Remove inertials2 structure

robotology · Nov 28, 2023 · 5aeab86 · 5aeab86
1 parent d062aca
commit 5aeab86
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Showing 9 changed files with 7 additions and 114 deletions.
diff --git a/conf/iCubFindDependencies.cmake b/conf/iCubFindDependencies.cmake
@@ -64,9 +64,11 @@ checkandset_dependency(IPOPT)
 checkandset_dependency(OpenCV)
 checkandset_dependency(Qt5)
 
+set(MINIMUM_REQUIRED_icub_firmware_shared_VERSION 1.37.2)
+
 if(icub_firmware_shared_FOUND AND ICUB_USE_icub_firmware_shared)
-  if(icub_firmware_shared_VERSION VERSION_LESS 1.37.1)
-    message(FATAL_ERROR "An old version of icub-firmware-shared has been detected: at least 1.37.1 is required")
+  if(icub_firmware_shared_VERSION VERSION_LESS ${MINIMUM_REQUIRED_icub_firmware_shared_VERSION})
+    message(FATAL_ERROR "An old version of icub-firmware-shared has been detected: at least ${MINIMUM_REQUIRED_icub_firmware_shared_VERSION} is required")
   endif()
 endif()
 

diff --git a/src/libraries/icubmod/embObjLib/IethResource.h b/src/libraries/icubmod/embObjLib/IethResource.h
@@ -67,7 +67,6 @@ namespace eth {
         iethres_motioncontrol   = 3,
         iethres_skin            = 4,
         iethres_analogvirtual   = 5,
-        iethres_analoginertial  = 6,
         iethres_analogmultienc  = 7,
         iethres_analoginertial3 = 8,
         iethres_temperature     = 9,

diff --git a/src/libraries/icubmod/embObjLib/diagnosticInfoParsers.cpp b/src/libraries/icubmod/embObjLib/diagnosticInfoParsers.cpp
@@ -257,7 +257,6 @@ void ConfigParser::parseInfo()
         } break;
 
         case eoerror_value_CFG_skin_failed_toomanyboards:
-        case eoerror_value_CFG_inertials_failed_toomanyboards:
         case eoerror_value_CFG_inertials3_failed_toomanyboards:
         case eoerror_value_CFG_temperatures_failed_toomanyboards:
         {
@@ -276,7 +275,6 @@ void ConfigParser::parseInfo()
         } break;
 
         case eoerror_value_CFG_skin_failed_candiscovery:
-        case eoerror_value_CFG_inertials_failed_candiscovery:
         case eoerror_value_CFG_inertials3_failed_candiscovery:
         case eoerror_value_CFG_temperatures_failed_candiscovery:
         {
@@ -367,7 +365,6 @@ void ConfigParser::parseInfo()
         case eoerror_value_CFG_mc_mc4_failed_mais_verify:
         case eoerror_value_CFG_mc_mc4plus_ok:
         case eoerror_value_CFG_mc_mc4plus_failed_encoders_verify:
-        case eoerror_value_CFG_inertials_ok:
         case eoerror_value_CFG_comm_cannotloadaregularrop:
         case eoerror_value_CFG_mc_mc4plusmais_ok:
         case eoerror_value_CFG_mc_mc4plusmais_failed_encoders_verify:
@@ -377,13 +374,11 @@ void ConfigParser::parseInfo()
         case eoerror_value_CFG_strain_not_verified_yet:
         case eoerror_value_CFG_mais_not_verified_yet:
         case eoerror_value_CFG_skin_not_verified_yet:
-        case eoerror_value_CFG_inertials_not_verified_yet:
         case eoerror_value_CFG_inertials3_not_verified_yet:
         case eoerror_value_CFG_encoders_not_verified_yet:
         case eoerror_value_CFG_mc_using_onboard_config:
         case eoerror_value_CFG_strain_using_onboard_config:
         case eoerror_value_CFG_mais_using_onboard_config:
-        case eoerror_value_CFG_inertials_using_onboard_config:
         case eoerror_value_CFG_inertials3_using_onboard_config:
         case eoerror_value_CFG_skin_using_onboard_config:
         case eoerror_value_CFG_inertials3_ok:
@@ -396,7 +391,6 @@ void ConfigParser::parseInfo()
         case eoerror_value_CFG_mc_mc2pluspsc_ok:
         case eoerror_value_CFG_mc_mc2pluspsc_failed_encoders_verify:
         case eoerror_value_CFG_mc_mc2pluspsc_failed_candiscovery_of_pscs:
-        case eoerror_value_CFG_inertials_failed_notsupported:
         case eoerror_value_CFG_inertials3_failed_notsupported:
         case eoerror_value_CFG_temperatures_failed_notsupported:
         case eoerror_value_CFG_mais_failed_notsupported:
@@ -474,7 +468,6 @@ void ConfigParser::parseInfo()
 
