================
--- trunk/src/testing/components/giraffeServer/monitor.h	2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/monitor.h	2013-10-25 10:56:31 UTC (rev 1078)
@@ -19,7 +19,7 @@
 #ifndef MONITOR_H
 #define MONITOR_H
 
-#include <JointMotor.h>
+#include <jderobot/jointmotor.h>
 #include <Ice/Ice.h>
 #include <QtCore>
 

Modified: trunk/src/stable/components/giraffeServer/servo.h
===================================================================
--- trunk/src/testing/components/giraffeServer/servo.h	2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/servo.h	2013-10-25 10:56:31 UTC (rev 1078)
@@ -19,7 +19,7 @@
 #ifndef SERVO_H
 #define SERVO_H
 
-#include <JointMotor.h>
+#include <jderobot/jointmotor.h>
 #include <QtCore>
 #include <math.h>
 

Modified: trunk/src/stable/components/giraffeServer/worker.cpp
===================================================================
--- trunk/src/testing/components/giraffeServer/worker.cpp	2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/worker.cpp	2013-10-25 10:56:31 UTC (rev 1078)
@@ -207,6 +207,8 @@
 
 RoboCompJointMotor::MotorParamsList Worker::getAllMotorParams( )
 {
+	std::cout << "Worker::getAllMotorParams" << std::endl;
+
   RoboCompJointMotor::MotorParamsList list;
   
   foreach( Servo *s, handler->motors)
@@ -249,4 +251,4 @@
 	RoboCompJointMotor::UnknownMotorException ex(motor.toStdString());
 	throw ex;
   }
-}
\ No newline at end of file
+}

Modified: trunk/src/stable/components/giraffeServer/worker.h
===================================================================
--- trunk/src/testing/components/giraffeServer/worker.h	2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/worker.h	2013-10-25 10:56:31 UTC (rev 1078)
@@ -24,7 +24,7 @@
 #include "handler.h"
 #include "dynamixel.h"
 //#include "fakehandler.h"
-#include <JointMotor.h>
+#include <jderobot/jointmotor.h>
 //#include <megaroboticshandler.h>
 #include <servo.h>
 



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