From 6bba9f6f69da0f9b46ba5e61d441f3595dc5a918 Mon Sep 17 00:00:00 2001
From: Anton Deguet <anton.deguet@jhu.edu>
Date: Mon, 9 Aug 2021 17:45:31 -0400
Subject: [PATCH] Fixed typo in default FireWire protocol
 (mtsIntuitiveResearchKit.h)

---
 .../mtsIntuitiveResearchKit.h                 |  2 +-
 .../console-MTML-PSM1-MTMR-PSM2-Teleop.json   | 26 +++++++------------
 share/jhu-dVRK/console-MTML-PSM1-Teleop.json  |  2 +-
 3 files changed, 11 insertions(+), 19 deletions(-)

diff --git a/components/include/sawIntuitiveResearchKit/mtsIntuitiveResearchKit.h b/components/include/sawIntuitiveResearchKit/mtsIntuitiveResearchKit.h
index 280dea14..8f33ef67 100644
--- a/components/include/sawIntuitiveResearchKit/mtsIntuitiveResearchKit.h
+++ b/components/include/sawIntuitiveResearchKit/mtsIntuitiveResearchKit.h
@@ -25,7 +25,7 @@ no warranty.  The complete license can be found in license.txt and
 
 namespace mtsIntuitiveResearchKit {
 
-    const std::string FireWireProtocol = "sequential-reasd-broadcast-query-write";
+    const std::string FireWireProtocol = "sequential-read-broadcast-write";
 
     const double PeriodDelay = 0.06 * cmn_ms; // fixed delay
     const double IOPeriod = cmnHzToPeriod(1500.0) - PeriodDelay;
diff --git a/share/hsc-dVRK/console-MTML-PSM1-MTMR-PSM2-Teleop.json b/share/hsc-dVRK/console-MTML-PSM1-MTMR-PSM2-Teleop.json
index 20e2797b..808816af 100644
--- a/share/hsc-dVRK/console-MTML-PSM1-MTMR-PSM2-Teleop.json
+++ b/share/hsc-dVRK/console-MTML-PSM1-MTMR-PSM2-Teleop.json
@@ -1,7 +1,7 @@
 /* -*- Mode: Javascript; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*- */
 {
 
-    "io": 
+    "io":
     {
         "footpedals": "sawRobotIO1394-MTMR-foot-pedals.xml"
     }
@@ -11,9 +11,7 @@
         {
             "name": "PSM1",
             "type": "PSM",
-            "io": "sawRobotIO1394-PSM1-27110.xml",
-            "pid": "sawControllersPID-PSM.xml",
-            "kinematic": "psm-large-needle-driver.json",
+            "serial": "27110",
             "base-frame": {
                 "reference-frame": "ECM",
                 "transform": [[  1.0,  0.0,          0.0,          0.20],
@@ -26,9 +24,7 @@
         {
             "name": "PSM2",
             "type": "PSM",
-            "io": "sawRobotIO1394-PSM2-31717.xml",
-            "pid": "sawControllersPID-PSM.xml",
-            "kinematic": "psm-large-needle-driver.json",
+            "serial": "31717",
             "base-frame": {
                 "reference-frame": "ECM",
                 "transform": [[  1.0,  0.0,          0.0,          0.20],
@@ -41,9 +37,7 @@
         {
             "name": "MTMR",
             "type": "MTM",
-            "io": "sawRobotIO1394-MTMR-79526.xml",
-            "pid": "sawControllersPID-MTMR.xml",
-            "kinematic": "mtm.json",
+            "serial": "79526",
             "base-frame": {
                 "reference-frame": "HRSV",
                 "transform": [[ -1.0,  0.0,          0.0,          0.180],
@@ -56,9 +50,7 @@
         {
             "name": "MTML",
             "type": "MTM",
-            "io": "sawRobotIO1394-MTML-55264.xml",
-            "pid": "sawControllersPID-MTML.xml",
-            "kinematic": "mtm.json",
+            "serial": "55264",
             "base-frame": {
                 "reference-frame": "HRSV",
                 "transform": [[ -1.0,  0.0,          0.0,          0.180],
@@ -72,13 +64,13 @@
     "psm-teleops":
     [
         {
-            "master": "MTMR",
-            "slave": "PSM2"
+            "mtm": "MTMR",
+            "psm": "PSM2"
         }
         ,
         {
-            "master": "MTML",
-            "slave": "PSM1"
+            "mtm": "MTML",
+            "psm": "PSM1"
         }
     ]
 }
diff --git a/share/jhu-dVRK/console-MTML-PSM1-Teleop.json b/share/jhu-dVRK/console-MTML-PSM1-Teleop.json
index 5324c4ce..0e1604ec 100644
--- a/share/jhu-dVRK/console-MTML-PSM1-Teleop.json
+++ b/share/jhu-dVRK/console-MTML-PSM1-Teleop.json
@@ -3,7 +3,7 @@
     "io":
     {
         "footpedals": "io/sawRobotIO1394-MTML-foot-pedals.xml"
-        , "firewire-protocol": "broadcast-read-write"
+        // , "firewire-protocol": "broadcast-read-write"
         // , "port": "udp"
     }
     ,