From c46c1852974776038a75b7c0e542ccb2917d7c7f Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Mon, 19 Sep 2022 17:40:20 +0200
Subject: [PATCH] Implement VirtualAnalogRemapper::getAxes to fix compilation
 with YARP 3.8 (#160)

* Implement VirtualAnalogRemapper::getAxes

* Update CHANGELOG.md

* Fix VirtualAnalogRemapper::getAxes implementation
---
 CHANGELOG.md                                         |  2 +-
 .../virtualAnalogRemapper/VirtualAnalogRemapper.cpp  | 12 ++++++++++++
 .../virtualAnalogRemapper/VirtualAnalogRemapper.h    |  1 +
 3 files changed, 14 insertions(+), 1 deletion(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index bf53fd8..1fc1fb1 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -10,7 +10,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Changed
 
 ### Fixed
-- Implement VirtualAnalogClient::getAxes to fix compilation against YARP 3.8 (https://github.com/robotology/whole-body-estimators/pull/159).
+- Implement `VirtualAnalogClient::getAxes` and `VirtualAnalogRemapper::getAxes` to fix compilation against YARP 3.8 (https://github.com/robotology/whole-body-estimators/pull/159, https://github.com/robotology/whole-body-estimators/pull/160).
 
 ## [0.9.0] - 2022-08-31
 
diff --git a/devices/virtualAnalogRemapper/VirtualAnalogRemapper.cpp b/devices/virtualAnalogRemapper/VirtualAnalogRemapper.cpp
index 74d1a06..fd498f5 100644
--- a/devices/virtualAnalogRemapper/VirtualAnalogRemapper.cpp
+++ b/devices/virtualAnalogRemapper/VirtualAnalogRemapper.cpp
@@ -343,3 +343,15 @@ bool VirtualAnalogRemapper::getJointType(int axis, JointTypeEnum& type)
     }
     return ret;
 }
+
+bool VirtualAnalogRemapper::getAxes(int* ax)
+{
+    if( !ax )
+    {
+        yError() << "VirtualAnalogRemapper: getAxes failed : invalid argument passed";
+        return false;
+    }
+
+    *ax = this->m_axesNames.size();
+    return true;
+}
diff --git a/devices/virtualAnalogRemapper/VirtualAnalogRemapper.h b/devices/virtualAnalogRemapper/VirtualAnalogRemapper.h
index 0a78353..818949b 100644
--- a/devices/virtualAnalogRemapper/VirtualAnalogRemapper.h
+++ b/devices/virtualAnalogRemapper/VirtualAnalogRemapper.h
@@ -129,6 +129,7 @@ class VirtualAnalogRemapper:  public DeviceDriver,
     /** IAxisInfo methods (documented in IVirtualAnalogSensor class) */
     virtual bool getAxisName(int axis, std::string& name);
     virtual bool getJointType(int axis, yarp::dev::JointTypeEnum& type);
+    virtual bool getAxes(int* ax);
 
     /** IMultipleWrapper methods (documented in IMultipleWrapper */
     virtual bool attachAll(const PolyDriverList &p);