Add support for aea3 encoder

[sgiraz]

This PR introduces the support for the new AEA3 encoder.

The ServiceParser now recognizes correctly the string for the new encoder.
A new info string will be printed when we run yarprobotinterface showing us which encoder we are trying to use.

Note: we should fix the default deadzone value for AEA3.

[pattacini]

We should complete the work on the dead zone then.

[pattacini]

Hi @sgiraz

CI failed with this error:

2021-11-09T18:18:40.7393756Z /home/runner/work/icub-main/icub-main/src/libraries/icubmod/embObjLib/serviceParser.cpp: In member function ‘bool ServiceParser::parse_encoder_port(const string&, eObrd_ethtype_t, eOmc_encoder_t, uint8_t&, bool&)’:
2021-11-09T18:18:40.7397504Z /home/runner/work/icub-main/icub-main/src/libraries/icubmod/embObjLib/serviceParser.cpp:1815:14: error: ‘eomc_enc_aea3’ was not declared in this scope; did you mean ‘eomc_enc_aea’?

Could you give it a look?

[sgiraz]

Hi @sgiraz

CI failed with this error:

2021-11-09T18:18:40.7393756Z /home/runner/work/icub-main/icub-main/src/libraries/icubmod/embObjLib/serviceParser.cpp: In member function ‘bool ServiceParser::parse_encoder_port(const string&, eObrd_ethtype_t, eOmc_encoder_t, uint8_t&, bool&)’:
2021-11-09T18:18:40.7397504Z /home/runner/work/icub-main/icub-main/src/libraries/icubmod/embObjLib/serviceParser.cpp:1815:14: error: ‘eomc_enc_aea3’ was not declared in this scope; did you mean ‘eomc_enc_aea’?

Could you give it a look?

Hi @pattacini, It is an expected failure because eomc_enc_aea3 is included in EoMotionControl.h which is included in the new icub-firmware-shared which is awaiting approval in PR

[pattacini]

Gotcha @sgiraz 👍🏻
We can then re-run the CI once robotology/icub-firmware-shared#50 will get merged.

[Nicogene]

I would bump the icub_firmware_shared version after the PR is merged and then I would increase the required version here in icub-main

[pattacini]

This is a good point @Nicogene.
I've already asked @marcoaccame to handle the versioning.

[marcoaccame]

This is a good point @Nicogene. I've already asked @marcoaccame to handle the versioning.

The versioning is solved w/ the small change in icub-main done in here, because of this reason.

[pattacini]

Thanks!

[pattacini]

Giving the CI the time to complete and then will merge it.

[marcoaccame]

Gotcha @sgiraz 👍🏻 We can then re-run the CI once robotology/icub-firmware-shared#50 will get merged.

The CI will be 100% OK after the merge of the above PR.