Implementation of ICub device

[lrapetti]

Cleaned PR starting from #16.

For the moment I am leaving the original commits, in case we may prefere to squash them.

[diegoferigo]

Did you try to switch to using yarp::os::BufferedPort<yarp::os::Vector>::onRead;? If it works, reading the message will be more robust.

[diegoferigo]

cc @Yeshasvitvs @lrapetti

[lrapetti]

if I try to switch here to using yarp::os::BufferedPort<yarp::sig::Vector>::onRead;, I am getting the following:

[ 84%] Building CXX object devices/ICub/CMakeFiles/ICub.dir/src/ICub.cpp.o
/Users/lrapetti/robotology-playground/wearables/devices/ICub/src/ICub.cpp:47:11: error: 
      using declaration refers into
      'yarp::os::BufferedPort<yarp::sig::Vector>::', which is not a base class
      of 'WrenchPort'
    using yarp::os::BufferedPort<yarp::sig::Vector>::onRead;
          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
1 error generated.
make[2]: *** [devices/ICub/CMakeFiles/ICub.dir/src/ICub.cpp.o] Error 1
make[1]: *** [devices/ICub/CMakeFiles/ICub.dir/all] Error 2
make: *** [all] Error 2

[diegoferigo]

Almost done in my opinion beyond previous unresolved comments. Remember to pass this file through clang-format before merging.

[yeshasvitirupachuri]

Why not using the RemoteControlBoardRemapper? This would mean that here a controlled joint list should appear, and 1) in this way you avoid handling individual control boards and 2) it would allow to stream only a subset of joint measurements instead of all joints.

If I understood well, the RemoteControlBoardRemapper will identify all the control boards present without the need to explicitly state the control board names in the config file?

[yeshasvitirupachuri]

Since this can be used for generalized joints, I would call it m_position.

Done

[yeshasvitirupachuri]

SensorPtr

Done

[yeshasvitirupachuri]

Why not using the RemoteControlBoardRemapper? This would mean that here a controlled joint list should appear, and 1) in this way you avoid handling individual control boards and 2) it would allow to stream only a subset of joint measurements instead of all joints.

If I understood well, the RemoteControlBoardRemapper will identify all the control boards present without the need to explicitly state the control board names in the config file?

Following the discussion with @diegoferigo we can change to using RemoteControlBoardRemapper at a later stage and stick with remote_controlboard for the time being.

[diegoferigo]

I did a mess with these comments, I forgot that this PR was open and instead of doing a review I commented the file of the commit 😅 Anyway:

If I understood well, the RemoteControlBoardRemapper will identify all the control boards present without the need to explicitly state the control board names in the config file?

You avoid using the pair control board index + joint index in the control board. You just use the joint name. Simple clear.

Following the discussion with @diegoferigo we can change to using RemoteControlBoardRemapper at a later stage and stick with remote_controlboard for the time being.

Before the merge, possibly ;)

[lrapetti]

All the checks are passed.

Following the discussion with @diegoferigo we can change to using RemoteControlBoardRemapper at a later stage and stick with remote_controlboard for the time being.

Before the merge, possibly ;)

This is the only change request still pending.

@Yeshasvitvs @diegoferigo, if you agree I would proceed with merging so that we can unlock other issues.

cc @traversaro @kouroshD

[traversaro]

I think @diegoferigo is not responsive on GitHub and he already expressed in person his ok with merging the PR, so if you need a quick feedback you may need to contact him via chat.

[diegoferigo]

I'm off this week and I doubt I can do a last pass on this PR before my return. As said last time, if the remote control board remapper is postponed, this PR is good to go. Please open an issue to keep track of this task.

If there are any questions please be specific and point me to the code so thatI can have a look with the phone.

[yeshasvitirupachuri]

@lrapetti ok for me

[lrapetti]

I'm off this week and I doubt I can do a last pass on this PR before my return. As said last time, if the remote control board remapper is postponed, this PR is good to go. Please open an issue to keep track of this task.

issue opened at #49