From bf21b683c9a27f08957390de90394c017912e7f8 Mon Sep 17 00:00:00 2001
From: Antonio Consilvio <antonio.consilvio@iit.it>
Date: Wed, 3 Jan 2024 16:46:36 +0100
Subject: [PATCH] [ergoCubSN001] Fix skin configuration files after tests and
 left hip roll rotor-stator calibration  (#604)

Co-authored-by: ergocub <ergocub@iit.it>
---
 .../mechanicals/left_leg-eb8-j0_3-mec.xml     |  2 +-
 ..._7-skin.xml => left_arm-eb4-j2_3-skin.xml} |  8 +++----
 ...pec.xml => left_arm-eb4-j2_3-skinSpec.xml} | 16 +++++++-------
 ...7-skin.xml => right_arm-eb3-j2_3-skin.xml} | 12 +++++-----
 ...ec.xml => right_arm-eb3-j2_3-skinSpec.xml} | 19 ++++++++--------
 ergoCubSN001/skin.xml                         | 22 +++++++++++++++++++
 .../wrappers/skin/left_arm-skin_wrapper.xml   |  2 +-
 .../wrappers/skin/right_arm-skin_wrapper.xml  |  2 +-
 8 files changed, 53 insertions(+), 30 deletions(-)
 rename ergoCubSN001/hardware/skin/{left_arm-eb24-j4_7-skin.xml => left_arm-eb4-j2_3-skin.xml} (68%)
 rename ergoCubSN001/hardware/skin/{right_arm-eb27-j4_7-skinSpec.xml => left_arm-eb4-j2_3-skinSpec.xml} (57%)
 rename ergoCubSN001/hardware/skin/{right_arm-eb27-j4_7-skin.xml => right_arm-eb3-j2_3-skin.xml} (54%)
 rename ergoCubSN001/hardware/skin/{left_arm-eb24-j4_7-skinSpec.xml => right_arm-eb3-j2_3-skinSpec.xml} (59%)
 create mode 100644 ergoCubSN001/skin.xml

diff --git a/ergoCubSN001/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml b/ergoCubSN001/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml
index 1b3ac143cf..58fd10f872 100644
--- a/ergoCubSN001/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml
+++ b/ergoCubSN001/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml
@@ -33,7 +33,7 @@
         <param name="HasRotorEncoder">            1             1     1     1     </param>
         <param name="HasRotorEncoderIndex">       1             1     1     1     </param>
         <param name="HasSpeedEncoder">            0             0     0     0     </param>
-        <param name="RotorIndexOffset">           337           148   112   113   </param>
+        <param name="RotorIndexOffset">           337           153   112   113   </param>
         <param name="MotorPoles">                 12            8     8     12    </param>
    </group>
 
diff --git a/ergoCubSN001/hardware/skin/left_arm-eb24-j4_7-skin.xml b/ergoCubSN001/hardware/skin/left_arm-eb4-j2_3-skin.xml
similarity index 68%
rename from ergoCubSN001/hardware/skin/left_arm-eb24-j4_7-skin.xml
rename to ergoCubSN001/hardware/skin/left_arm-eb4-j2_3-skin.xml
index 2f2314a406..2d4d054d24 100644
--- a/ergoCubSN001/hardware/skin/left_arm-eb24-j4_7-skin.xml
+++ b/ergoCubSN001/hardware/skin/left_arm-eb4-j2_3-skin.xml
@@ -2,14 +2,14 @@
 <!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_arm-eb24-j4_7-skin" type="embObjSkin">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb4-j2_3-skin" type="embObjSkin">
         <xi:include href="../../general.xml" />
  
-        <xi:include href="../../hardware/electronics/left_arm-eb24-j4_7-eln.xml" />
+        <xi:include href="../../hardware/electronics/left_arm-eb4-j2_3-eln.xml" />
         <group name="patches">
-            <param name="skinCanAddrsPatch1"> 14 </param> 
+            <param name="skinCanAddrsPatch2">  2 </param> 
         </group>
-        <xi:include href="./left_arm-eb24-j4_7-skinSpec.xml" />
+        <xi:include href="./left_arm-eb4-j2_3-skinSpec.xml" />
     </device>
 
