From f0cc9a6fc194f9fc8d0f3fe5ccb8c24ec1bf1623 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Mon, 6 Jul 2020 12:47:05 +0200
Subject: [PATCH] Changed the deprecated auto_ptr for the unique_ptr. Changed
the xsd library to generate code with the C++11 standard.
---
src/dynamixel_motor.cpp | 4 ++--
src/dynamixel_motor_group.cpp | 6 +++---
src/xml/CMakeLists.txt | 2 +-
3 files changed, 6 insertions(+), 6 deletions(-)
diff --git a/src/dynamixel_motor.cpp b/src/dynamixel_motor.cpp
index d67ac1f..6648e98 100644
--- a/src/dynamixel_motor.cpp
+++ b/src/dynamixel_motor.cpp
@@ -438,7 +438,7 @@ void CDynamixelMotor::read_config(std::string &filename,TDynamixel_config &confi
{
// try to open the specified file
try{
- std::auto_ptr<dynamixel_motor_config_t> cfg(dynamixel_motor_config(filename.c_str(), xml_schema::flags::dont_validate));
+ std::unique_ptr<dynamixel_motor_config_t> cfg(dynamixel_motor_config(filename.c_str(), xml_schema::flags::dont_validate));
// configure the parameters of the controller
config.max_angle=cfg->max_angle();
config.min_angle=cfg->min_angle();
@@ -477,7 +477,7 @@ void CDynamixelMotor::load_config(std::string &filename)
{
// try to open the specified file
try{
- std::auto_ptr<dynamixel_motor_config_t> cfg(dynamixel_motor_config(filename.c_str(), xml_schema::flags::dont_validate));
+ std::unique_ptr<dynamixel_motor_config_t> cfg(dynamixel_motor_config(filename.c_str(), xml_schema::flags::dont_validate));
// configure the parameters of the controller
this->set_turn_off_alarms(cfg->alarm_shtdwn());
this->set_position_range(cfg->min_angle(), cfg->max_angle());
diff --git a/src/dynamixel_motor_group.cpp b/src/dynamixel_motor_group.cpp
index f29b675..3f4f935 100644
--- a/src/dynamixel_motor_group.cpp
+++ b/src/dynamixel_motor_group.cpp
@@ -660,7 +660,7 @@ TDynamixelGroup_config CDynamixelMotorGroup::read_config(std::string &filename)
{
// try to open the specified file
try{
- std::auto_ptr<dyn_motor_group_config_t> cfg(dyn_motor_group_config(filename.c_str(), xml_schema::flags::dont_validate));
+ std::unique_ptr<dyn_motor_group_config_t> cfg(dyn_motor_group_config(filename.c_str(), xml_schema::flags::dont_validate));
config.id.resize(cfg->dyn_motor_config().size());
config.dyn_config.resize(cfg->dyn_motor_config().size());
config.pid_control.resize(cfg->dyn_motor_config().size());
@@ -703,7 +703,7 @@ void CDynamixelMotorGroup::load_config(std::string &filename)
{
// try to open the specified file
try{
- std::auto_ptr<dyn_motor_group_config_t> cfg(dyn_motor_group_config(filename.c_str(), xml_schema::flags::dont_validate));
+ std::unique_ptr<dyn_motor_group_config_t> cfg(dyn_motor_group_config(filename.c_str(), xml_schema::flags::dont_validate));
pid.resize(cfg->dyn_motor_config().size());
punch.resize(cfg->dyn_motor_config().size());
compliance.resize(cfg->dyn_motor_config().size());
@@ -717,7 +717,7 @@ void CDynamixelMotorGroup::load_config(std::string &filename)
this->init_motor(iterator->id());
// load the configuration file
full_path=path+iterator->config_file();
- std::auto_ptr<dynamixel_motor_config_t> motor(dynamixel_motor_config(full_path.c_str(),xml_schema::flags::dont_validate));
+ std::unique_ptr<dynamixel_motor_config_t> motor(dynamixel_motor_config(full_path.c_str(),xml_schema::flags::dont_validate));
this->set_position_range(i,motor->min_angle(),motor->max_angle());
this->set_temperature_limit(i,motor->temp_limit());
this->set_voltage_limits(i,motor->min_voltage(),motor->max_voltage());
diff --git a/src/xml/CMakeLists.txt b/src/xml/CMakeLists.txt
index 2dea08f..458170b 100644
--- a/src/xml/CMakeLists.txt
+++ b/src/xml/CMakeLists.txt
@@ -37,7 +37,7 @@ IF(XSD_FOUND)
ADD_CUSTOM_TARGET(xsd_files_gen DEPENDS ${XSD_SOURCES_INT})
ADD_CUSTOM_COMMAND(
OUTPUT ${XSD_SOURCES_INT}
- COMMAND xsdcxx cxx-tree --generate-serialization ${XSD_FILES}
+ COMMAND xsdcxx cxx-tree --std c++11 --generate-serialization ${XSD_FILES}
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
DEPENDS ${XSD_PATH_FILES}
COMMENT "Parsing the xml template file ${XSD_FILES}")
--
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