Removed SearchMonitor

[randaz81]

A fix for #45

[randaz81]

To be tested on a working setup

[pattacini]

At first sight, judging from the changes, we are losing a whole functionality.

[randaz81]

It's not clear to me if that code is manipulating config parameters (*), adding default values, or just printing help messages. Do you have a setup where it can be tested?

(*) in this case some changes have be applied in the .ini file.

[pattacini]

I've no memory of that functionality: it was developed long long time ago.
Thus, I need to check it in-depth.

Probably, it may help to know how the functionalities offered by the methods getMonitor() / setMonitor() are remapped.

[pattacini]

Do you have a setup where it can be tested?

Ideally, there's a dedicated test as suggested by @traversaro:

• Upgrade the Red Ball Demo Test to the use of Gazebo simulator icub-tests#58 (comment)

Need to check if it's still working though.

[traversaro]

Need to check if it's still working though.

I am currently trying to do that, I will keep you posted.

[randaz81]

I'm still not 100% sure but I think that the only purpose of that code is to print the values read from the configuration file:

[INFO] Checking "robot": = icub (Getting robot name)
[INFO] Checking "left_arm": = on (Getting left arm use flag)
[INFO] Checking "right_arm": = on (Getting right arm use flag)
[INFO] Checking "torso": Getting torso use flag (default on)
[INFO] Checking "speech": = on (Getting speech use flag)
[INFO] Checking "use_network": = off (Getting network enable)
[INFO] Checking "simulation": = off (Getting simulation enable)
[INFO] Checking "traj_time": = 1.0 (Getting trajectory time)
[INFO] Checking "reach_tol": = 0.01 (Getting reaching tolerance)
[INFO] Checking "eye": = left (Getting the used eye)
[INFO] Checking "idle_tmo": = 5.0 (Getting idle timeout)
[INFO] Checking "thread_period": = 20 (Getting thread period [ms])
[INFO] Checking "pitch.min": = min -10.0 (Getting minimum value)
[INFO] Checking "pitch.min": = -10.0 (Getting minimum value)
[INFO] Checking "pitch.max": = max 10.0 (Getting maximum value)
[INFO] Checking "pitch.max": = 10.0 (Getting maximum value)
[INFO] Checking "roll.min": Getting minimum value
[INFO] Checking "roll.max": Getting maximum value
[INFO] Checking "yaw.min": Getting minimum value
[INFO] Checking "yaw.max": Getting maximum value
[INFO] Checking "grasp_enable": = on (Getting arm grasp mode)
[INFO] Checking "reach_offset": = reach_offset 0.0 -0.0500000000 ... (Getting reaching offset)
[INFO] Checking "reach_offset": = reach_offset 0.0 -0.0500000000 ... (Getting reaching offset)
[INFO] Checking "grasp_offset": = grasp_offset 0.0 0.0 0.0 (Getting grasping offset)
[INFO] Checking "grasp_offset": = grasp_offset 0.0 0.0 0.0 (Getting grasping offset)
[INFO] Checking "hand_orientation": = hand_orientation 0.0 -0.707106 ... (Getting hand orientation)
[INFO] Checking "hand_orientation": = hand_orientation 0.0 -0.707106 ... (Getting hand orientation)
[INFO] Checking "impedance_velocity_mode": = on (Getting arm impedance-velocity-mode)
[INFO] Checking "impedance_stiffness": = impedance_stiffness 0.40000000 ... (Getting joints stiffness)
[INFO] Checking "impedance_stiffness": = impedance_stiffness 0.40000000 ... (Getting joints stiffness)
[INFO] Checking "impedance_damping": = impedance_damping 0.002 0.002  ... (Getting joints damping)
[INFO] Checking "impedance_damping": = impedance_damping 0.002 0.002  ... (Getting joints damping)
[INFO] Checking "grasp_enable": = on (Getting arm grasp mode)
[INFO] Checking "reach_offset": = reach_offset 0.0 0.05000000000 ... (Getting reaching offset)
[INFO] Checking "reach_offset": = reach_offset 0.0 0.05000000000 ... (Getting reaching offset)
[INFO] Checking "grasp_offset": = grasp_offset 0.0 0.0 0.0 (Getting grasping offset)
[INFO] Checking "grasp_offset": = grasp_offset 0.0 0.0 0.0 (Getting grasping offset)
[INFO] Checking "hand_orientation": = hand_orientation 0.0 -0.707106 ... (Getting hand orientation)
[INFO] Checking "hand_orientation": = hand_orientation 0.0 -0.707106 ... (Getting hand orientation)
[INFO] Checking "impedance_velocity_mode": = on (Getting arm impedance-velocity-mode)
[INFO] Checking "impedance_stiffness": = impedance_stiffness 0.40000000 ... (Getting joints stiffness)
[INFO] Checking "impedance_stiffness": = impedance_stiffness 0.40000000 ... (Getting joints stiffness)
[INFO] Checking "impedance_damping": = impedance_damping 0.002 0.002  ... (Getting joints damping)
[INFO] Checking "impedance_damping": = impedance_damping 0.002 0.002  ... (Getting joints damping)
[INFO] Checking "poss": = poss -30.0 30.0 0.0 45.0 0.0 0 ... (Getting home poss)
[INFO] Checking "poss": = poss -30.0 30.0 0.0 45.0 0.0 0 ... (Getting home poss)
[INFO] Checking "vels": = vels 10.0 10.0 10.0 10.0 10.0  ... (Getting home vels)
[INFO] Checking "vels": = vels 10.0 10.0 10.0 10.0 10.0  ... (Getting home vels)
[INFO] Checking "hysteresis_thres": = 0.14999999999999999 (Getting hysteresis threshold)
[INFO] Checking "sphere_radius": = 0.050000000000000003 (Getting sphere radius)
[INFO] Checking "sphere_tmo": = 2.0 (Getting sphere timeout)
[INFO] Checking "release_tmo": = 4.0 (Getting release timeout)
[INFO] Checking "open_hand": = open_hand 0.0 0.0 0.0 0.0 0.0  ... (Getting openHand poss)
[INFO] Checking "open_hand": = open_hand 0.0 0.0 0.0 0.0 0.0  ... (Getting openHand poss)
[INFO] Checking "close_hand": = close_hand 20.0 80.0 30.0 20.0 ... (Getting closeHand poss)
[INFO] Checking "close_hand": = close_hand 20.0 80.0 30.0 20.0 ... (Getting closeHand poss)
[INFO] Checking "vels_hand": = vels_hand 20.0 40.0 50.0 50.0  ... (Getting hand vels)
[INFO] Checking "vels_hand": = vels_hand 20.0 40.0 50.0 50.0  ... (Getting hand vels)

