diff --git a/morse-pocolibs/Makefile b/morse-pocolibs/Makefile
index 13ad1972e43445eed14cb0dfa779389b6e7aa760..53e9613bb3b8004bdb1774ca417639da9ba8e695 100644
--- a/morse-pocolibs/Makefile
+++ b/morse-pocolibs/Makefile
@@ -15,52 +15,28 @@ CMAKE_ARGS+= -DBUILD_POCOLIBS_SUPPORT=ON
CMAKE_ARGS+= -DBUILD_ROS_SUPPORT=OFF
CMAKE_ARGS+= -DBUILD_YARP2_SUPPORT=OFF
-CMAKE_ARGS+= -DSWIG_EXECUTABLE=${PREFIX.swig}/bin/swig
-# pocolibs support
-PKG_SUPPORTED_OPTIONS+= outdoor
-PKG_OPTION_DESCR.outdoor= Enable support for field robotics components
+PKG_SUPPORTED_OPTIONS+= viam
+PKG_OPTION_DESCR.outdoor= Enable support for image camera support
-define PKG_OPTION_SET.outdoor
- CMAKE_ARGS+= -DBUILD_POCOLIBS_POM_SUPPORT=ON
+define PKG_OPTION_SET.viam
CMAKE_ARGS+= -DBUILD_POCOLIBS_VIAM_SUPPORT=ON
- CMAKE_ARGS+= -DBUILD_POCOLIBS_PLATINE_SUPPORT=ON
- CMAKE_ARGS+= -DBUILD_POCOLIBS_GENPOS_SUPPORT=ON
- PLIST_SRC= PLIST PLIST.common PLIST.outdoor
-
- include ../../interfaces/genPos-genom/depend.mk
include ../../image/viam-genom/depend.mk
- include ../../hardware/platine-genom/depend.mk
- include ../../localization/pom-genom/depend.mk
+ include ../../middleware/pocolibs/depend.mk
endef
-PKG_SUPPORTED_OPTIONS+= hri
-PKG_OPTION_DESCR.hri=\
- Enable support for human-robot interaction components
-
-define PKG_OPTION_SET.hri
- CMAKE_ARGS+= -DBUILD_POCOLIBS_POM_SUPPORT=ON
- CMAKE_ARGS+= -DBUILD_POCOLIBS_LWR_SUPPORT=ON
- CMAKE_ARGS+= -DBUILD_POCOLIBS_VIMAN_SUPPORT=ON
- CMAKE_ARGS+= -DBUILD_POCOLIBS_HUMAN_POSTURE_SUPPORT=ON
- CMAKE_ARGS+= -DBUILD_POCOLIBS_GENPOS_SUPPORT=ON
- CMAKE_ARGS+= -DBUILD_POCOLIBS_PLATINE_SUPPORT=ON
+PKG_SUPPORTED_OPTIONS+= stereopixel
+PKG_OPTION_DESCR.outdoor= Enable support for depth camera support
- PLIST_SRC= PLIST PLIST.common PLIST.hri
+define PKG_OPTION_SET.stereopixel
+ CMAKE_ARGS+= -DBUILD_POCOLIBS_STEREOPIXEL_SUPPORT=ON
- include ../../image/viman-genom/depend.mk
- include ../../interfaces/genPos-genom/depend.mk
- include ../../hardware/platine-genom/depend.mk
- include ../../localization/pom-genom/depend.mk
- include ../../wip/lwr-genom/depend.mk
- include ../../wip/spark-genom/depend.mk
+ include ../../image/stereopixel-genom/depend.mk
+ include ../../middleware/pocolibs/depend.mk
endef
-include ../../devel/swig/depend.mk
-include ../../middleware/pocolibs/depend.mk
include ../../simulation/morse/depend.mk
-include ../../mk/language/c.mk
include ../../mk/robotpkg.mk
_pycompile_dir=${PREFIX}/${PYTHON_SITELIB}/morse/middleware/pocolibs*
diff --git a/morse-pocolibs/PLIST b/morse-pocolibs/PLIST
index b4ac3d34180f853c5563a34ae28729d9baaa7983..8d92082870c95b730889318b406acb2ef63fffaf 100644
--- a/morse-pocolibs/PLIST
+++ b/morse-pocolibs/PLIST
@@ -1,6 +1,6 @@
-@comment Wed Oct 31 11:00:29 CET 2012
-${PYTHON_SITELIB}/morse/middleware/${PYTHON_PYCACHE}/pocolibs_mw${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/morse/middleware/${PYTHON_PYCACHE}/pocolibs_mw${PYTHON_TAG}.pyo
+@comment Fri Mar 1 18:22:15 CET 2013
+${PYTHON_SITELIB}/morse/middleware/${PYTHON_PYCACHE}/pocolibs_datastream${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/morse/middleware/${PYTHON_PYCACHE}/pocolibs_datastream${PYTHON_TAG}.pyo
${PYTHON_SITELIB}/morse/middleware/${PYTHON_PYCACHE}/pocolibs_request_manager${PYTHON_TAG}.pyc
${PYTHON_SITELIB}/morse/middleware/${PYTHON_PYCACHE}/pocolibs_request_manager${PYTHON_TAG}.pyo
${PYTHON_SITELIB}/morse/middleware/pocolibs/__init__.py
@@ -9,6 +9,18 @@ ${PYTHON_SITELIB}/morse/middleware/pocolibs/${PYTHON_PYCACHE}/__init__${PYTHON_T
${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/__init__.py
${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyc
${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyo
+${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/${PYTHON_PYCACHE}/genpos${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/${PYTHON_PYCACHE}/genpos${PYTHON_TAG}.pyo
+${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/${PYTHON_PYCACHE}/lwr${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/${PYTHON_PYCACHE}/lwr${PYTHON_TAG}.pyo
+${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/${PYTHON_PYCACHE}/niut${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/${PYTHON_PYCACHE}/niut${PYTHON_TAG}.pyo
+${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/${PYTHON_PYCACHE}/platine${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/${PYTHON_PYCACHE}/platine${PYTHON_TAG}.pyo
