Can battery

.clang-format

@@ -1,12 +1,16 @@
 # Common settings
+BasedOnStyle:  Google
 TabWidth:        4
 IndentWidth:     4
 UseTab:          Never
 ColumnLimit: 200
 
 Language: Cpp
 
+SortIncludes: false
 DisableFormat:   false
 Standard: Cpp11
-SortIncludes: false
+BreakBeforeBraces: Allman
+AllowShortIfStatementsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: false
 

conf/iCubFindDependencies.cmake

@@ -72,8 +72,8 @@ checkandset_dependency(Qt5)
 
 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 1.25.1)
-    message(FATAL_ERROR "An old version of icub-firmware-shared has been detected, but at least 1.25.1 is required")
+  if(icub_firmware_shared_VERSION VERSION_GREATER 4 OR icub_firmware_shared_VERSION VERSION_LESS 1.26.0)
+    message(FATAL_ERROR "An old version of icub-firmware-shared has been detected, but at least 1.26.0 is required")
   endif()
 endif()
 

src/libraries/icubmod/CMakeLists.txt

@@ -55,6 +55,7 @@ yarp_begin_plugin_library(icubmod QUIET)
   add_subdirectory(imuFilter)
   add_subdirectory(embObjPSC)
   add_subdirectory(embObjPOS)
+  add_subdirectory(embObjBattery)
 if (ICUB_ICUBINTERFACE_EXPERIMENTAL)
   add_subdirectory(imu3DM_GX3)
 endif()

src/libraries/icubmod/embObjBattery/CMakeLists.txt

@@ -0,0 +1,40 @@
+# Copyright (C) 2022 Istituto Italiano di Tecnologia (IIT)
+# All rights reserved.
+# Author: Luca Tricerri
+# This software may be modified and distributed under the terms of the
+# BSD-3-Clause license. See the accompanying LICENSE file for details.
+
+yarp_prepare_plugin(embObjBattery CATEGORY device
+                                 TYPE yarp::dev::embObjBattery
+                                 INCLUDE embObjBattery.h
+                                 EXTRA_CONFIG WRAPPER=analogServer)
+
+IF (NOT SKIP_embObjCanBatterysensor)
+
+
+  set(ICUB_COMPILE_EMBOBJ_LIBRARY ON CACHE INTERNAL "use the embObjLib lib")
+
+
+  INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR})
+
+  yarp_add_plugin(embObjBattery embObjBattery.cpp embObjBattery.h)
+  TARGET_LINK_LIBRARIES(embObjBattery ethResources)
+  icub_export_plugin(embObjBattery)
+
+  yarp_install(TARGETS embObjBattery
+        COMPONENT Runtime
+        LIBRARY DESTINATION ${ICUB_DYNAMIC_PLUGINS_INSTALL_DIR}
+        ARCHIVE DESTINATION ${ICUB_STATIC_PLUGINS_INSTALL_DIR}
+        YARP_INI DESTINATION ${ICUB_PLUGIN_MANIFESTS_INSTALL_DIR})
+
+  if (BUILD_TESTING)
+   add_library(embObjBatteryUT STATIC embObjBattery.cpp embObjBattery.h)    
+   target_link_libraries(embObjBatteryUT ethResources
+                                    YARP::YARP_dev
+                                    icub_firmware_shared::embobj)
+
+   target_include_directories(embObjBatteryUT PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>")
+  endif()
+
+ENDIF (NOT SKIP_embObjCanBatterysensor)
+

