Add MotorTemperaturePublisher tool

app/CMakeLists.txt

@@ -33,3 +33,4 @@ add_subdirectory(depth2kin)
 add_subdirectory(fingertipsPortScope)
 add_subdirectory(oculus)
 add_subdirectory(wholeBodyPlayer)
+add_subdirectory(motorTemperaturePublisher)

app/motorTemperaturePublisher/CMakeLists.txt

@@ -0,0 +1,7 @@
+# Copyright: (C) 2024 iCub Facility - Istituto Italiano di Tecnologia
+# Authors: Jacopo Losi
+# CopyPolicy: Released under the terms of the GNU GPL v2.0.
+
+set(appname motorTemperaturePublisher)
+file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini)
+yarp_install(FILES ${conf} DESTINATION ${ICUB_CONTEXTS_INSTALL_DIR}/${appname})

app/motorTemperaturePublisher/conf/config.ini

@@ -0,0 +1,5 @@
+[GENERAL]
+robotname         ergocub
+period            0.002
+portprefix        /left_leg
+listofjoints      (0 1 2 3 4 5)

app/motorTemperaturePublisher/motorTemperaturePublisher.yml

@@ -0,0 +1,41 @@
+version: "3.7"
+
+# the directory defined as ${ROOT_DIR}=/home/icub is basically the home directory of the default icub user
+# which is the default user created with the user-based image.
+# ROOT_DIR is an environmental variable defined in the .bashrc file of the user home directory
+# if you are using this deployment files in your machine remember to choose one of the following options 
+# to run the containers correctly:
+# - declare that env varibale when running the docker compose command and so then export the variable per each terminal opened
+# - add the variable exporting in your .bashrc file so each time you open a terminal you have it declared
+# - add it to the .bash_aliases file considering that that special file is looked for by the .bashrc
+
+x-MotorTemperaturePublisher: &MotorTemperaturePublisher
+  image: ghcr.io/icub-tech-iit/docker-deployment-images/cd_superbuild-icubhead-withuser:master-unstable_sources
+  environment:
+    - YARP_FORWARD_LOG_ENABLE=1
+    - DISPLAY=${DISPLAY}
+    - QT_X11_NO_MITSHM=1
+    - XAUTHORITY=${ROOT_DIR}/.Xauthority
+  volumes:
+    - "${HOME}/.config/yarp:${ROOT_DIR}/.config/yarp"
+    - "${HOME}/workspace:${ROOT_DIR}/workspace"
+    - "/tmp/.X11-unix:/tmp/.X11-unix"
+    - "${XAUTHORITY}:${ROOT_DIR}/.Xauthority"
+  working_dir: ${ROOT_DIR}/workspace/ICUB_FIRM/icub-main/src/tools/motorTemperaturePublisher
+  network_mode: "host"
+
+services:
+  app:
+    <<: *MotorTemperaturePublisher
+    restart: on-failure
+    command: ./build/MotorTemperaturePublisher --from app/conf/config.ini
+
+  splitter:
+    <<: *MotorTemperaturePublisher
+    restart: on-failure
+    command: yarp split /ergocub2S/upper_arm/stateExt:o 
+
+  scope:
+    <<: *MotorTemperaturePublisher
+    restart: on-failure
+    command: yarpscope --xml temperatureScopeUpperArm.xml

app/motorTemperaturePublisher/plotTemperatureLeftLeg.xml

@@ -0,0 +1,50 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<portscope rows="1" columns="1" carrier="mcast">
+    <plot gridx="0"
+          gridy="0"
+          hspan="1"
+	  vspan="1"
+          minval="0"
+	  maxval="60"
+          title="Left Leg Temperature"
+          bgcolor="LightSlateGrey">
+    <graph remote="/left_leg/motor_temperatures:o"
+               index="1"
+               color="red"
+               title="hip_pitch"
+               type="lines"
+               size="3" />
+    <graph remote="/left_leg/motor_temperatures:o"
+               index="3"
+               color="blue"
+               title="hip_roll"
+               type="lines"
+               size="3" />
+    <graph remote="/left_leg/motor_temperatures:o"
+               index="5"
+               color="purple"
+               title="hip_yaw"
+               type="lines"
+               size="3" />
+    <graph remote="/left_leg/motor_temperatures:o"
+               index="7"
+               color="orange"
+               title="knee"
+               type="lines"
+               size="3" />
+    <graph remote="/left_leg/motor_temperatures:o"
+               index="9"
+               color="yellow"
+               title="ankle_pitch"
+               type="lines"
+               size="3" />
+    <graph remote="/left_leg/motor_temperatures:o"
+               index="11"
+               color="green"
+               title="ankle_roll"
+               type="lines"
+               size="3" />
+    </plot>
+
+
+</portscope>

app/motorTemperaturePublisher/temperatureScopeUpperArm.xml

@@ -0,0 +1,54 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<portscope rows="1" columns="1" carrier="mcast">
+    <plot gridx="0"
+          gridy="0"
+          hspan="1"
+	      vspan="1"
+          minval="-10"
+	      maxval="50"
+          title="Motor temperature Plot"
+          bgcolor="LightSlateGrey">
+    <graph remote="/upper_arm/motor_temperatures:o"
+               index="1"
+               color="purple"
+               title="temperature pitch"
+               type="lines"
+               size="3" />
+    <graph remote="/upper_arm/motor_temperatures:o"
+               index="5"
+               color="darkgreen"
+               title="temperature yaw"
+               type="lines"
+               size="3" />
+    <graph remote="/upper_arm/motor_temperatures:o"
+               index="7"
+               color="orange"
+               title="temperature elbow"
+               type="lines"
+               size="3" />
+    <graph remote="/ergocub2S/upper_arm/stateExt:o/split16:o"
+                index="0"
+                color="red"
+                title="current pitch"
+                type="lines"
+                size="3" />
+    <graph remote="/ergocub2S/upper_arm/stateExt:o/split16:o"
+                index="1"
+                color="blue"
+                title="current roll"
+                type="lines"
+                size="3" />
+    <graph remote="/ergocub2S/upper_arm/stateExt:o/split16:o"
+                index="2"
+                color="green"
+                title="current yaw"
+                type="lines"
+                size="3" />
+    <graph remote="/ergocub2S/upper_arm/stateExt:o/split16:o"
+                index="3"
+                color="yellow"
+                title="current elbow"
+                type="lines"
+                size="3" />
+    </plot>
+</portscope>

