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Remove embObjInertials #916

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merged 3 commits into from
Nov 30, 2023
Merged

Remove embObjInertials #916

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30af297
Remove embObjInertials
Nicogene Nov 27, 2023
9be0d09
Remove inertials2 structure
Nicogene Nov 28, 2023
155f6af
Increase icub-firmware-shared version required
Nicogene Nov 29, 2023
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8 changes: 5 additions & 3 deletions conf/iCubFindDependencies.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -46,7 +46,7 @@ if (OpenCV_FOUND)
mark_as_advanced(ICUB_OpenCV_LEGACY)
else()
set(ICUB_OpenCV_LEGACY true CACHE BOOL "Legacy version of OpenCV detected" FORCE)
message(STATUS "OpenCV is previous 2.0 (some modules will be skipped)")
message(STATUS "OpenCV is previous 2.0 (some modules will be skipped)")
message(STATUS "Setting ICUB_OpenCV_LEGACY true")
endif()

Expand All @@ -64,9 +64,11 @@ checkandset_dependency(IPOPT)
checkandset_dependency(OpenCV)
checkandset_dependency(Qt5)

set(MINIMUM_REQUIRED_icub_firmware_shared_VERSION 1.37.3)

if(icub_firmware_shared_FOUND AND ICUB_USE_icub_firmware_shared)
if(icub_firmware_shared_VERSION VERSION_LESS 1.37.2)
message(FATAL_ERROR "An old version of icub-firmware-shared has been detected: at least 1.37.2 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()

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1 change: 0 additions & 1 deletion src/libraries/icubmod/CMakeLists.txt
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Expand Up @@ -48,7 +48,6 @@ yarp_begin_plugin_library(icubmod QUIET)
add_subdirectory(embObjMultipleFTsensors)
add_subdirectory(embObjMais)
add_subdirectory(embObjMultiEnc)
add_subdirectory(embObjInertials)
add_subdirectory(embObjIMU)
add_subdirectory(imuST_M1)
add_subdirectory(imuFilter)
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28 changes: 0 additions & 28 deletions src/libraries/icubmod/embObjInertials/CMakeLists.txt
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This file was deleted.

907 changes: 0 additions & 907 deletions src/libraries/icubmod/embObjInertials/embObjInertials.cpp
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This file was deleted.

150 changes: 0 additions & 150 deletions src/libraries/icubmod/embObjInertials/embObjInertials.h
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1 change: 0 additions & 1 deletion src/libraries/icubmod/embObjLib/IethResource.h
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Expand Up @@ -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,
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8 changes: 0 additions & 8 deletions src/libraries/icubmod/embObjLib/diagnosticInfoParsers.cpp
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Expand Up @@ -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:
{
Expand All @@ -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:
{
Expand Down Expand Up @@ -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:
Expand All @@ -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:
Expand All @@ -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:
Expand Down Expand Up @@ -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;
Expand All @@ -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:
Expand Down
2 changes: 0 additions & 2 deletions src/libraries/icubmod/embObjLib/ethBoards.cpp
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Expand Up @@ -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)
Expand Down
5 changes: 0 additions & 5 deletions src/libraries/icubmod/embObjLib/ethManager.cpp
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Expand Up @@ -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;
Expand Down
9 changes: 1 addition & 8 deletions src/libraries/icubmod/embObjLib/hostTransceiver.cpp
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Expand Up @@ -921,14 +921,7 @@ 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,
Expand Down
17 changes: 0 additions & 17 deletions src/libraries/icubmod/embObjLib/protocolCallbacks/EoProtocolAS_fun_userdef.c
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Expand Up @@ -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);
Expand Down Expand Up @@ -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)
Expand Down Expand Up @@ -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;
Expand Down
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