src/libraries/icubmod/embObjBattery/README.md

@@ -0,0 +1,191 @@
+# 1. General info
+The device's purpose is to make it possible to connect up to the `CanBattery` sensor to a single EMS board.
+This device works with the `bms` board. Note that the board can not be programmed for different message rates.
+
+## 1.1. Prerequisite
+The following modules should be included in the compilation process:
+
+```cmake
+ENABLE_icubmod_embObjCanBattery   ON
+```
+
+# 2. XML configuration file
+
+This device should be used with XMLs like the following:
+
+The root XML:
+```xml
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+    <robot name="testFT" build="1" portprefix="icub" xmlns:xi="http://www.w3.org/2001/XInclude">
+        <params>
+    <xi:include href="hardware/electronics/pc104.xml" />
+        </params>
+
+    <devices>
+
+
+    <!-- ANALOG SENSOR CANBATTERY -->
+    <xi:include href="wrappers/CanBattery/testCanBattery_wrapper.xml" />    
+    <xi:include href="hardware/CanBattery/eb1-j0-strain2-canbattery.xml" /> 
+
+
+    </devices>
+</robot> 
+```
+
+The device XML in `hardware\CanBattery` (refer to the root XML file):
+```xml
+<?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="eb1-j0-strain2-canbattery" type="embObjBattery">
+
+    <xi:include href="../../general.xml" />
+
+    <xi:include href="../../hardware/electronics/eb1-j0-eln.xml" />
+
+    <group name="SERVICE">
+
+        <param name="type"> eomn_serv_AS_battery </param>
+
+        <group name="PROPERTIES">
+
+            <group name="CANBOARDS">
+                <param name="type">                 bms      </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">                bms             </param>
+                <param name="location">             CAN2:13         </param>
+            </group>
+
+        </group>
+
+
+        <group name="SETTINGS">
+            <param name="enabledSensors">            battery1        </param>
+            <param name="acquisitionRate">           1000            </param>   <!-- msec -->
+        </group>
+
+
+    </group>
+
+</device>
+```
+
+And the XML wrapper in `.\wrappers\CanBattery` (refer to the root XML file)::
+
+```xml
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices 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_wrapper" type="batteryWrapper">
+        <param name="period">       1                  </param> 
+        <param name="name">       /icub/battery      </param>
+
+        <action phase="startup" level="5" type="attach">
+            <paramlist name="networks">
+            <!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-strain.xml file -->
+                <elem name="battery">  eb1-j0-strain2-canbattery </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="5" type="detach" />
+    </device>
+```
+
+Important note:  
+`<elem name="battery">  eb1-j0-strain2-canbattery </elem>`
+should contains the device name `eb1-j0-strain2-canbattery` of the device file.
+
+
+# 3. Yarp output
+
+## 3.1. Ports
+
+As for the wrapper file:
+
+```bash
+/<robot_name>/battery/data:o 
+/<robot_name>/battery/rpc:o
+
+```
+
+## 3.2. Output format
+
+The output from bash commend
+```bash
+ yarp read ... /icub/battery/data:o
+```
+
+`40 3.300000011920928955078 80.0 31.0 0`  
+`voltage -- current -- charge -- temperature -- status`
+
+Voltage in Volt
+Current in Amper
+Charge in percent
+Temperature in degree Celtius
+Status not used for now
+
+# 4. Battery client
+To receive data from the device you should use the iBattery interface.
+See a complete example here:
+https://github.com/robotology/yarp/tree/master/src/yarpbatterygui
+
+# 5. Debug
+
+## 5.1. Install folder
+If you have already installed robotology-superbuild and you have cloned icub-main (and you are working here) overwrite robotology-superbuild binary like this in your icub-main:
+```bash
+CMAKE_INSTALL_PREFIX             <path_to_robotology>/robotology-superbuild/build/install
+``` 
+
+## 5.2. Visual studio code debugging
+Use the following launch.json
+```JSON
+    {
+            "name": "App debug battery sensor",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "<robotology-path>/robotology-superbuild/build/install/bin/yarprobotinterface",
+            "args": [],
+            "stopAtEntry": false,
+            "cwd": "<xmlconfig-files>/yarprobotinterface-config-canbattery",
+            "environment": [],
+            "externalConsole": false,
+            "MIMode": "gdb",
+            "setupCommands": [
+                {
+                    "description": "Enable pretty-printing for gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                },
+                {
+                    "description": "Set Disassembly Flavor to Intel",
+                    "text": "-gdb-set disassembly-flavor intel",
+                    "ignoreFailures": true
+                }
+            ],
+            "miDebuggerPath": "/usr/bin/gdb",
+        }
+```
+
+# 6. Unittest 
+The device has a set of unittest that can be activated with:
+```
+BUILD_TESTING                    ON
+```