Update icub_firmware_shared_VERSION requirement to higher than 1.37.2

robotology · Nov 24, 2023 · 33224b5 · 33224b5
1 parent 025ef68
commit 33224b5
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Showing 2 changed files with 5 additions and 17 deletions.
diff --git a/conf/iCubFindDependencies.cmake b/conf/iCubFindDependencies.cmake
@@ -65,8 +65,8 @@ checkandset_dependency(OpenCV)
 checkandset_dependency(Qt5)
 
 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 1.37.2)
+    message(FATAL_ERROR "An old version of icub-firmware-shared has been detected: at least 1.37.2 is required")
   endif()
 endif()
 

diff --git a/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp b/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp
@@ -1601,20 +1601,11 @@ bool embObjMotionControl::update(eOprotID32_t id32, double timestamp, void *rxda
         if((_temperatureSensorsVector.at(motor)->getType() == motor_temperature_sensor_none))
             return true;
 
-        eOmc_motor_status_basic_t mc_motor_status_basic = {};
-        id32 = eoprot_ID_get(eoprot_endpoint_motioncontrol, eoprot_entity_mc_motor, motor, eoprot_tag_mc_motor_status_basic);
+        eOmc_motor_status_t *mc_motor_status = reinterpret_cast<eOmc_motor_status_t*>(rxdata);
 
-        if (!res->getLocalValue(id32, &mc_motor_status_basic))
+        if((double)mc_motor_status->basic.mot_temperature != temperatureErrorValue_s) //I get a valid value
         {
-            yError() << getBoardInfo() << "getLocalValue() cannot retrieve motor" << motor << "status basic";
-            return true; //do we need to actually return false here since is eth error
-        }
-
-        //eOmc_motor_status_basic_t *mc_motor_status_basic = reinterpret_cast<eOmc_motor_status_basic_t*>(rxdata);
-
-        if((double)mc_motor_status_basic.mot_temperature != temperatureErrorValue_s) //I get a valid value
-        {
-            double tmp = _temperatureSensorsVector.at(motor)->convertRawToTempCelsius((double)mc_motor_status_basic.mot_temperature);
+            double tmp = _temperatureSensorsVector.at(motor)->convertRawToTempCelsius((double)mc_motor_status->basic.mot_temperature);
 
             if (tmp > _temperatureLimits[motor].warningTemperatureLimit)
             {
@@ -1657,8 +1648,6 @@ bool embObjMotionControl::update(eOprotID32_t id32, double timestamp, void *rxda
         }
     }
 
-
-
     return true;
 }
 
@@ -4816,7 +4805,6 @@ bool embObjMotionControl::getTemperatureRaw(int m, double* val)
 
     if (((double)status.mot_temperature) == temperatureErrorValue_s) //using -5000 as the default value on 2FOC for initializing the temperature. If cannot read from I2C the value cannot be updated
     {
-        yError() << getBoardInfo() << "At timestamp" << yarp::os::Time::now() << "In motor" << m << "cannot read Temperature" << *val << "from I2C. There might be cabling problems, TDB cable might be broken or sensor unreachable";
         return false;
     }