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AMO data to YARP ports #49

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merged 2 commits into from
Jun 10, 2021
Merged

AMO data to YARP ports #49

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cec5da9
added support for debug of joint + eomn_serv_diagn_mode_MC_AMOyarp
marcoaccame Jun 9, 2021
7517490
updated prot versions for mc and mn + version of icub-firmware-shared…
marcoaccame Jun 10, 2021
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Expand Up @@ -6,7 +6,7 @@
cmake_minimum_required(VERSION 3.12)

project(icub_firmware_shared
VERSION 1.20.1)
VERSION 1.20.2)

find_package(YCM 0.11.0 REQUIRED)

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3 changes: 2 additions & 1 deletion eth/embobj/plus/comm-v2/icub/EoManagement.c
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Expand Up @@ -97,7 +97,8 @@ static const char * s_mn_servicediagnmode_strings[] =
"eomn_serv_diagn_mode_NONE",
"eomn_serv_diagn_mode_UNKNOWN",
"eomn_serv_diagn_mode_MC_AMO",
"eomn_serv_diagn_mode_MC_ENC"
"eomn_serv_diagn_mode_MC_ENC",
"eomn_serv_diagn_mode_MC_AMOyarp"
}; EO_VERIFYsizeof(s_mn_servicediagnmode_strings, eomn_serv_diagn_mode_numberof*sizeof(const char *))


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5 changes: 3 additions & 2 deletions eth/embobj/plus/comm-v2/icub/EoManagement.h
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Expand Up @@ -472,10 +472,11 @@ typedef enum
eomn_serv_diagn_mode_NONE = 0, // put in here for backwards compatibility ...
eomn_serv_diagn_mode_UNKNOWN = 1,
eomn_serv_diagn_mode_MC_AMO = 2,
eomn_serv_diagn_mode_MC_ENC = 3
eomn_serv_diagn_mode_MC_ENC = 3,
eomn_serv_diagn_mode_MC_AMOyarp = 4
} eOmn_serv_diagn_mode_t;

enum { eomn_serv_diagn_mode_numberof = 4 };
enum { eomn_serv_diagn_mode_numberof = 5 };

typedef struct
{
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9 changes: 5 additions & 4 deletions eth/embobj/plus/comm-v2/icub/EoMotionControl.h
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Expand Up @@ -839,12 +839,13 @@ typedef struct //size is = 12
/** @typedef typedef struct eOmc_joint_status_t
@brief eOmc_joint_status_t contains the status of a joint
**/
typedef struct // size is: 40+28+12 = 44
typedef struct // size is: 40+28+12+16 = 96
{
eOmc_joint_status_core_t core;
eOmc_joint_status_target_t target;
eOmc_joint_status_additionalInfo_t addinfo;
} eOmc_joint_status_t; EO_VERIFYsizeof(eOmc_joint_status_t, 80)
uint8_t debug[16];
} eOmc_joint_status_t; EO_VERIFYsizeof(eOmc_joint_status_t, 96)



Expand All @@ -865,13 +866,13 @@ typedef struct // size is 28+12+1+1+1+1+0 = 44
/** @typedef typedef struct eOmc_joint_t
@brief contains the whole joint
**/
typedef struct // size is 184+80+4+44+0 = 312
typedef struct // size is 184+96+4+44+0 = 312
{
eOmc_joint_config_t config; /**< the configuration of the joint */
eOmc_joint_status_t status; /**< the status of the joint */
eOmc_joint_inputs_t inputs; /**< it contains all the values that a host can send to a joint as inputs */
eOmc_joint_commands_t cmmnds; /**< it contains all the commands that a host can send to a joint */
} eOmc_joint_t; EO_VERIFYsizeof(eOmc_joint_t, 312);
} eOmc_joint_t; EO_VERIFYsizeof(eOmc_joint_t, 328);



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25 changes: 15 additions & 10 deletions eth/embobj/plus/comm-v2/protocol/api/EoProtocolMC.h
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Expand Up @@ -57,7 +57,7 @@ extern "C" {
// - declaration of public user-defined types -------------------------------------------------------------------------


enum { eoprot_version_mc_major = 1, eoprot_version_mc_minor = 22 };
enum { eoprot_version_mc_major = 1, eoprot_version_mc_minor = 23 };

enum { eoprot_entities_mc_numberof = eomc_entities_numberof };