         } break;
 
-        case eoerror_value_CFG_inertials_failed_unsupportedsensor:
         case eoerror_value_CFG_inertials3_failed_unsupportedsensor:
         {
             int16_t unsuppsens = m_dnginfo.param16;
@@ -486,7 +479,6 @@ void ConfigParser::parseInfo()
             m_dnginfo.baseInfo.finalMessage.append(str);
         } break;
 
-        case eoerror_value_CFG_inertials_changed_requestedrate:
         case eoerror_value_CFG_inertials3_changed_requestedrate:
         case eoerror_value_CFG_temperatures_changed_requestedrate:
         case eoerror_value_CFG_psc_changed_requestedrate:

diff --git a/src/libraries/icubmod/embObjLib/ethBoards.cpp b/src/libraries/icubmod/embObjLib/ethBoards.cpp
@@ -348,8 +348,6 @@ eth::IethResource* eth::EthBoards::get_interface(eOipv4addr_t ipv4, eOprotID32_t
                 type = iethres_analogstrain;
             else if(eoprot_entity_as_mais == en)
                 type = iethres_analogmais;
-            else if(eoprot_entity_as_inertial == en)
-                type = iethres_analoginertial;
             else if(eoprot_entity_as_inertial3 == en)
                 type = iethres_analoginertial3;
             else if(eoprot_entity_as_temperature == en)

diff --git a/src/libraries/icubmod/embObjLib/ethManager.cpp b/src/libraries/icubmod/embObjLib/ethManager.cpp
@@ -449,11 +449,6 @@ int TheEthManager::releaseResource2(eth::AbstractEthResource* ethresource, IethR
             category = eomn_serv_category_none;
         } break;
 
-        case iethres_analoginertial:
-        {
-            category = eomn_serv_category_inertials;
-        } break;
-
         case iethres_analoginertial3:
         {
             category = eomn_serv_category_inertials3;

diff --git a/src/libraries/icubmod/embObjLib/hostTransceiver.cpp b/src/libraries/icubmod/embObjLib/hostTransceiver.cpp
@@ -914,14 +914,7 @@ void HostTransceiver::eoprot_override_as(void)
             EO_INIT(.init)          NULL,
             EO_INIT(.update)        eoprot_fun_UPDT_as_mais_status_the15values
         },
-        // inertial
-        {   // eoprot_tag_as_inertial_status: it gives data from mtb to the device, so that it writes it in the relevant yarp port
-            EO_INIT(.endpoint)      eoprot_endpoint_analogsensors,
-            EO_INIT(.entity)        eoprot_entity_as_inertial,
-            EO_INIT(.tag)           eoprot_tag_as_inertial_status,
-            EO_INIT(.init)          NULL,
-            EO_INIT(.update)        eoprot_fun_UPDT_as_inertial_status
-        },        // inertial3
+        // inertial3
         {   // eoprot_tag_as_inertial3_status: ...
             EO_INIT(.endpoint)      eoprot_endpoint_analogsensors,
             EO_INIT(.entity)        eoprot_entity_as_inertial3,

diff --git a/src/libraries/icubmod/embObjLib/protocolCallbacks/EoProtocolAS_fun_userdef.c b/src/libraries/icubmod/embObjLib/protocolCallbacks/EoProtocolAS_fun_userdef.c
@@ -55,8 +55,6 @@
 
 static void handle_data_analogarray(const EOnv* nv, const eOropdescriptor_t* rd);
 
