Can battery

[triccyx]

Can battery new device

• Parser
• Device
• Test

[randaz81]

• I can see changes to internal lib, but what is the name of the device?
• Does the device derives from the yarp::dev::IBattery public interface? (Please remember: yarp::dev::IAnalogSensor is going to be deprecated.)
• Can be used to read the charge/voltage/current from the battery on R1?

[triccyx]

@randaz81 I'll start developing the device in the next few days, for now, just the parser (ServiceParserCanBattery) class is ready. I'm writing the unit tests now.

• It will be CanBattery or something like this
• yarp::dev::IBattery, ok I will use it
• R1, it depends on the board battery you will use (@marcoaccame )

[triccyx]

@randaz81
The xml file:

<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE device PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="battery" type="embObjBattery">

    <xi:include href="../../general.xml" />

    <xi:include href="../../hardware/electronics/face-eb22-j0_1-eln.xml" />

    <group name="SERVICE">

        <param name="type"> eomn_serv_AS_battery </param>

        <group name="PROPERTIES">

            <!-- we can have as many boards as we want, 
                 but now the only good ones are strain and strain2. 
                 use eoas_ft_isboardvalid() to verify -->
            <group name="CANBOARDS">
                <param name="type">                 bat      </param>

                <group name="PROTOCOL">
                    <param name="major">            0                   </param>
                    <param name="minor">            0                      </param>
                </group>
                <group name="FIRMWARE">
                    <param name="major">            0                   </param>
                    <param name="minor">            0                   </param>
                    <param name="build">            0                   </param>
                </group>
            </group>

            <group name="SENSORS">
                <param name="id">                   battery1        </param>
                <param name="board">                bat             </param>
                <param name="location">             CAN2:13         </param>
            </group>

        </group>

        <!-- we can pick up at max 4 sensors from the above list. 
             we can specify parameters which are different for each sensor 
             ft rate is in ms in range [1, 250]
             temperature rate is in ms but must be transformed in seconds.
             use calibration is boolean
             -->
        <group name="SETTINGS">
            <param name="enabledSensors">            battery1        </param>
            <param name="acquisitionRate">           1000            </param>   <!-- msec -->
        </group>


    </group>

</device>

[pattacini]

Hi @triccyx

Remember that we need to make sure to compile against the new version of icub-firmware-shared as per robotology/icub-firmware-shared#63.

[triccyx]

Yes, I'm keeping the two repos aligned

[pattacini]

Yes, I'm keeping the two repos aligned

The alignment needs to be enforced via cmake as per:

icub-main/conf/iCubFindDependencies.cmake

Lines 73 to 78 in 4e533b5

	if(icub_firmware_shared_FOUND AND ICUB_USE_icub_firmware_shared)
	# icub-firmware-shared 4.0.7 was actually a wrong version exported by icub-firmware-shared <= 1.15
	if(icub_firmware_shared_VERSION VERSION_GREATER 4 OR icub_firmware_shared_VERSION VERSION_LESS 1.22.2)
	message(FATAL_ERROR "An old version of icub-firmware-shared has been detected, but at least 1.22.2 is required")
	endif()
	endif()

Hi @triccyx
Remember to address this version constraint.

[pattacini]

Also, there are conflicts that need to be fixed, in particular, on this file:
src/unittest/testServiceParserForMultipleFT.cpp.

[pattacini]

I'll keep this PR in draft until the sister PR in icub-firmware-shared will be merged.

[pattacini]

Waiting for CI and then I'll be happy to merge it.