Migrate ergoCub FT to have one NWS for each part

robotology · May 16, 2023 · 53b69a7 · 53b69a7
1 parent 4d8a1cc
commit 53b69a7
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Showing 10 changed files with 63 additions and 53 deletions.
diff --git a/ergoCubSN000/ergocub_all.xml b/ergoCubSN000/ergocub_all.xml
@@ -78,12 +78,13 @@
     <xi:include href="hardware/FT/left_leg-eb8-j0_3-strain.xml" />
     <xi:include href="hardware/FT/right_leg-eb6-j0_3-strain.xml" />
 
+    <!-- FT SENSORS - REMAPPERS -->
+    <xi:include href="wrappers/FT/left_leg-FT_remapper.xml" />
+    <xi:include href="wrappers/FT/right_leg-FT_remapper.xml" />
 
     <!-- FT SENSORS - MULTIPLE ANALOG SENSOR SERVERS -->
     <xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
     <xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />
-    <xi:include href="wrappers/FT/left_foot-FT_wrapper.xml" />
-    <xi:include href="wrappers/FT/right_foot-FT_wrapper.xml" />
     <xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" />
     <xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />
 

diff --git a/ergoCubSN000/ergocub_all_ros2.xml b/ergoCubSN000/ergocub_all_ros2.xml
@@ -81,13 +81,13 @@
    <xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" />
    <xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />
 
+   <xi:include href="wrappers/FT/left_leg-FT_remapper.xml" />
+   <xi:include href="wrappers/FT/right_leg-FT_remapper.xml" />
+
    <xi:include href="hardware/FT/left_leg-eb8-j0_3-strain.xml" />
    <xi:include href="hardware/FT/right_leg-eb6-j0_3-strain.xml" />
 
 
-   <xi:include href="wrappers/FT/left_foot-FT_wrapper.xml" />
-   <xi:include href="wrappers/FT/right_foot-FT_wrapper.xml" />
-
    <xi:include href="hardware/FT/left_leg-eb9-j4_5-strain.xml" />
    <xi:include href="hardware/FT/right_leg-eb7-j4_5-strain.xml" />
 

diff --git a/ergoCubSN000/ergocub_wbd.xml b/ergoCubSN000/ergocub_wbd.xml
@@ -78,11 +78,13 @@
     <xi:include href="hardware/FT/left_leg-eb8-j0_3-strain.xml" />
     <xi:include href="hardware/FT/right_leg-eb6-j0_3-strain.xml" />
 
+    <!-- FT SENSORS - REMAPPERS -->
+    <xi:include href="wrappers/FT/left_leg-FT_remapper.xml" />
+    <xi:include href="wrappers/FT/right_leg-FT_remapper.xml" />
+
     <!-- FT SENSORS - MULTIPLE ANALOG SENSOR SERVERS -->
     <xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
     <xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />
-    <xi:include href="wrappers/FT/left_foot-FT_wrapper.xml" />
-    <xi:include href="wrappers/FT/right_foot-FT_wrapper.xml" />
     <xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" />
     <xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />
 

diff --git a/ergoCubSN000/ft.xml b/ergoCubSN000/ft.xml
@@ -21,12 +21,12 @@
    <xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" />
    <xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />
 
+   <xi:include href="wrappers/FT/left_leg-FT_remapper.xml" />
+   <xi:include href="wrappers/FT/right_leg-FT_remapper.xml" />
+
    <xi:include href="hardware/FT/left_leg-eb8-j0_3-strain.xml" />
    <xi:include href="hardware/FT/right_leg-eb6-j0_3-strain.xml" />
 
