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Fix Haptic glove transmission - GloveDevice #204

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merged 15 commits into from
Jun 25, 2024
Merged

Fix Haptic glove transmission - GloveDevice #204

merged 15 commits into from
Jun 25, 2024

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EhsanRanjbari
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@EhsanRanjbari EhsanRanjbari marked this pull request as ready for review January 30, 2024 13:02
@EhsanRanjbari EhsanRanjbari marked this pull request as draft January 30, 2024 13:02
@EhsanRanjbari EhsanRanjbari marked this pull request as ready for review March 1, 2024 16:37
@EhsanRanjbari EhsanRanjbari mentioned this pull request Mar 1, 2024
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S-Dafarra
S-Dafarra reviewed Mar 4, 2024
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There a few things I did not manage to understand

devices/HapticGlove/src/HapticGlove.cpp Outdated Show resolved Hide resolved
devices/HapticGlove/src/HapticGlove.cpp Show resolved Hide resolved
devices/HapticGlove/src/HapticGlove.cpp Show resolved Hide resolved
wrappers/IWearActuators/src/IWearActuatorsWrapper.cpp Outdated Show resolved Hide resolved
@traversaro
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@EhsanRanjbari what is the status of this PR?

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@EhsanRanjbari what is the status of this PR?

Waiting to do some tests on the robot.

@S-Dafarra
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Hi @EhsanRanjbari, what is the status of this PR?

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Hi @EhsanRanjbari, what is the status of this PR?

Hi @S-Dafarra, well, I am still waiting to test them on the robot. unfortunately, both robots were unavailable most of the last week. However, preliminary test has been done with success (robotology/walking-teleoperation#136)

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Hi @EhsanRanjbari, did you manage to test on the robot?

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Hi @EhsanRanjbari, did you manage to test on the robot?

Hi. I have the robot today ftom 2. I will let you know how it went asap.

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EhsanRanjbari commented May 31, 2024 •
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Hi @EhsanRanjbari, did you manage to test on the robot?

Hi. I have the robot today from 2. I will let you know how it went asap.

Hi again. I just finished testing and it went well. I also noticed that the vibration upon starting calibration was not working. I fixed that by just aligning the branches with the remote. Now, everything looks fine according to this test.

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S-Dafarra commented May 31, 2024 •
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Thanks @EhsanRanjbari!

Nonetheless, I just realized that the changes to the WearableActuatorCommand can be problematic. First of all, it is weird that there is a single ActuatorInfo, but then a vector of values (This is related to #204 (comment)). For example, why for a single actuator of type HEATER should I receive a list of forces?
Secondly, it is not clear what I should use for the HEATER case.
Thirdly, this is probably breaking the multihaptic code, cc @dariosortino @Gianlucamilani

At this point, I would suggest again not to edit the WearableActuatorCommand, and instead add new messages/methods to send and receive a list of commands. This would preserve backward compatibility

S-Dafarra
S-Dafarra reviewed Jun 17, 2024
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Good move in adding a new message! Thanks for dealing with my comments @EhsanRanjbari. I have given it another round of review

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interfaces/IWear/include/Wearable/IWear/Actuators/IHaptic.h Outdated Show resolved Hide resolved
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@S-Dafarra S-Dafarra mentioned this pull request Jun 19, 2024
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Thanks, @S-Dafarra for the reviews. I commit to the last change suggestions.

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S-Dafarra approved these changes Jun 19, 2024
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Looks good to me! Thanks a lot for keeping iterating on this. If you could do a final test on the robot, then this is good to go for me!

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Looks good to me! Thanks a lot for keeping iterating on this. If you could do a final test on the robot, then this is good to go for me!

You're welcome. I am now waiting for @mebbaid reviews and I have the robot booked on Friday to perform the tests.

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Today. I performed tests on the robot to verify this PR. The test was successful. Only, we noticed that not finding the parameter `` which is not used in the glove device, stops the haptic device. With this commit 2bb6185 I tried to make it optional.

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Thanks @EhsanRanjbari, looks good to me! @traversaro is there someone in particular to ask, or can I go ahead and merge this?

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@traversaro is there someone in particular to ask, or can I go ahead and merge this?

Just need to mention that this PR is highly dependent on this PR robotology/walking-teleoperation#143

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@traversaro is there someone in particular to ask, or can I go ahead and merge this?

Just need to mention that this PR is highly dependent on this PR robotology/walking-teleoperation#143

Actually, it is the opposite. This PR blocks robotology/walking-teleoperation#143

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Thinking about it @EhsanRanjbari can you bump the version from 1.8.0 to 1.9.0 in

wearables/CMakeLists.txt

Line 7 in 91722ca

set(PROJECT_VERSION "1.8.0")

In this way, we can change the minimum version required of wearables in walking-teleoperation.

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Thinking about it @EhsanRanjbari can you bump the version from 1.8.0 to 1.9.0 in

wearables/CMakeLists.txt

Line 7 in 91722ca

set(PROJECT_VERSION "1.8.0")

In this way, we can change the minimum version required of wearables in walking-teleoperation.

Done! 32ff17c

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Thanks @EhsanRanjbari, looks good to me! @traversaro is there someone in particular to ask, or can I go ahead and merge this?

After Lorenzo Rapetti left, I think we do not have any obvious candidate for maintainer. Feel free to merge and release/tag, thanks!

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Thanks @EhsanRanjbari, looks good to me! @traversaro is there someone in particular to ask, or can I go ahead and merge this?

After Lorenzo Rapetti left, I think we do not have any obvious candidate for maintainer. Feel free to merge and release/tag, thanks!

Probably before merging CHANGELOG could be updated as well 😉

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Probably before merging CHANGELOG could be updated as well 😉

I think it could be a good time to follow robotology/idyntree#1162 and start using the automatic generation of CHANGELOG of GitHub releases 🤔

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Probably before merging CHANGELOG could be updated as well 😉

I think it could be a good time to follow robotology/idyntree#1162 and start using the automatic generation of CHANGELOG of GitHub releases 🤔

I will deal with this in a separate PR. For the moment, I am going to merge this. Thanks a lot @EhsanRanjbari

@S-Dafarra S-Dafarra merged commit 6e646b9 into robotology:master Jun 25, 2024
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@EhsanRanjbari @traversaro @S-Dafarra @lrapetti @mebbaid