Expand Down Expand Up @@ -87,16 +87,17 @@ typedef enum
eoprot_tag_mc_joint_status_core_modes_interactionmodestatus = 13,
eoprot_tag_mc_joint_status_core_modes_ismotiondone = 14,
eoprot_tag_mc_joint_status_addinfo_multienc = 15,
eoprot_tag_mc_joint_inputs = 16,
eoprot_tag_mc_joint_inputs_externallymeasuredtorque = 17,
eoprot_tag_mc_joint_cmmnds_calibration = 18,
eoprot_tag_mc_joint_cmmnds_setpoint = 19,
eoprot_tag_mc_joint_cmmnds_stoptrajectory = 20,
eoprot_tag_mc_joint_cmmnds_controlmode = 21,
eoprot_tag_mc_joint_cmmnds_interactionmode = 22
eoprot_tag_mc_joint_status_debug = 16,
eoprot_tag_mc_joint_inputs = 17,
eoprot_tag_mc_joint_inputs_externallymeasuredtorque = 18,
eoprot_tag_mc_joint_cmmnds_calibration = 19,
eoprot_tag_mc_joint_cmmnds_setpoint = 20,
eoprot_tag_mc_joint_cmmnds_stoptrajectory = 21,
eoprot_tag_mc_joint_cmmnds_controlmode = 22,
eoprot_tag_mc_joint_cmmnds_interactionmode = 23
} eOprot_tag_mc_joint_t;

enum { eoprot_tags_mc_joint_numberof = 23 }; // it MUST be equal to the number of tags
enum { eoprot_tags_mc_joint_numberof = 24 }; // it MUST be equal to the number of tags


/** @typedef typedef enum eOprot_rwm_mc_joint_t
Expand All @@ -122,6 +123,7 @@ typedef enum
eoprot_rwm_mc_joint_status_core_modes_interactionmodestatus = eo_nv_rwmode_RO,
eoprot_rwm_mc_joint_status_core_modes_ismotiondone = eo_nv_rwmode_RO,
eoprot_rwm_mc_joint_status_addinfo_multienc = eo_nv_rwmode_RO,
eoprot_rwm_mc_joint_status_debug = eo_nv_rwmode_RO,
eoprot_rwm_mc_joint_inputs = eo_nv_rwmode_RW,
eoprot_rwm_mc_joint_inputs_externallymeasuredtorque = eo_nv_rwmode_RW,
eoprot_rwm_mc_joint_cmmnds_calibration = eo_nv_rwmode_RW,
Expand All @@ -131,7 +133,7 @@ typedef enum
eoprot_rwm_mc_joint_cmmnds_interactionmode = eo_nv_rwmode_RW
} eOprot_rwm_mc_joint_t;

enum { eoprot_rwms_mc_joint_numberof = 23 }; // it MUST be equal to the number of rw modes
enum { eoprot_rwms_mc_joint_numberof = 24 }; // it MUST be equal to the number of rw modes


// - definition of the motor
Expand Down Expand Up @@ -299,6 +301,9 @@ extern void eoprot_fun_UPDT_mc_joint_status_core_modes_ismotiondone(const EOnv*
extern void eoprot_fun_INIT_mc_joint_status_addinfo_multienc(const EOnv* nv);
extern void eoprot_fun_UPDT_mc_joint_status_addinfo_multienc(const EOnv* nv, const eOropdescriptor_t* rd);

extern void eoprot_fun_INIT_mc_joint_status_debug(const EOnv* nv);
extern void eoprot_fun_UPDT_mc_joint_status_debug(const EOnv* nv, const eOropdescriptor_t* rd);

extern void eoprot_fun_INIT_mc_joint_inputs(const EOnv* nv);
extern void eoprot_fun_UPDT_mc_joint_inputs(const EOnv* nv, const eOropdescriptor_t* rd);