-static void handle_data_inertial(const EOnv* nv, const eOropdescriptor_t* rd);
-
 static void handle_data_inertial3(const EOnv* nv, const eOropdescriptor_t* rd);
 
 static void handle_data_temperature(const EOnv* nv, const eOropdescriptor_t* rd);
@@ -114,14 +112,6 @@ extern void eoprot_fun_UPDT_as_mais_status_the15values(const EOnv* nv, const eOr
 }
 
 
-extern void eoprot_fun_UPDT_as_inertial_status(const EOnv* nv, const eOropdescriptor_t* rd)
-{
-    if(eo_ropcode_sig == rd->ropcode)
-    {
-        handle_data_inertial(nv, rd);
-    }
-}
-
 extern void eoprot_fun_UPDT_as_inertial3_status(const EOnv* nv, const eOropdescriptor_t* rd)
 {
     if(eo_ropcode_sig == rd->ropcode)
@@ -186,13 +176,6 @@ static void handle_data_analogarray(const EOnv* nv, const eOropdescriptor_t* rd)
     }
 }
 
-static void handle_data_inertial(const EOnv* nv, const eOropdescriptor_t* rd)
-{
-    eOas_inertial_status_t *inertialstatus  = (eOas_inertial_status_t*)rd->data;
-    feat_manage_analogsensors_data(eo_nv_GetIP(nv), rd->id32, (void *)inertialstatus);
-}
-
-
 static void handle_data_inertial3(const EOnv* nv, const eOropdescriptor_t* rd)
 {
     eOas_inertial3_status_t *inertial3status  = (eOas_inertial3_status_t*)rd->data;

diff --git a/src/libraries/icubmod/embObjLib/serviceParser.cpp b/src/libraries/icubmod/embObjLib/serviceParser.cpp
@@ -554,8 +554,8 @@ bool ServiceParser::convert(eObrd_protocolversion_t const &prot, char *str, int
 bool ServiceParser::check_analog(Searchable &config, eOmn_serv_type_t type)
 {
     bool formaterror = false;
-    // so far we check for eomn_serv_AS_mais / strain / inertials inertials3 / psc / pos only
-    if((eomn_serv_AS_mais != type) && (eomn_serv_AS_strain != type) && (eomn_serv_AS_inertials != type) &&
+    // so far we check for eomn_serv_AS_mais / strain / inertials3 / psc / pos only
+    if((eomn_serv_AS_mais != type) && (eomn_serv_AS_strain != type) &&
        (eomn_serv_AS_inertials3 != type) && (eomn_serv_AS_psc != type) && (eomn_serv_AS_pos != type))
     {
         yError() << "ServiceParser::check_analog() is called with wrong type";
@@ -1591,66 +1591,6 @@ bool ServiceParser::parseService(Searchable &config, servConfigFTsensor_t &ftcon
     return true;
 }
 
