Update and test final

robotology · Nov 23, 2023 · e07bdc3 · e07bdc3
1 parent a4ac82d
commit e07bdc3
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Showing 2 changed files with 9 additions and 8 deletions.
diff --git a/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp b/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp
@@ -73,7 +73,7 @@ static bool nv_not_found(void)
     return false;
 }
 
-static constexpr double const temperatureErrorValue_s = -3500;
+static constexpr double const temperatureErrorValue_s = -5000;
 
 
 
@@ -135,10 +135,8 @@ bool embObjMotionControl::alloc(int nj)
     _kalman_params.resize(nj);
     _temperatureSensorsVector.resize(nj);
     _temperatureExceededLimitWatchdog.resize(nj);
-    _temperatureSensorErrorWatchdog.resize(nj); // use 1000 as limit on the watchdog for the error on the temperature sensor receiving of the values - 
-                                                // since the ETH callback timing is 5ms by default so using 1000s we can set a checking threshould of 1 second
-                                                // in which we can allow the tdb to not respond. If cannot receive response over 1s we trigger the error
-
+    _temperatureSensorErrorWatchdog.resize(nj); 
+
     return true;
 }
 
@@ -1593,7 +1591,7 @@ bool embObjMotionControl::update(eOprotID32_t id32, double timestamp, void *rxda
         }
     }
 
-    if((eoprot_entity_mc_joint == ent) && (eoprot_tag_mc_motor_status_basic == tag))
+    if((eoprot_entity_mc_motor == ent) && (eoprot_tag_mc_motor_status == tag))
     {
         if(false == initialised())
             return true;

diff --git a/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.h b/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.h
@@ -114,12 +114,15 @@ class Watchdog
 
 bool _isStarted;
 uint32_t _count;
-uint32_t _threshold;
+uint32_t _threshold; // use 10000 as limit on the watchdog for the error on the temperature sensor receiving of the values - 
+                    // since the ETH callback timing is 2ms by default so using 10000 we can set a checking threshould of 5 second
+                    // in which we can allow the tdb to not respond. If cannot receive response over 1s we trigger the error
+
 double _time;
 
 public:
 
-Watchdog(): _count(0), _isStarted(false), _threshold(500), _time(0){;}
+Watchdog(): _count(0), _isStarted(false), _threshold(10000), _time(0){;}
 Watchdog(uint32_t threshold):_count(0), _isStarted(false),_threshold(threshold), _time(0){;}
 ~Watchdog() = default;
 Watchdog(const Watchdog& other) =  default;