Expose information provided by embObjMAIS YARP device using a non-deprecated interface

[traversaro]

Is your feature request related to a problem?

I noticed that the embObjMAIS device is currently exposing its information via the IAnalogSensor YARP interface, that anyhow has been deprecated (see https://www.yarp.it/latest/group__dev__impl__deprecated.html).

Probably we could consider to expose the info via either:

• yarp::dev::IEncoderArrays: interface that is part of the multiple analog sensor interfaces, however has the downside that you cannot expose a name for each encoder
• yarp::dev::IAxisInfo and yarp::dev::IEncoders these interfaces are the same used to expose "regular" joint encoders, but I am not sure that the nws and nwc work fine if one implements only these interfaces and not all the rest of control-related interfaces.

The solution you would like to have available

See feature description.

Alternatives you have considered

See feature description.

Additional context

I realized this while thinking about https://github.com/orgs/robotology/discussions/609 .

[pattacini]

Regarding the analog services, we would need first to understand how to upgrade them to the use of the latest NWS/NWC layers.

cc @randaz81

[pattacini]

We will need to address this task as per robotology/yarp#2999 (comment).

cc @Nicogene @traversaro @randaz81

[pattacini]

/remind August 28

[octo-reminder]

⏰ Reminder
Monday, August 28, 2023 10:00 AM (GMT+02:00)

[octo-reminder]

🔔 @pattacini

[Nicogene]

Work started:

• embObjMais: expose data via MAS interface #905

I will test it on iCubGenova11 tomorrow afternoon

[Nicogene]

Today I successfully tested these changes on iCubGenova11, I used xml such as

<device xmlns:xi="[http://www.w3.org/2001/XInclude"](http://www.w3.org/2001/XInclude%22) name="left_arm-MAS_wrapper" type="multipleanalogsensorsserver">
<param name="period">       10                         </param>
<param name="name">       /icub/left_hand/MAIS     </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="leftMais"> left_arm-eb26-j12_15-mais </elem>
</paramlist>
</action>

 

        <action phase="shutdown" level="5" type="detach" />
</device>

Here is the yarp name list output:

registration name /icub/left_hand/MAIS/measures:o ip 10.0.0.2 port 10060 type tcp
registration name /icub/left_hand/MAIS/rpc:o ip 10.0.0.2 port 10061 type tcp
registration name /icub/right_hand/MAIS/measures:o ip 10.0.0.2 port 10062 type tcp
registration name /icub/right_hand/MAIS/rpc:o ip 10.0.0.2 port 10063 type tcp

and here is the output:

() () () () () () () (((240.0 169.0 255.0 254.0 255.0 255.0 255.0 255.0 255.0 255.0 255.0 251.0 255.0 255.0 255.0) 1693917439.91116189957)) () ()
() () () () () () () (((240.0 169.0 255.0 254.0 255.0 255.0 255.0 255.0 255.0 255.0 255.0 251.0 255.0 255.0 255.0) 1693917439.92129659653)) () ()
() () () () () () () (((240.0 169.0 255.0 254.0 255.0 255.0 255.0 255.0 255.0 255.0 255.0 251.0 255.0 255.0 255.0) 1693917439.93131685257)) () ()
() () () () () () () (((240.0 169.0 255.0 254.0 255.0 255.0 255.0 255.0 255.0 255.0 255.0 251.0 255.0 255.0 255.0) 1693917439.94133329391)) () ()
() () () () () () () (((240.0 169.0 255.0 254.0 255.0 255.0 255.0 255.0 255.0 255.0 255.0 250.0 255.0 255.0 255.0) 1693917439.9513463974)) () ()
() () () () () () () (((240.0 169.0 255.0 254.0 255.0 255.0 255.0 255.0 255.0 255.0 255.0 251.0 255.0 255.0 255.0) 1693917439.96143817902)) () ()
() () () () () () () (((240.0 169.0 255.0 254.0 255.0 255.0 255.0 255.0 255.0 255.0 255.0 250.0 255.0 255.0 255.0) 1693917439.9714205265)) () ()
() () () () () () () (((240.0 169.0 255.0 254.0 255.0 255.0 255.0 255.0 255.0 255.0 255.0 251.0 255.0 255.0 255.0) 1693917439.98148870468)) () ()
() () () () () () () (((240.0 169.0 255.0 254.0 255.0 255.0 255.0 255.0 255.0 255.0 255.0 251.0 255.0 255.0 255.0) 1693917439.99157309532)) () ()

Finally, I discovered and fixed a bug on how the timestamp was set, see

• 99aa3d3 (#905)

[pattacini]

Great!