Return only warning temperature limit from icub-main

robotology · Oct 25, 2023 · 0b83905 · 0b83905
1 parent 1cab622
commit 0b83905
Showing 1 changed file with 13 additions and 11 deletions.
diff --git a/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp b/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp
@@ -4767,17 +4767,19 @@ bool embObjMotionControl::getTemperaturesRaw(double *vals)
 
 bool embObjMotionControl::getTemperatureLimitRaw(int m, double *temp)
 {
-    eOprotID32_t protid = eoprot_ID_get(eoprot_endpoint_motioncontrol, eoprot_entity_mc_motor, m, eoprot_tag_mc_motor_config_temperaturelimit);
-    uint16_t size;
-    eOmeas_temperature_t temperaturelimit = {0};
-    *temp = 0;
-    if(!askRemoteValue(protid, &temperaturelimit, size))
-    {
-        yError() << "embObjMotionControl::getTemperatureLimitRaw() can't read temperature limits  for" << getBoardInfo() << " motor " << m;
-        return false;
-    }
-
-    *temp = (double) temperaturelimit;
+    // eOprotID32_t protid = eoprot_ID_get(eoprot_endpoint_motioncontrol, eoprot_entity_mc_motor, m, eoprot_tag_mc_motor_config_temperaturelimit);
+    // uint16_t size;
+    // eOmeas_temperature_t temperaturelimit = {0};
+    // *temp = 0;
+    // if(!askRemoteValue(protid, &temperaturelimit, size))
+    // {
+    //     yError() << "embObjMotionControl::getTemperatureLimitRaw() can't read temperature limits  for" << getBoardInfo() << " motor " << m;
+    //     return false;
+    // }
+
+    // *temp = (double) temperaturelimit;
+
+    *temp= _temperatureLimits[m].warningTemperatureLimit;
 
     return true;
 }