+${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/genpos.py
+${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/lwr.py
+${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/niut.py
+${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/platine.py
${PYTHON_SITELIB}/morse/middleware/pocolibs/overlays/__init__.py
${PYTHON_SITELIB}/morse/middleware/pocolibs/overlays/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyc
${PYTHON_SITELIB}/morse/middleware/pocolibs/overlays/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyo
@@ -24,15 +36,31 @@ ${PYTHON_SITELIB}/morse/middleware/pocolibs/overlays/fingers.py
${PYTHON_SITELIB}/morse/middleware/pocolibs/overlays/platine_overlay.py
${PYTHON_SITELIB}/morse/middleware/pocolibs/overlays/rflex_overlay.py
${PYTHON_SITELIB}/morse/middleware/pocolibs/overlays/viam_overlay.py
-${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/General_Poster/__init__.py
-${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/General_Poster/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/General_Poster/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyo
-${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/General_Poster/${PYTHON_PYCACHE}/ors_poster${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/General_Poster/${PYTHON_PYCACHE}/ors_poster${PYTHON_TAG}.pyo
-${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/General_Poster/_ors_poster.so
-${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/General_Poster/ors_poster.py
${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/__init__.py
${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyc
${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyo
-${PYTHON_SITELIB}/morse/middleware/pocolibs_mw.py
+${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/${PYTHON_PYCACHE}/human_posture${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/${PYTHON_PYCACHE}/human_posture${PYTHON_TAG}.pyo
+${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/${PYTHON_PYCACHE}/platine_posture${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/${PYTHON_PYCACHE}/platine_posture${PYTHON_TAG}.pyo
+${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/${PYTHON_PYCACHE}/pom${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/${PYTHON_PYCACHE}/pom${PYTHON_TAG}.pyo
+${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/${PYTHON_PYCACHE}/stereopixel${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/${PYTHON_PYCACHE}/stereopixel${PYTHON_TAG}.pyo
+${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/${PYTHON_PYCACHE}/target${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/${PYTHON_PYCACHE}/target${PYTHON_TAG}.pyo
+${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/${PYTHON_PYCACHE}/viam${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/${PYTHON_PYCACHE}/viam${PYTHON_TAG}.pyo
+${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/${PYTHON_PYCACHE}/viman${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/${PYTHON_PYCACHE}/viman${PYTHON_TAG}.pyo
+${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/human_posture.py
+${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/platine_posture.py
+${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/pom.py
+${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/stereopixel.py
+${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/target.py
+${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/viam.py
+${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/viman.py
+${PLIST.stereopixel}${PYTHON_SITELIB}/morse/middleware/pocolibs/stereopixel.so
+${PLIST.viam}${PYTHON_SITELIB}/morse/middleware/pocolibs/viam.so
+${PYTHON_SITELIB}/morse/middleware/pocolibs_datastream.py
${PYTHON_SITELIB}/morse/middleware/pocolibs_request_manager.py
diff --git a/morse-pocolibs/PLIST.common b/morse-pocolibs/PLIST.common
deleted file mode 100644
index 1fbf3bf19535435e8c9d44d81ad2c58d1d2449a7..0000000000000000000000000000000000000000
--- a/morse-pocolibs/PLIST.common
+++ /dev/null
@@ -1,31 +0,0 @@
-@comment Thu Sep 22 14:50:28 CEST 2011
-${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/Genpos_Poster/__init__.py
-${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/Genpos_Poster/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/Genpos_Poster/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyo
-${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/Genpos_Poster/${PYTHON_PYCACHE}/ors_genpos_poster${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/Genpos_Poster/${PYTHON_PYCACHE}/ors_genpos_poster${PYTHON_TAG}.pyo
