controlBoardRemapper: align the mandatory interfaces to controlBoard_nws_yarp

[Nicogene]

As per controlBoard_nws_yarp it is mandatory only that at list is implemented iAxisInfo OR iPositionControl.

[update-docs]

Thanks for opening this pull request! The maintainers of this repository would appreciate it if you would update the release notes by adding a file in doc/release/<target_branch>, based on your changes.

[Nicogene]

Thanks for opening this pull request! The maintainers of this repository would appreciate it if you would update the release notes by adding a file in doc/release/<target_branch>, based on your changes.

Done:

• 2591ed8 (#3095)

[randaz81]

It seems to me that the not-mandatory interfaces are not adequately protected elsewhere.
For example, if vel interface is now optional, it must have a guard if (ivel!=nullptr) in ControlBoardRemapper.cpp to prevent a segfault if a client is calling it

[randaz81]

I'd suggest also to add a new test, which attaches to fakeMotionControlMicro instead of fakeMotionControl.
This because fakeMotionControl actually implements all interfaces, so the current test cannot catch any issue if the remapper is used with a device that does not implement all interfaces.

[Nicogene]

@randaz81 @traversaro I added all the safeguards for those interfaces that are not mandatory anymore.
Moreover, I added a test on the fakeMotionControlMicro in order to check these new changes, finally I successfully tested the controlBoardRemapper in simulation.

[sonarqubecloud]

Quality Gate failed

Failed conditions
42.9% Coverage on New Code (required ≥ 80%)
41.0% Duplication on New Code (required ≤ 3%)

See analysis details on SonarCloud