Support robot controller axis manufacturer code

[kanbouchou]

Overview

• Introduce robotControllerAxisManufacturerCode to joint class to support servos from different manufacturers in a daisy chain.
• Fix bug with _vmimic indefinitely growing in PyJointInfo::_Update

Detail

• We have robotControllerAxisProductCode field in joint class already, and we could encode manufacturer name in there as well, but need to introduce a rule (separator) which I wanted to avoid. Also, AttachedSensorInfo has _sensorMaker so using same pattern here as well.

[rdiankov]

@kanbouchou Isn't that what ElectricMotorActuatorInfo::model_type is for?

[rdiankov]

@kanbouchou Isn't that what ElectricMotorActuatorInfo::model_type is for?

nm, i see the comment for robotControllerAxisProductCode. In that case, i would add a little more to the comment to robotControllerAxisManufacturerCode to explain why it is different from product code.
Thanks,

[kanbouchou]

@kanbouchou Isn't that what ElectricMotorActuatorInfo::model_type is for?

nm, i see the comment for robotControllerAxisProductCode. In that case, i would add a little more to the comment to robotControllerAxisManufacturerCode to explain why it is different from product code. Thanks,

I've added a bit more comment. Basically, product code by itself is not guaranteed to be globally unique because different manufacturers can happen to have same product code. That's why we need manufacturer code in addition to product code to handle devices from different manufacturers by a single device driver.

[rdiankov]

thanks~