-${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/Genpos_Poster/_ors_genpos_poster.so
-${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/Genpos_Poster/ors_genpos_poster.py
-${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/Platine_Poster/__init__.py
-${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/Platine_Poster/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/Platine_Poster/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyo
-${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/Platine_Poster/${PYTHON_PYCACHE}/ors_platine_poster${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/Platine_Poster/${PYTHON_PYCACHE}/ors_platine_poster${PYTHON_TAG}.pyo
-${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/Platine_Poster/_ors_platine_poster.so
-${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/Platine_Poster/ors_platine_poster.py
-${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/${PYTHON_PYCACHE}/genpos${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/${PYTHON_PYCACHE}/genpos${PYTHON_TAG}.pyo
-${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/${PYTHON_PYCACHE}/platine${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/${PYTHON_PYCACHE}/platine${PYTHON_TAG}.pyo
-${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/genpos.py
-${PYTHON_SITELIB}/morse/middleware/pocolibs/actuators/platine.py
-${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/Pom_Poster/__init__.py
-${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/Pom_Poster/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/Pom_Poster/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyo
-${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/Pom_Poster/${PYTHON_PYCACHE}/ors_pom_poster${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/Pom_Poster/${PYTHON_PYCACHE}/ors_pom_poster${PYTHON_TAG}.pyo
-${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/Pom_Poster/_ors_pom_poster.so
-${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/Pom_Poster/ors_pom_poster.py
-${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/${PYTHON_PYCACHE}/pom${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/${PYTHON_PYCACHE}/pom${PYTHON_TAG}.pyo
-${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/pom.py
diff --git a/morse-pocolibs/PLIST.hri b/morse-pocolibs/PLIST.hri
deleted file mode 100644
index 7c8f8792485ad8d9af45ff8d79bc13c227cb43c8..0000000000000000000000000000000000000000
--- a/morse-pocolibs/PLIST.hri
+++ /dev/null
@@ -1 +0,0 @@
-@comment Thu Sep 22 14:50:28 CEST 2011
diff --git a/morse-pocolibs/PLIST.outdoor b/morse-pocolibs/PLIST.outdoor
deleted file mode 100644
index 9df9e4aaf7cde755ea33fbb8da55506c6c3b527e..0000000000000000000000000000000000000000
--- a/morse-pocolibs/PLIST.outdoor
+++ /dev/null
@@ -1,11 +0,0 @@
-@comment Thu Sep 22 14:50:28 CEST 2011
-${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/Viam_Poster/__init__.py
-${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/Viam_Poster/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/Viam_Poster/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyo
-${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/Viam_Poster/${PYTHON_PYCACHE}/ors_viam_poster${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/Viam_Poster/${PYTHON_PYCACHE}/ors_viam_poster${PYTHON_TAG}.pyo
-${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/Viam_Poster/_ors_viam_poster.so
-${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/Viam_Poster/ors_viam_poster.py
-${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/${PYTHON_PYCACHE}/viam${PYTHON_TAG}.pyc
-${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/${PYTHON_PYCACHE}/viam${PYTHON_TAG}.pyo
-${PYTHON_SITELIB}/morse/middleware/pocolibs/sensors/viam.py
diff --git a/morse-pocolibs/depend.mk b/morse-pocolibs/depend.mk
index 58897563470cc7ab12f3e8d246396027be1155c9..237ff73eff3d48bb00bc54eb5008583802990f26 100644
--- a/morse-pocolibs/depend.mk
+++ b/morse-pocolibs/depend.mk
@@ -19,7 +19,7 @@ DEPEND_ABI.morse-pocolibs?= morse-pocolibs>=0.2
DEPEND_DIR.morse-pocolibs?= ../../wip/morse-pocolibs
SYSTEM_SEARCH.morse-pocolibs=\
- lib/python*/{site,dist}-packages/morse/middleware/pocolibs_mw.py
+ lib/python*/{site,dist}-packages/morse/middleware/pocolibs_datastream.py
include ../../mk/sysdep/python.mk