iCubGenova09 yarprobotinterface throws error "Parameter networks use deprecated syntax"

[S-Dafarra]

Every time we run the yarprobotinterface we get the not fatal error

Parameter networks use deprecated syntax

It seems it is thrown by https://github.com/robotology/yarp/blob/9ce40a416ce872154c90130a04648eb6923eb536/src/devices/ControlBoardWrapper/ControlBoardWrapper.cpp#L489, but I am not able to spot what causes this issue in the configuration files, nor how to avoid that.

[S-Dafarra]

I suppose that lines like

robots-configuration/iCubGenova09/wrappers/motorControl/left_leg-mc_wrapper.xml

Line 8 in a160511

<elem name="FirstSetOfJoints"> 0 1 0 1 </elem>

should be changed to

<elem name="FirstSetOfJoints">  (0  1  0  1) </elem> 

but the documentation does not seem to be in this way
https://github.com/robotology/yarp/blob/yarp-3.4/src/devices/ControlBoardWrapper/ControlBoardWrapper.h#L171-L175

Then, I am wondering if this is a problem of yarp or of the configuration files. This problem was also spotted in robotology/icub-main#661

[pattacini]

Thanks @S-Dafarra for reporting

I believe that your analysis is correct 👍🏻

(0 1 0 1) is the new preferred way of passing parameters, whereas we have still 0 1 0 1 available as a fallback (see https://github.com/robotology/yarp/blob/9ce40a416ce872154c90130a04648eb6923eb536/src/devices/ControlBoardWrapper/ControlBoardWrapper.cpp#L490-L493).

As a result, the documentation https://github.com/robotology/yarp/blob/yarp-3.4/src/devices/ControlBoardWrapper/ControlBoardWrapper.h#L171-L175 seems outdated.

[S-Dafarra]

Actually, it seems that this error was reintroduced in robotology/yarp@5da1cf3 when changing the log mechanism in yarp. Before, that line was commented since ages

[S-Dafarra]

Actually, that error was commented out since the first time it was pushed robotology/yarp@d164b21

[pattacini]

Deprecation should be signaled as warnings rather than errors, I suppose.
Anyway, would you be willing to test the fix in the conf files with iCubGenova09 @S-Dafarra ?

Later on, we will be responsible for updating the remaining robots.

[S-Dafarra]

At this point I suppose it is no more a problem of the configuration files, but rather of yarp. In particular, it is not clear if that syntax has ever been deprecated.

Anyway, would you be willing to test the fix in the conf files with iCubGenova09 @S-Dafarra ?

I will not have access to the robot for a couple of days I guess 😉

[pattacini]

it is not clear if that syntax has ever been deprecated.

cc @drdanz. In the meanwhile, I can try to track it back through the announcements.

I will not have access to the robot for a couple of days I guess 😉

You're right! @davidetome could deal with this at the end of head replacement.

[pattacini]

@drdanz it seems that we switched from

 // yError<<"Parameter networks use deprecated syntax\n";

to

yCError(CONTROLBOARDWRAPPER) << "Parameter networks use deprecated syntax";

via robotology/yarp@5da1cf3 without highlighting the change in YARP 3.4.x announcements (at least I didn't find it).

Thus, I'd propose that we:

• change yCError into yCWarning.
• update the inline documentation at https://github.com/robotology/yarp/blob/yarp-3.4/src/devices/ControlBoardWrapper/ControlBoardWrapper.h#L171-L175.
• upgrade robots conf files.

How do you see that @drdanz @S-Dafarra ?

[S-Dafarra]

Sounds good to me!

[pattacini]

@julijenv did sort out this already for iCubWaterloo01 in #223 ✔

[pattacini]

• Conf files updated in Add parentheses #227.
• PR on YARP opened in Deprecate old networks format yarp#2446.