From f45ae6f419e34f7dcce95401dfc97048f109702b Mon Sep 17 00:00:00 2001
From: Jacopo <jacopo.losi@iit.it>
Date: Tue, 1 Oct 2024 15:56:18 +0200
Subject: [PATCH] Add note for commented lines and removed useless stuff

---
 app/motorTemperaturePublisher/conf/config.ini               | 6 +++---
 src/libraries/CMakeLists.txt                                | 1 -
 .../icubmod/embObjMotionControl/embObjMotionControl.cpp     | 5 +----
 .../icubmod/embObjMotionControl/embObjMotionControl.h       | 1 -
 .../FakeRawValuesPublisher_ParamsParser.h                   | 1 +
 .../RawValuesPublisherClient_ParamsParser.h                 | 1 +
 .../RawValuesPublisherServer_ParamsParser.h                 | 1 +
 7 files changed, 7 insertions(+), 9 deletions(-)

diff --git a/app/motorTemperaturePublisher/conf/config.ini b/app/motorTemperaturePublisher/conf/config.ini
index 8dd680691f..83ce31fef4 100644
--- a/app/motorTemperaturePublisher/conf/config.ini
+++ b/app/motorTemperaturePublisher/conf/config.ini
@@ -1,5 +1,5 @@
 [GENERAL]
-robotname         ergocub2S
+robotname         ergocub
 period            1.0
-portprefix        /upper_arm
-listofjoints      (0 1 )
+portprefix        /left_leg
+listofjoints      (0 1 2 3 4 5)
diff --git a/src/libraries/CMakeLists.txt b/src/libraries/CMakeLists.txt
index 84c52c41ae..099ef9a88d 100644
--- a/src/libraries/CMakeLists.txt
+++ b/src/libraries/CMakeLists.txt
@@ -42,4 +42,3 @@ if(ICUB_USE_IPOPT)
 else()
   message(STATUS "IPOPT not found/selected, skipping optimization")
 endif()
-
diff --git a/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp b/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp
index 113f124ed6..0b4c788de6 100644
--- a/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp
+++ b/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp
@@ -141,10 +141,7 @@ bool embObjMotionControl::alloc(int nj)
         _temperatureExceededLimitWatchdog.at(i).setThreshold(txrate);
         _temperatureSensorErrorWatchdog.at(i).setThreshold(txrate);
     }
-    
-    //TODO:call private method for populating keys for map of raw values data??
-    // should we populate map at the beginning with key and resizing the vectors ??
-    // do wee just use vectors and forget about the map at this level ??
+
     return true;
 }
 
diff --git a/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.h b/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.h
index c40146b961..1c5977c31d 100644
--- a/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.h
+++ b/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.h
@@ -349,7 +349,6 @@ class yarp::dev::embObjMotionControl:   public DeviceDriver,
     std::vector<yarp::dev::eomc::TemperatureFilter> _temperatureSpikesFilter;
 
     std::map<std::string, rawValuesKeyMetadata> _rawValuesMetadataMap;
-    //std::map<std::string, std::int32_t> _rawValuesKeysVsizeMap;
     std::vector<std::int32_t> _rawDataAuxVector;
     int sawthootTestVal;
 
diff --git a/src/libraries/icubmod/fakeRawValuesPublisher/FakeRawValuesPublisher_ParamsParser.h b/src/libraries/icubmod/fakeRawValuesPublisher/FakeRawValuesPublisher_ParamsParser.h
index 0f89c69074..ffa2885982 100644
--- a/src/libraries/icubmod/fakeRawValuesPublisher/FakeRawValuesPublisher_ParamsParser.h
+++ b/src/libraries/icubmod/fakeRawValuesPublisher/FakeRawValuesPublisher_ParamsParser.h
@@ -14,6 +14,7 @@
 #ifndef FAKERAWVALUESPUBLISHER_PARAMSPARSER_H
 #define FAKERAWVALUESPUBLISHER_PARAMSPARSER_H
 
+// NOTE: commented code is kept to let device running with yarp 3.9. They can be removed when 3.10 available
 #include <yarp/os/Searchable.h>
 //#include <yarp/dev/IDeviceDriverParams.h>
 #include <string>
diff --git a/src/libraries/icubmod/rawValuesPublisherClient/RawValuesPublisherClient_ParamsParser.h b/src/libraries/icubmod/rawValuesPublisherClient/RawValuesPublisherClient_ParamsParser.h
index 11feae3156..932153d15b 100644
--- a/src/libraries/icubmod/rawValuesPublisherClient/RawValuesPublisherClient_ParamsParser.h
+++ b/src/libraries/icubmod/rawValuesPublisherClient/RawValuesPublisherClient_ParamsParser.h
@@ -14,6 +14,7 @@
 #ifndef RAWVALUESPUBLISHERCLIENT_PARAMSPARSER_H
 #define RAWVALUESPUBLISHERCLIENT_PARAMSPARSER_H
 
+// NOTE: commented code is kept to let device running with yarp 3.9. They can be removed when 3.10 available
 #include <yarp/os/Searchable.h>
 //#include <yarp/dev/IDeviceDriverParams.h>
 #include <string>
diff --git a/src/libraries/icubmod/rawValuesPublisherServer/RawValuesPublisherServer_ParamsParser.h b/src/libraries/icubmod/rawValuesPublisherServer/RawValuesPublisherServer_ParamsParser.h
index 444790967b..6dc015fcf0 100644
--- a/src/libraries/icubmod/rawValuesPublisherServer/RawValuesPublisherServer_ParamsParser.h
+++ b/src/libraries/icubmod/rawValuesPublisherServer/RawValuesPublisherServer_ParamsParser.h
@@ -14,6 +14,7 @@
 #ifndef RAWVALUESPUBLISHERSERVER_PARAMSPARSER_H
 #define RAWVALUESPUBLISHERSERVER_PARAMSPARSER_H
 
+// NOTE: commented code is kept to let device running with yarp 3.9. They can be removed when 3.10 available
 #include <yarp/os/Searchable.h>
 //#include <yarp/dev/IDeviceDriverParams.h>
 #include <string>