Or, if the parameters are not found, to print the default value that it will be used:

[ERROR] |yarp.os.Property| cannot read from config2.ini
[INFO] Checking "robot": Getting robot name (default icub)
[INFO] Checking "left_arm": Getting left arm use flag (default on)
[INFO] Checking "right_arm": Getting right arm use flag (default on)
[INFO] Checking "torso": Getting torso use flag (default on)
[INFO] Checking "speech": Getting speech use flag (default on)
[INFO] Checking "use_network": Getting network enable (default off)
[INFO] Checking "simulation": Getting simulation enable (default off)
[INFO] Checking "traj_time": Getting trajectory time (default 2.0)
[INFO] Checking "reach_tol": Getting reaching tolerance (default 0.01)
[INFO] Checking "eye": Getting the used eye (default left)
[INFO] Checking "idle_tmo": Getting idle timeout (default 10000000000.0)
[INFO] Checking "thread_period": Getting thread period [ms] (default 20)
[INFO] Checking "grasp_enable": Getting arm grasp mode (default on)
[INFO] Checking "reach_offset": Getting reaching offset
[INFO] Checking "grasp_offset": Getting grasping offset
[INFO] Checking "hand_orientation": Getting hand orientation
[INFO] Checking "impedance_velocity_mode": Getting arm impedance-velocity-mode (default off)
[INFO] Checking "impedance_stiffness": Getting joints stiffness
[INFO] Checking "impedance_damping": Getting joints damping
[INFO] Checking "poss": Getting home poss
[ERROR] Missing 'poss' parameter
[INFO] Checking "vels": Getting home vels
[ERROR] Missing 'vels' parameter
[ERROR] Error in parameters section 'home_arm'
[ERROR] |yarp.os.impl.ThreadImpl| A thread failed to start with error code: 0
[INFO] |yarp.os.RFModule| RFModule failed to open.

[pattacini]

Thank you @randaz81 for doing the test 👍🏻

I'm still not 100% sure but I think that the only purpose of that code is to print the values read from the configuration file:

I've also double-checked the code and we should be safe removing it as @randaz81 is right about its purpose.

For now, there's no equivalent functionality that has an easy drop-in replacement as the conf files would need to be refactored to rely on the new way (see robotology/yarp#3059).

All considered, we can proceed with merging.

[traversaro]

Thanks @pattacini @randaz81 !