Use the motor_status tag (WIP)

robotology · Nov 23, 2023 · a4ac82d · a4ac82d
1 parent 27c02ef
commit a4ac82d
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Showing 2 changed files with 8 additions and 1 deletion.
diff --git a/src/libraries/icubmod/embObjLib/hostTransceiver.cpp b/src/libraries/icubmod/embObjLib/hostTransceiver.cpp
@@ -847,6 +847,13 @@ void HostTransceiver::eoprot_override_mc(void)
             EO_INIT(.tag)           eoprot_tag_mc_joint_status_addinfo_multienc,
             EO_INIT(.init)          NULL,
             EO_INIT(.update)        eoprot_fun_UPDT_mc_joint_status_addinfo_multienc
+        },
+            {   // joint_status_basic: used to inform the motioncontrol device that a sig<> ROP about joint status has arrived. for .. updating the same timestamps as above
+            EO_INIT(.endpoint)      eoprot_endpoint_motioncontrol,
+            EO_INIT(.entity)        eoprot_entity_mc_motor,
+            EO_INIT(.tag)           eoprot_tag_mc_motor_status,
+            EO_INIT(.init)          NULL,
+            EO_INIT(.update)        eoprot_fun_UPDT_mc_motor_status
         }
         // motor
         // nothing so far

diff --git a/src/libraries/icubmod/embObjLib/protocolCallbacks/EoProtocolMC_fun_userdef.c b/src/libraries/icubmod/embObjLib/protocolCallbacks/EoProtocolMC_fun_userdef.c
@@ -81,7 +81,7 @@ extern void eoprot_fun_UPDT_mc_joint_status_debug(const EOnv* nv, const eOropdes
     feat_manage_motioncontrol_data(eo_nv_GetIP(nv), rd->id32, (void *)rd->data);
 }
 
-extern void eoprot_fun_UPDT_mc_motor_status_basic(const EOnv* nv, const eOropdescriptor_t* rd)
+extern void eoprot_fun_UPDT_mc_motor_status(const EOnv* nv, const eOropdescriptor_t* rd)
 {
     feat_manage_motioncontrol_data(eo_nv_GetIP(nv), rd->id32, (void *)rd->data);
 }