   
diff --git a/ergoCubSN001/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml b/ergoCubSN001/hardware/skin/left_arm-eb4-j2_3-skinSpec.xml
similarity index 57%
rename from ergoCubSN001/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml
rename to ergoCubSN001/hardware/skin/left_arm-eb4-j2_3-skinSpec.xml
index a2ffbb3e96..41d28b92bf 100644
--- a/ergoCubSN001/hardware/skin/right_arm-eb27-j4_7-skinSpec.xml
+++ b/ergoCubSN001/hardware/skin/left_arm-eb4-j2_3-skinSpec.xml
@@ -15,11 +15,11 @@
 	<group name="specialCfgBoards">           
 	    <!-- it tells some boards to be special. 
 		 we can configure only: tx period, skinType, noLoad value. 
-		 rule #1 -> CAN1:14 has: period = 50 ms, skinType = 1 (palm and fingertips skin), noLoad = 0xf0
+		 rule #1 -> CAN1:2 has: period = 50 ms, skinType = 1 (palm and fingertips skin), noLoad = 0xf0
 	      -->
 	    <param name="numOfSets"> 1 </param> 
-	    <!--                            patch       adr start   adr end     period      type    no_load     -->            
-	    <param name="boardSetCfg1">     1           14          14          50          1       0xc8        </param> 
+	    <!--                            CAN BUS = patch       adr start   adr end     period      type    no_load     -->            
+	    <param name="boardSetCfg1">     2           2          2          50          1       0xc8        </param> 
 		                  
 	</group>
         
@@ -31,11 +31,11 @@
         </group>
  
         <group name="specialCfgTriangles">
-            <param name="numOfSets">         4  </param>
-            <param name="triangleSetCfgThumb">     1            14        0             0              1              1           0x0000      </param>
-            <param name="triangleSetCfgIndex">     1            14        4             4              1              1           0x0000      </param>
-            <param name="triangleSetCfgMiddle">    1            14        8             8              1              1           0x0000      </param>
-            <param name="triangleSetCfgRing">      1            14        12            12             1              1           0x0000      </param>
+            <param name="numOfSets">         1  </param>
+            <param name="triangleSetCfg1">     2        2        0         15        1         1        0x0000      </param>
+            <param name="triangleSetCfg2">     2        2        0         15        1         1        0x0000      </param>
+            <param name="triangleSetCfg3">     2        2        8         8         1         1        0x0000      </param>
+            <param name="triangleSetCfg4">     2        2        12        12        1         1        0x0000      </param>
         </group>
 
         
diff --git a/ergoCubSN001/hardware/skin/right_arm-eb27-j4_7-skin.xml b/ergoCubSN001/hardware/skin/right_arm-eb3-j2_3-skin.xml
similarity index 54%
rename from ergoCubSN001/hardware/skin/right_arm-eb27-j4_7-skin.xml
rename to ergoCubSN001/hardware/skin/right_arm-eb3-j2_3-skin.xml
index 52f7a1e6d2..1da64b8b2f 100644
--- a/ergoCubSN001/hardware/skin/right_arm-eb27-j4_7-skin.xml
+++ b/ergoCubSN001/hardware/skin/right_arm-eb3-j2_3-skin.xml
@@ -2,13 +2,13 @@
 <!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_arm-eb27-j4_7-skin" type="embObjSkin">
+    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j2_3-skin" type="embObjSkin">
         <xi:include href="../../general.xml" />
  
-        <xi:include href="../../hardware/electronics/right_arm-eb27-j4_7-eln.xml" />
-        <group name="patches">
-            <param name="skinCanAddrsPatch1"> 14 </param> 
-        </group>
-        <xi:include href="./right_arm-eb27-j4_7-skinSpec.xml" /> 
+        <xi:include href="../../hardware/electronics/right_arm-eb3-j2_3-eln.xml" />
+        <group name="patches"><!--the PATCH number is actually the number of the CAN BUS used -->
+            <param name="skinCanAddrsPatch2"> 2 </param> 
+        </group>_
+        <xi:include href="./right_arm-eb3-j2_3-skinSpec.xml" /> 
     </device>  
 