-bool ServiceParser::parseService(Searchable &config, servConfigInertials_t &inertialsconfig)
-{
-    if(false == check_analog(config, eomn_serv_AS_inertials))
-    {
-        yError() << "ServiceParser::parseService() has received an invalid SERVICE group for inertials";
-        return false;
-    }
-
-    // now we extract values ... so far we dont make many checks ... we just assume the vector<> are of size 1.
-    servCanBoard_t themtb_props = as_service.properties.canboards.at(0);
-
-    // it must be an mtb
-    if(eobrd_cantype_mtb != themtb_props.type)
-    {
-        yError() << "ServiceParser::parseService() has detected an invalid type of board. it should be a eobrd_mtb but is a:" << eoboards_type2string2(eoboards_cantype2type(themtb_props.type), eobool_false);
-        return false;
-    }
-
-    inertialsconfig.acquisitionrate = as_service.settings.acquisitionrate;
-
-    memset(&inertialsconfig.ethservice.configuration, 0, sizeof(inertialsconfig.ethservice.configuration));
-
-    inertialsconfig.ethservice.configuration.type = eomn_serv_AS_inertials;
-    memcpy(&inertialsconfig.ethservice.configuration.data.as.inertial.mtbversion.protocol, &themtb_props.protocol, sizeof(eObrd_protocolversion_t));
-    memcpy(&inertialsconfig.ethservice.configuration.data.as.inertial.mtbversion.firmware, &themtb_props.firmware, sizeof(eObrd_firmwareversion_t));
-
-    // now, for all the sensors we must fill:
-    // - inertialsconfig.ethservice.configuration.data.as.inertial.canmap[2] with mask of location of mtb boards... no, i dont do it
-    // - the vector of ...
-
-
-    inertialsconfig.inertials.resize(0);
-
-    EOarray* array = eo_array_New(eOas_inertials_maxnumber, sizeof(eOas_inertial_descriptor_t), &inertialsconfig.ethservice.configuration.data.as.inertial.arrayofsensors);
-    for(size_t i=0; i<as_service.settings.enabledsensors.size(); i++)
-    {
-        servAnalogSensor_t sensor = as_service.settings.enabledsensors.at(i);
-        eOas_sensor_t type = sensor.type;
-
-        if((eoas_accel_mtb_int != type) && (eoas_accel_mtb_ext != type) && (eoas_gyros_mtb_ext != type) && (eoas_gyros_st_l3g4200d != type))
-        {
-            yWarning() << "ServiceParser::parseService() has detected a wrong inertial sensor:" << eoas_sensor2string(type) << " ...  we drop it";
-            continue;
-        }
-        // if ok, i copy it inside ...
-
-        eOas_inertial_descriptor_t des = {};
-        des.type = type;
-        memcpy(&des.on, &sensor.location, sizeof(eObrd_location_t));
-
-        eo_array_PushBack(array, &des);
-        inertialsconfig.inertials.push_back(des);
-        inertialsconfig.id.push_back(sensor.id);
-    }
-
-
-    return true;
-}
-
-
 bool ServiceParser::parseService(Searchable &config, servConfigImu_t &imuconfig)
 {
     if(false == check_analog(config, eomn_serv_AS_inertials3))

diff --git a/src/libraries/icubmod/embObjLib/serviceParser.h b/src/libraries/icubmod/embObjLib/serviceParser.h
@@ -49,14 +49,6 @@ typedef struct
     std::string             frameName;
 } servConfigFTsensor_t;
 
-typedef struct
-{
-    eOmn_serv_parameter_t               ethservice;
-    int                                 acquisitionrate;
-    std::vector<eOas_inertial_descriptor_t>  inertials;
-    std::vector<std::string>                      id;
-} servConfigInertials_t;
-
 typedef struct
 {
     double accFactor;
@@ -297,7 +289,6 @@ class ServiceParser
     bool parseService(yarp::os::Searchable &config, servConfigMais_t& maisconfig);
     bool parseService(yarp::os::Searchable &config, servConfigStrain_t &strainconfig);
     bool parseService(yarp::os::Searchable &config, servConfigFTsensor_t &ftconfig);
-    bool parseService(yarp::os::Searchable &config, servConfigInertials_t &inertialsconfig);
     bool parseService(yarp::os::Searchable &config, servConfigImu_t &imuconfig);
     bool parseService(yarp::os::Searchable &config, servConfigSkin_t &skinconfig);
     bool parseService(yarp::os::Searchable &config, servConfigPSC_t &pscconfig);