Remove white lines and debug variables

robotology · Oct 26, 2023 · 388b177 · 388b177
1 parent 2f04b4a
commit 388b177
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Showing 5 changed files with 18 additions and 23 deletions.
diff --git a/conf/iCubFindDependencies.cmake b/conf/iCubFindDependencies.cmake
@@ -65,7 +65,7 @@ checkandset_dependency(OpenCV)
 checkandset_dependency(Qt5)
 
 if(icub_firmware_shared_FOUND AND ICUB_USE_icub_firmware_shared)
-  if(icub_firmware_shared_VERSION VERSION_LESS 1.36.2)
+  if(icub_firmware_shared_VERSION VERSION_LESS 1.36.3)
     message(FATAL_ERROR "An old version of icub-firmware-shared has been detected: at least 1.36.2 is required")
   endif()
 endif()

diff --git a/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp b/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp
@@ -49,6 +49,9 @@ using namespace yarp::dev::eomc;
 #define PARSER_MOTION_CONTROL_VERSION   6
 
 
+
+
+
 static inline bool NOT_YET_IMPLEMENTED(const char *txt)
 {
     yError() << txt << " is not yet implemented for embObjMotionControl";
@@ -70,7 +73,8 @@ static bool nv_not_found(void)
 }
 
 
-int _printCounter = 0;
+
+
 
 
 
@@ -334,7 +338,7 @@ bool embObjMotionControl::initializeInterfaces(measureConvFactors &f)
 bool embObjMotionControl::open(yarp::os::Searchable &config)
 {
     // - first thing to do is verify if the eth manager is available. then i parse info about the eth board.
-    _printCounter = 0;
+
     ethManager = eth::TheEthManager::instance();
     if(NULL == ethManager)
     {
@@ -790,6 +794,8 @@ bool embObjMotionControl::fromConfig_Step2(yarp::os::Searchable &config)
 
 
     ///////// GENERAL MECHANICAL INFO
+
+
     {
         if(!_mcparser->parseAxisInfo(config, _axisMap, _axesInfo))
             return false;
@@ -1585,18 +1591,6 @@ bool embObjMotionControl::update(eOprotID32_t id32, double timestamp, void *rxda
         }
     }
 
-
-    if ((_printCounter % 1000) == 0)
-    {
-        _printCounter = 0;
-        if(!getTemperaturesRaw(_temperatureValues))
-        {
-            yError("ERROR IN GETTING SOME TEMPERATURES");
-        }
-    }
-    ++_printCounter;
-
-
     return true;
 }
 
@@ -3494,6 +3488,11 @@ bool embObjMotionControl::getRemoteVariableRaw(std::string key, yarp::os::Bottle
         Bottle& r = val.addList(); for (int i = 0; i < _njoints; i++) { int tmp = 0; getHasHallSensorRaw(i, tmp); r.addInt32(tmp); }
         return true;
     }
+    else if (key == "hasTempSensor")
+    {
+        Bottle& r = val.addList(); for (int i = 0; i < _njoints; i++) { int tmp = 0; getHasTempSensorsRaw(i, tmp); r.addInt32(tmp); }
+        return true;
+    }
     else if (key == "TemperatureSensorType")
     {
         Bottle& r = val.addList(); for (int i = 0; i<_njoints; i++) { int tmp = 0; getTemperatureSensorTypeRaw(i, tmp); r.addInt32(tmp); }
@@ -5440,4 +5439,3 @@ bool embObjMotionControl::getLastJointFaultRaw(int j, int& fault, std::string& m
 }
 
 // eof
-
diff --git a/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.h b/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.h
@@ -208,9 +208,8 @@ class yarp::dev::embObjMotionControl:   public DeviceDriver,
     double *                                _temperatureValues;
     std::vector<eomc::kalmanFilterParams_t> _kalman_params;  /** Kalman filter parameters */
 
-
     std::vector<std::unique_ptr<eomc::ITemperatureSensor>> _temperatureSensorsVector;  
-
+    
     eomc::focBasedSpecificInfo_t *            _foc_based_info;
 
     std::vector<eomc::encoder_t>            _jointEncs;

diff --git a/src/libraries/icubmod/embObjMotionControl/eomcParser.cpp b/src/libraries/icubmod/embObjMotionControl/eomcParser.cpp
@@ -32,8 +32,8 @@ using namespace yarp::dev;
 using namespace yarp::os;
 using namespace yarp::dev::eomc;
 
-static constexpr double _temperatureFactor_degcel2raw_pt100 = 1;
-static constexpr double _temperatureFactor_degcel2raw_pt1000 = 1;
+
+
 
 yarp::dev::eomc::Parser::Parser(int numofjoints, string boardname)
 {
@@ -2205,6 +2205,7 @@ bool Parser::parseGearboxValues(yarp::os::Searchable &config, double gearbox_M2J
         }
     }
 
+
     return true;
 }
 

diff --git a/src/libraries/icubmod/embObjMotionControl/eomcParser.h b/src/libraries/icubmod/embObjMotionControl/eomcParser.h
@@ -613,9 +613,7 @@ class Parser
     bool parseJointsetCfgGroup(yarp::os::Searchable &config, std::vector<JointsSet> &jsets, std::vector<int> &jointtoset);
     bool parseTimeoutsGroup(yarp::os::Searchable &config, std::vector<timeouts_t> &timeouts, int defaultVelocityTimeout);
     bool parseCurrentLimits(yarp::os::Searchable &config, std::vector<motorCurrentLimits_t> &currLimits);
-
     bool parseTemperatureLimits(yarp::os::Searchable &config, std::vector<temperatureLimits_t> &temperatureLimits);
-
     bool parseJointsLimits(yarp::os::Searchable &config, std::vector<jointLimits_t> &jointsLimits);
     bool parseRotorsLimits(yarp::os::Searchable &config, std::vector<rotorLimits_t> &rotorsLimits);
     bool parseCouplingInfo(yarp::os::Searchable &config, couplingInfo_t &couplingInfo);
@@ -631,7 +629,6 @@ class Parser
     bool parseImpedanceGroup(yarp::os::Searchable &config,std::vector<impedanceParameters_t> &impedance);
     bool parseDeadzoneValue(yarp::os::Searchable &config, double deadzone[], bool *found);
     bool parseKalmanFilterParams(yarp::os::Searchable &config, std::vector<kalmanFilterParams_t> &kalmanFilterParams);
-
 };
 
 }}}; //close namespaces