src/tools/CMakeLists.txt

@@ -11,6 +11,7 @@ add_subdirectory(imageBlender)
 add_subdirectory(imageCropper)
 add_subdirectory(embObjProtoTools/boardTransceiver)
 add_subdirectory(wholeBodyPlayer)
+add_subdirectory(motorTemperaturePublisher)
 
 add_subdirectory(canLoader)
 add_subdirectory(ethLoader)

src/tools/motorTemperaturePublisher/CMakeLists.txt

@@ -0,0 +1,14 @@
+# Copyright: (C) 2024 iCub Facility - Istituto Italiano di Tecnologia
+# Authors: Jacopo Losi
+# CopyPolicy: Released under the terms of the GNU GPL v2.0.
+
+project(motorTemperaturePublisher)
+# find YARP
+find_package(YARP COMPONENTS os sig dev)
+# set up our program
+add_executable(${PROJECT_NAME} ./src/MotorTemperaturePublisher.h ./src/MotorTemperaturePublisher.cpp  ./src/main.cpp )
+
+# link with YARP libraries
+target_link_libraries(${PROJECT_NAME} ${YARP_LIBRARIES})
+
+install(TARGETS ${PROJECT_NAME} DESTINATION bin)

src/tools/motorTemperaturePublisher/motorTemperaturePublisher.xml

@@ -0,0 +1,94 @@
+<?xml version="1.0" encoding="ISO-8859-1"?>
+<?xml-stylesheet type="text/xsl" href="yarpmanifest.xsl"?>
+
+
+<module>
+  <name>MotorTemperaturePublisher</name>
+  <doxygen-group>icub_tools</doxygen-group>
+  <description>Motor Temperature Detector and Publisher</description>
+  <copypolicy>Released under the terms of the GNU GPL v2.0</copypolicy>
+  <version>1.0</version>
+
+  <description-long>
+    This module is a working example for building a YARP device that exploits the iMotor YARP
+    interfaces to interact with the motion control module.
+    Specifically to this example, we are defining a <i><b>PolyDriver</b></i> device that interacts with the
+    pointer to the <i><b>iMotor</b></i> yarp interface and prints the motor temperatures to an output port.
+    Those temperatures value can be obtained exploiting the interface method <i>getTemperatures()</i> and
+    saved to a c-array of doubles.
+    Considering that, a properly built yarp module should derive from the public interface
+    <i><b>yarp::os::RFModule</b></i>, whose complete explanation is available at <a href="https://yarp.it/latest/thrift_tutorial_simple.html#thrift_tutorial_simple_module">this link</a> the
+    following methods should be overridden:
+    <list type="bullet">
+      <item>
+        <description>configure()</description>
+      </item>
+      <item>
+        <description>getPeriod()</description>
+      </item>
+      <item>
+        <description>updateModule()</description>
+      </item>
+      <item>
+        <description>close()</description>
+      </item>
+    </list>
+
+    In order to use this module, whose final target is to print at the port called <i><b>/portprefix/motor_temperatures:o</b></i> the temperatures of the motors connected, the following steps
+    should be done:
+    <list>
+      <item>
+        <description>supposed to have the correct setup running on the yarpserver sending data to state ports</description>
+      </item>
+      <item>
+        <description>./build/MotorTemperaturePublisher --from app/conf/config.ini</description>
+      </item>
+    </list>
+
+    This will instantiate the aformentioned port, where with a frequence of <i><b>_updatePeriod</b></i> time,
+    the following values will be streamed on the port:
+
+    <list>
+      <item>
+        <description>timeStamp | temperature_motor_0 | boolean_limit_overcame_0 | ... | temperature_motor_N | boolean_limit_overcame_N |</description>
+      </item>
+    </list>
+
+    the <i><b>config.ini</b></i> file should be filled in with the following data:
+    <list>
+      <item>
+        <description>robotname: name of the robot as set in the configuration files</description>
+      </item>
+      <item>
+        <description>period: times used for streaming the data to the port</description>
+      </item>
+      <item>
+        <description>listofjoints: joints, as list a list, i.e. (0 1 2), which you wanna get the temperatures</description>
+      </item>
+    </list>
+
+  </description-long>
+
+  <arguments>
+    <param default="MotorTemperaturePublisher" desc="select the current context.">context</param>
+    <param default="config.ini" desc="configuration file name.">from</param>
+    <param default="MotorTemperaturePublisher"
+      desc="module's name; all the open ports will be tagged with the prefix /name.">name</param>
+    <param default="ergocub" desc="name of the robot to connect to.">robot</param>
+  </arguments>
+
+  <authors>
+    <author email="jacopo.losi@iit.it"> Jacopo Losi </author>
+  </authors>
+
+  <data>
+    <output>
+      <type>yarp::os::Bottle</type>
+      <port carrier="tcp">/ergocub/subpart/motor_temperature:o</port>
+      <description>
+        show the temperature of the motors of the subpart
+      </description>
+    </output>
+  </data>
+
+</module>