Add a tool to read the motor temperature

[valegagge]

Is your feature request related to a problem?

Currently, the motor temperature is not published on the stateExt port.

The solution you would like to have available

We need an application that reads the temperatures of a part or a subset of a part and publishes it on a port to plot with yarpscope

Alternatives you have considered

No response

Additional context

No response

[valegagge]

Just some tips:

• the motionControlModule can be added in src/tools
• its configuration files can be inserted in app folder and collected in a new folder with the name of the module. Please follow the camel case convention.

[pattacini]

• add the motionControlModule in icub-main/src/tools

I would only find a better self-explaining name 😄

Just a couple of examples to give you an idea:

• motorTemperatureDumper
• motorTemperaturePublisher

[pattacini]

Hi @valegagge

Going on with the addition of this new module is perfectly fine with me, as agreed T2T 👍🏻

I forgot to mention that there also exists a general-purpose control board dumper¹ specifically designed to acquire a bunch of data that is not usually published on YARP, which in theory could be extended at will with new information. It's a quite old piece of SW² but still in place.

Mentioned this only for the sake of completeness from a system perspective.

Footnotes

1. 🌐 Documentation. ↩

2. Actually, part of that data is now regularly published via stateExt, I believe. ↩

[valegagge]

Hi @pattacini,
thank you for all the tips!

I know the control board dumper. It publishes the temperatures also, but it calls the getTepersature**s** API that in case of an error in one of a sensor it returns false for all the sensors.

So I prefer to use the API for single joint. Anyway, we can consider changing it with the call to the API for single joint, but, if I'm not mistaken, it is hard to change for its general-purpose design. I still need to check the code...

Concerning the name, for sure we need to use one more significant... 😸

[pattacini]

Development integrated in devel via:

• Add MotorTemperaturePublisher tool #951

Closing.
Feel free to open it up again if required.

[pattacini]

Here's the related online documentation:

• https://robotology.github.io/robotology-documentation/doc/html/group__MotorTemperaturePublisher.html