diff --git a/ergoCubSN001/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml b/ergoCubSN001/hardware/skin/right_arm-eb3-j2_3-skinSpec.xml
similarity index 59%
rename from ergoCubSN001/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml
rename to ergoCubSN001/hardware/skin/right_arm-eb3-j2_3-skinSpec.xml
index a2ffbb3e96..d1d685dca8 100644
--- a/ergoCubSN001/hardware/skin/left_arm-eb24-j4_7-skinSpec.xml
+++ b/ergoCubSN001/hardware/skin/right_arm-eb3-j2_3-skinSpec.xml
@@ -16,10 +16,11 @@
 	    <!-- it tells some boards to be special. 
 		 we can configure only: tx period, skinType, noLoad value. 
 		 rule #1 -> CAN1:14 has: period = 50 ms, skinType = 1 (palm and fingertips skin), noLoad = 0xf0
-	      -->
+	     rule #3  -> the CAN BUS is identified by the patch number!!!!!!!
+        -->
 	    <param name="numOfSets"> 1 </param> 
-	    <!--                            patch       adr start   adr end     period      type    no_load     -->            
-	    <param name="boardSetCfg1">     1           14          14          50          1       0xc8        </param> 
+	    <!--                            CAN BUS = patch       adr start   adr end     period      type    no_load     -->            
+	    <param name="boardSetCfg1">     2          2          2          50          1       0xc8        </param> 
 		                  
 	</group>
         
@@ -29,13 +30,13 @@
             <param name="shift">           1  </param>
             <param name="cdcOffset">       0x0000  </param>
         </group>
- 
+ <!--  for now (jan 2024) we put a unique set of parameters activating all 16 I2C addr -->
         <group name="specialCfgTriangles">
-            <param name="numOfSets">         4  </param>
-            <param name="triangleSetCfgThumb">     1            14        0             0              1              1           0x0000      </param>
-            <param name="triangleSetCfgIndex">     1            14        4             4              1              1           0x0000      </param>
-            <param name="triangleSetCfgMiddle">    1            14        8             8              1              1           0x0000      </param>
-            <param name="triangleSetCfgRing">      1            14        12            12             1              1           0x0000      </param>
+            <param name="numOfSets">         1  </param>
+            <param name="triangleSetCfg1">     2        2        0         15        1         1        0x0000      </param>
+            <param name="triangleSetCfg2">     2        2        0         15        1         1        0x0000      </param>
+            <param name="triangleSetCfg3">     2        2        8         8         1         1        0x0000      </param>
+            <param name="triangleSetCfg4">     2        2        12        12        1         1        0x0000      </param>
         </group>
 
         
diff --git a/ergoCubSN001/skin.xml b/ergoCubSN001/skin.xml
new file mode 100644
index 0000000000..3fac61bb3d
--- /dev/null
+++ b/ergoCubSN001/skin.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<robot name="ergoCubSN001" build="1" portprefix="icub" xmlns:xi="http://www.w3.org/2001/XInclude">
+
+    <params>
+    <xi:include href="hardware/electronics/pc104.xml" />
+    </params>
+
+    <devices>
+  
+    <!--  SKINS -->
+
+    <xi:include href="wrappers/skin/right_arm-skin_wrapper.xml" />
+    <xi:include href="hardware/skin/right_arm-eb3-j2_3-skin.xml" />
+    <xi:include href="wrappers/skin/left_arm-skin_wrapper.xml" />
+    <xi:include href="hardware/skin/left_arm-eb4-j2_3-skin.xml" />
+  
+
+  
+  </devices>
+</robot>
diff --git a/ergoCubSN001/wrappers/skin/left_arm-skin_wrapper.xml b/ergoCubSN001/wrappers/skin/left_arm-skin_wrapper.xml
index b34ec625ed..b7064e9c2a 100644
--- a/ergoCubSN001/wrappers/skin/left_arm-skin_wrapper.xml
+++ b/ergoCubSN001/wrappers/skin/left_arm-skin_wrapper.xml
@@ -17,7 +17,7 @@
             <paramlist name="networks">
                 <!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-skin.xml file 
                  or body_part-ebX-skin.xml-->
-                <elem name="FirstSetOfSkins">  left_arm-eb24-j4_7-skin </elem>
+                <elem name="FirstSetOfSkins">  left_arm-eb4-j2_3-skin </elem>
             </paramlist>
         </action>
 
diff --git a/ergoCubSN001/wrappers/skin/right_arm-skin_wrapper.xml b/ergoCubSN001/wrappers/skin/right_arm-skin_wrapper.xml
index e1e7d28f07..ea795eeca1 100644
--- a/ergoCubSN001/wrappers/skin/right_arm-skin_wrapper.xml
+++ b/ergoCubSN001/wrappers/skin/right_arm-skin_wrapper.xml
@@ -17,7 +17,7 @@
             <paramlist name="networks">
                 <!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-skin.xml file 
                  or body_part-ebX-skin.xml-->
-                <elem name="FirstSetOfSkins">  right_arm-eb27-j4_7-skin </elem>
+                <elem name="FirstSetOfSkins">  right_arm-eb3-j2_3-skin </elem>
             </paramlist>
         </action>