ICartesianControl interface modified to use yarp::dev::ReturnValue

src/devices/fake/CMakeLists.txt

@@ -3,6 +3,7 @@
 
 add_subdirectory(fakeDepthCamera)
 add_subdirectory(fakebot)
+add_subdirectory(fakeCartesianControl)
 add_subdirectory(fakeChatBotDevice)
 add_subdirectory(fakeMotionControl)
 add_subdirectory(fakeMotionControlMicro)

src/devices/fake/fakeCartesianControl/CMakeLists.txt

@@ -0,0 +1,55 @@
+# SPDX-FileCopyrightText: 2025-2025 Istituto Italiano di Tecnologia (IIT)
+# SPDX-License-Identifier: BSD-3-Clause
+
+if (YARP_COMPILE_ALL_FAKE_DEVICES)
+  set(ENABLE_yarpmod_fakeCartesianControl ON CACHE BOOL "" FORCE)
+endif()
+
+yarp_prepare_plugin(fakeCartesianControl
+  CATEGORY device
+  TYPE FakeCartesianControl
+  INCLUDE FakeCartesianControl.h
+  GENERATE_PARSER
+)
+
+if(NOT SKIP_fakeCartesianControl)
+  yarp_add_plugin(yarp_fakeCartesianControl)
+
+  target_sources(yarp_fakeCartesianControl
+    PRIVATE
+      FakeCartesianControl.cpp
+      FakeCartesianControl.h
+ #     FakeCartesianControl_ParamsParser.cpp
+ #     FakeCartesianControl_ParamsParser.h
+  )
+
+  target_link_libraries(yarp_fakeCartesianControl
+    PRIVATE
+      YARP::YARP_os
+      YARP::YARP_sig
+      YARP::YARP_dev
+  )
+  list(APPEND YARP_${YARP_PLUGIN_MASTER}_PRIVATE_DEPS
+    YARP_os
+    YARP_sig
+    YARP_dev
+  )
+
+  yarp_install(
+    TARGETS yarp_fakeCartesianControl
+    EXPORT YARP_${YARP_PLUGIN_MASTER}
+    COMPONENT ${YARP_PLUGIN_MASTER}
+    LIBRARY DESTINATION ${YARP_DYNAMIC_PLUGINS_INSTALL_DIR}
+    ARCHIVE DESTINATION ${YARP_STATIC_PLUGINS_INSTALL_DIR}
+    YARP_INI DESTINATION ${YARP_PLUGIN_MANIFESTS_INSTALL_DIR}
+  )
+
+  set(YARP_${YARP_PLUGIN_MASTER}_PRIVATE_DEPS ${YARP_${YARP_PLUGIN_MASTER}_PRIVATE_DEPS} PARENT_SCOPE)
+
+  set_property(TARGET yarp_fakeCartesianControl PROPERTY FOLDER "Plugins/Device/Fake")
+
+  if(YARP_COMPILE_TESTS)
+    add_subdirectory(tests)
+  endif()
+
+endif()