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2 changes: 1 addition & 1 deletion eth/embobj/plus/comm-v2/protocol/api/EoProtocolMN.h
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Expand Up @@ -58,7 +58,7 @@ extern "C" {
// - declaration of public user-defined types -------------------------------------------------------------------------


enum { eoprot_version_mn_major = 2, eoprot_version_mn_minor = 19 };
enum { eoprot_version_mn_major = 2, eoprot_version_mn_minor = 20 };


enum { eoprot_entities_mn_numberof = eomn_entities_numberof };
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8 changes: 8 additions & 0 deletions eth/embobj/plus/comm-v2/protocol/src/EoProtocolMC_fun.c
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Expand Up @@ -244,6 +244,14 @@ EO_weak extern void eoprot_fun_INIT_mc_joint_status_addinfo_multienc(const EOnv*
EO_weak extern void eoprot_fun_UPDT_mc_joint_status_addinfo_multienc(const EOnv* nv, const eOropdescriptor_t* rd) {}
#endif

#if !defined(OVERRIDE_eoprot_fun_INIT_mc_joint_status_debug)
EO_weak extern void eoprot_fun_INIT_mc_joint_status_debug(const EOnv* nv) {}
#endif

#if !defined(OVERRIDE_eoprot_fun_UPDT_mc_joint_status_debug)
EO_weak extern void eoprot_fun_UPDT_mc_joint_status_debug(const EOnv* nv, const eOropdescriptor_t* rd) {}
#endif

#if !defined(OVERRIDE_eoprot_fun_INIT_mc_joint_inputs)
EO_weak extern void eoprot_fun_INIT_mc_joint_inputs(const EOnv* nv) {}
#endif
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18 changes: 18 additions & 0 deletions eth/embobj/plus/comm-v2/protocol/src/EoProtocolMC_rom.c
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Expand Up @@ -378,6 +378,22 @@ static EOPROT_ROMmap EOnv_rom_t eoprot_mc_rom_descriptor_joint_status_addinfo_mu
};


static EOPROT_ROMmap EOnv_rom_t eoprot_mc_rom_descriptor_joint_status_debug =
{
EO_INIT(.capacity) sizeof(eoprot_mc_rom_joint_defaultvalue.status.debug),
EO_INIT(.rwmode) eoprot_rwm_mc_joint_status_debug,
EO_INIT(.dummy) 0,
EO_INIT(.resetval) (const void*)&eoprot_mc_rom_joint_defaultvalue.status.debug,
#ifdef EOPROT_CFG_OVERRIDE_CALLBACKS_IN_RUNTIME
EO_INIT(.init) NULL,
EO_INIT(.update) NULL
#else
EO_INIT(.init) eoprot_fun_INIT_mc_joint_status_debug,
EO_INIT(.update) eoprot_fun_UPDT_mc_joint_status_debug
#endif
};


static EOPROT_ROMmap EOnv_rom_t eoprot_mc_rom_descriptor_joint_inputs =
{
EO_INIT(.capacity) sizeof(eoprot_mc_rom_joint_defaultvalue.inputs),
Expand Down Expand Up @@ -715,6 +731,7 @@ static EOPROT_ROMmap EOnv_rom_t * const s_eoprot_mc_rom_joint_descriptors[] =
&eoprot_mc_rom_descriptor_joint_status_core_modes_interactionmodestatus,
&eoprot_mc_rom_descriptor_joint_status_core_modes_ismotiondone,
&eoprot_mc_rom_descriptor_joint_status_addinfo_multienc,
&eoprot_mc_rom_descriptor_joint_status_debug,
&eoprot_mc_rom_descriptor_joint_inputs,
&eoprot_mc_rom_descriptor_joint_inputs_externallymeasuredtorque,
&eoprot_mc_rom_descriptor_joint_cmmnds_calibration,
Expand Down Expand Up @@ -811,6 +828,7 @@ static const char * const s_eoprot_mc_strings_tags_joint[] =
"eoprot_tag_mc_joint_status_core_modes_interactionmodestatus",
"eoprot_tag_mc_joint_status_core_modes_ismotiondone",
"eoprot_tag_mc_joint_status_addinfo_multienc",
"eoprot_tag_mc_joint_status_debug",
"eoprot_tag_mc_joint_inputs",
"eoprot_tag_mc_joint_inputs_externallymeasuredtorque",
"eoprot_tag_mc_joint_cmmnds_calibration",
Expand Down