-   <xi:include href="wrappers/FT/left_foot-FT_wrapper.xml" />
-   <xi:include href="wrappers/FT/right_foot-FT_wrapper.xml" />
-
    <xi:include href="hardware/FT/left_leg-eb9-j4_5-strain.xml" />
    <xi:include href="hardware/FT/right_leg-eb7-j4_5-strain.xml" />
 

diff --git a/ergoCubSN000/wrappers/FT/left_foot-FT_wrapper.xml b/ergoCubSN000/wrappers/FT/left_foot-FT_wrapper.xml
diff --git a/ergoCubSN000/wrappers/FT/left_leg-FT_remapper.xml b/ergoCubSN000/wrappers/FT/left_leg-FT_remapper.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-FT_remapper" type="multipleanalogsensorsremapper">
+        <!-- The below parameter names are set from the macro MAS_getTagFromEnum(enum MAS_SensorType) + "Names"
+             defined in <yarp/dev/MultipleAnalogSensorsInterfaces.h> and respective device source file -->
+        <param name="SixAxisForceTorqueSensorsNames">
+          (l_leg_ft_sensor l_foot_rear_ft_sensor l_foot_front_ft_sensor)
+        </param>
+        <param name="TemperatureSensorsNames">
+          (l_leg_ft_sensor l_foot_rear_ft_sensor l_foot_front_ft_sensor)
+        </param>
+        <action phase="startup" level="5" type="attach">
+            <paramlist name="networks">
+                <elem name="left_leg-eb8-j0_3-strain">  left_leg-eb8-j0_3-strain </elem>
+                <elem name="left_leg-eb9-j4_5-strain">  left_leg-eb9-j4_5-strain </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="20" type="detach" />
+    </device>
diff --git a/ergoCubSN000/wrappers/FT/left_leg-FT_wrapper.xml b/ergoCubSN000/wrappers/FT/left_leg-FT_wrapper.xml
@@ -6,13 +6,12 @@
         <param name="period">      2                           </param>
         <param name="name">       /ergocub/left_leg/FT       </param>
 
-        <action phase="startup" level="5" type="attach">
+        <action phase="startup" level="10" type="attach">
             <paramlist name="networks">
-        <!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-strain.xml file -->
-                <elem name="FirstStrain"> left_leg-eb8-j0_3-strain </elem>
+                <elem name="left_leg-FT_remapper"> left_leg-FT_remapper </elem>
             </paramlist>
         </action>
 
-        <action phase="shutdown" level="5" type="detach" />
+        <action phase="shutdown" level="15" type="detach" />
     </device>
 
diff --git a/ergoCubSN000/wrappers/FT/right_foot-FT_wrapper.xml b/ergoCubSN000/wrappers/FT/right_foot-FT_wrapper.xml
diff --git a/ergoCubSN000/wrappers/FT/right_leg-FT_remapper.xml b/ergoCubSN000/wrappers/FT/right_leg-FT_remapper.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-FT_remapper" type="multipleanalogsensorsremapper">
+        <!-- The below parameter names are set from the macro MAS_getTagFromEnum(enum MAS_SensorType) + "Names"
+             defined in <yarp/dev/MultipleAnalogSensorsInterfaces.h> and respective device source file -->
+        <param name="SixAxisForceTorqueSensorsNames">
+          (r_leg_ft_sensor r_foot_rear_ft_sensor r_foot_front_ft_sensor)
+        </param>
+        <param name="TemperatureSensorsNames">
+          (r_leg_ft_sensor r_foot_rear_ft_sensor r_foot_front_ft_sensor)
+        </param>
+        <action phase="startup" level="5" type="attach">
+            <paramlist name="networks">
+                <elem name="right_leg-eb6-j0_3-strain">  right_leg-eb6-j0_3-strain </elem>
+                <elem name="right_leg-eb7-j4_5-strain">  right_leg-eb7-j4_5-strain </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="20" type="detach" />
+    </device>
diff --git a/ergoCubSN000/wrappers/FT/right_leg-FT_wrapper.xml b/ergoCubSN000/wrappers/FT/right_leg-FT_wrapper.xml
@@ -6,13 +6,12 @@
         <param name="period">     2                  </param>
         <param name="name">       /ergocub/right_leg/FT      </param>
 
-        <action phase="startup" level="5" type="attach">
+        <action phase="startup" level="10" type="attach">
             <paramlist name="networks">
-        <!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-strain.xml file -->
-                <elem name="FirstStrain">  right_leg-eb6-j0_3-strain </elem>
+                <elem name="right_leg-FT_remapper">  right_leg-FT_remapper </elem>
             </paramlist>
         </action>
 
-        <action phase="shutdown" level="5" type="detach" />
+        <action phase="shutdown" level="15" type="detach" />
     </device>