From c07ca55594a6cc44a001046c66fbc449c2fdcde9 Mon Sep 17 00:00:00 2001
From: Kei Okada <kei.okada@gmail.com>
Date: Wed, 22 Apr 2015 20:03:09 +0900
Subject: [PATCH] 
 [lib/io/iob{cpp,h},rtc/RobotHardware/{robot.cpp,robot.h,RobotHardwareService_impl.cpp,CMakeList.txt]
 add ROBOT_IOB_VERSION for backword compatibility

---
 CMakeLists.txt                                  | 1 +
 lib/io/iob.cpp                                  | 2 ++
 lib/io/iob.h                                    | 2 ++
 rtc/RobotHardware/RobotHardwareService_impl.cpp | 4 ++++
 rtc/RobotHardware/robot.cpp                     | 2 ++
 rtc/RobotHardware/robot.h                       | 2 ++
 6 files changed, 13 insertions(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 460e15651fc..35951dfc4a7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -152,6 +152,7 @@ install(FILES
   DESTINATION lib/pkgconfig)
 
 add_definitions(-DHRPSYS_PACKAGE_VERSION=\"\\"${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}.${CPACK_PACKAGE_VERSION_PATCH}\\"\")
+add_definitions(-DROBOT_IOB_VERSION=2)
 
 if(COMPILE_JAVA_STUFF)
   add_subdirectory(jython)
diff --git a/lib/io/iob.cpp b/lib/io/iob.cpp
index e284a8d9361..c9614c2de44 100644
--- a/lib/io/iob.cpp
+++ b/lib/io/iob.cpp
@@ -569,11 +569,13 @@ int read_power(double *voltage, double *current)
     return TRUE;
 }
 
+#if defined(ROBOT_IOB_VERSION) && ROBOT_IOB_VERSION >= 2
 int read_battery(double *battery)
 {
     *battery = ((double)random()-RAND_MAX/2)/(RAND_MAX/2)*0.5+50;
     return TRUE;
 }
+#endif
 
 int read_driver_temperature(int id, unsigned char *v)
 {
diff --git a/lib/io/iob.h b/lib/io/iob.h
index 5f49360e0c8..9d2f3c2b68d 100644
--- a/lib/io/iob.h
+++ b/lib/io/iob.h
@@ -577,6 +577,7 @@ extern "C"{
     int read_power(double *v, double *a);
     //@}
 
+#if defined(ROBOT_IOB_VERSION) && ROBOT_IOB_VERSION >= 2
     //@{
     /**
      * @brief		read status of battery source this is new API since 315.4.0
@@ -585,6 +586,7 @@ extern "C"{
      */
     int read_battery(double *b) /* {} */; // if you are compiling against old libiob.so, please uncomment to dummy define this function.
     //@}
+#endif
 
     /**
      * @name thermometer
diff --git a/rtc/RobotHardware/RobotHardwareService_impl.cpp b/rtc/RobotHardware/RobotHardwareService_impl.cpp
index 44f482a6993..8d9aa77dbbd 100644
--- a/rtc/RobotHardware/RobotHardwareService_impl.cpp
+++ b/rtc/RobotHardware/RobotHardwareService_impl.cpp
@@ -81,7 +81,11 @@ void RobotHardwareService_impl::getStatus2(OpenHRP::RobotHardwareService::RobotS
 
     GetStatus
 
+#if defined(ROBOT_IOB_VERSION) && ROBOT_IOB_VERSION >= 2
     m_robot->readPowerStatus(rs->voltage, rs->current, rs->battery);
+#else
+    m_robot->readPowerStatus(rs->voltage, rs->current);
+#endif
 }
 
 CORBA::Boolean RobotHardwareService_impl::power(const char* jname, OpenHRP::RobotHardwareService::SwitchStatus ss)
diff --git a/rtc/RobotHardware/robot.cpp b/rtc/RobotHardware/robot.cpp
index 19bde795160..364c54847c4 100644
--- a/rtc/RobotHardware/robot.cpp
+++ b/rtc/RobotHardware/robot.cpp
@@ -464,11 +464,13 @@ void robot::readPowerStatus(double &o_voltage, double &o_current)
     read_power(&o_voltage, &o_current);
 }
 
+#if defined(ROBOT_IOB_VERSION) && ROBOT_IOB_VERSION >= 2
 void robot::readPowerStatus(double &o_voltage, double &o_current, double &o_battery)
 {
     read_power(&o_voltage, &o_current);
     read_battery(&o_battery);
 }
+#endif
 
 int robot::readCalibState(int i)
 {
diff --git a/rtc/RobotHardware/robot.h b/rtc/RobotHardware/robot.h
index 1141b015fe8..f06963a7d2b 100644
--- a/rtc/RobotHardware/robot.h
+++ b/rtc/RobotHardware/robot.h
@@ -130,7 +130,9 @@ class robot : public hrp::Body
        \param o_battery remaining battery level ( new feature on 315.4.0)
      */
     void readPowerStatus(double &o_voltage, double &o_current);
+#if defined(ROBOT_IOB_VERSION) && ROBOT_IOB_VERSION >= 2
     void readPowerStatus(double &o_voltage, double &o_current, double &o_battery);
+#endif
 
     /**
        \brief read array of all joint angles[rad]