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controlboardwrapper2 deprecation fix #446

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merged 3 commits into from
Feb 28, 2023
Merged

controlboardwrapper2 deprecation fix #446

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931cf46
iCubLisboa01 - fixed wrapper w. vorrect device
davidetome Feb 28, 2023
2fddf73
iCubLisboa01 - updated
davidetome Feb 28, 2023
9bd9069
R!SN000 - controlboardwrapper2 deprecation fix
davidetome Feb 28, 2023
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7 changes: 7 additions & 0 deletions R1SN000/CER.xml
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Expand Up @@ -16,16 +16,20 @@
<!-- BASE -->
<xi:include href="hardware/motorControl/cer_base-ems21-mc.xml" disabled_by="disable_base" />
<xi:include href="wrappers/motorControl/cer_base-mc_wrapper.xml" disabled_by="disable_base" />
<xi:include href="wrappers/motorControl/cer_base-mc_remapper.xml" disabled_by="disable_base" />

<!-- TORSO -->
<xi:include href="hardware/motorControl/cer_torso-ems15-mc.xml" disabled_by="disable_torso"/>
<xi:include href="wrappers/motorControl/cer_torso_tripod-mc_wrapper.xml" disabled_by="disable_torso"/>
<xi:include href="wrappers/motorControl/cer_torso_tripod-mc_remapper.xml" disabled_by="disable_torso"/>

<!-- LEFT ARM -->
<xi:include href="hardware/motorControl/cer_left_upper_arm-ems17-mc.xml" disabled_by="disable_left_arm"/>
<xi:include href="hardware/motorControl/cer_left_lower_arm-mcp18-mc.xml" disabled_by="disable_left_arm"/>
<xi:include href="wrappers/motorControl/cer_left_arm_no_hand-mc_wrapper.xml" disabled_by="disable_left_arm"/>
<xi:include href="wrappers/motorControl/cer_left_wrist_tripod-mc_wrapper.xml" disabled_by="disable_left_arm"/>
<xi:include href="wrappers/motorControl/cer_left_arm_no_hand-mc_remapper.xml" disabled_by="disable_left_arm"/>
<xi:include href="wrappers/motorControl/cer_left_wrist_tripod-mc_remapper.xml" disabled_by="disable_left_arm"/>

<!-- LEFT HAND -->
<xi:include href="hardware/motorControl/cer_left_hand-mcp7-mc.xml" disabled_by="disable_left_hand"/>
Expand All @@ -38,6 +42,8 @@
<xi:include href="hardware/motorControl/cer_right_lower_arm-mcp20-mc.xml" disabled_by="disable_right_arm"/>
<xi:include href="wrappers/motorControl/cer_right_arm_no_hand-mc_wrapper.xml" disabled_by="disable_right_arm"/>
<xi:include href="wrappers/motorControl/cer_right_wrist_tripod-mc_wrapper.xml" disabled_by="disable_right_arm"/>
<xi:include href="wrappers/motorControl/cer_right_arm_no_hand-mc_remapper.xml" disabled_by="disable_right_arm"/>
<xi:include href="wrappers/motorControl/cer_right_wrist_tripod-mc_remapper.xml" disabled_by="disable_right_arm"/>

<!-- RIGHT HAND -->
<xi:include href="hardware/motorControl/cer_right_hand-mcp9-mc.xml" disabled_by="disable_right_hand"/>
Expand All @@ -48,6 +54,7 @@
<!-- HEAD -->
<xi:include href="hardware/motorControl/cer_head-mcp10-mc.xml" disabled_by="disable_head"/>
<xi:include href="wrappers/motorControl/cer_head-mc_wrapper.xml" disabled_by="disable_head"/>
<xi:include href="wrappers/motorControl/cer_head-mc_remapper.xml" disabled_by="disable_head"/>

<!-- CALIBRATORS -->
<xi:include href="calibrators/cer_torso-calib.xml" disabled_by="disable_torso" />
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4 changes: 2 additions & 2 deletions R1SN000/calibrators/cer_base-calib.xml
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Expand Up @@ -36,11 +36,11 @@
<param name="CALIB_ORDER">(0 1 2 3) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">cer_mobile_base_mc_wrapper</param>
<param name="target">cer_mobile_base_mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">cer_mobile_base_mc_wrapper</param>
<param name="target">cer_mobile_base_mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />
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4 changes: 2 additions & 2 deletions R1SN000/calibrators/cer_head-calib.xml
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Expand Up @@ -44,11 +44,11 @@
<param name="CALIB_ORDER">(0 1) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">cer_head_mc_wrapper</param>
<param name="target">cer_head_mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">cer_head_mc_wrapper</param>
<param name="target">cer_head_mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />
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4 changes: 2 additions & 2 deletions R1SN000/calibrators/cer_left_arm-calib.xml
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Expand Up @@ -34,11 +34,11 @@
<param name="CALIB_ORDER">(0 1 2 3) (4) (5 6 7)</param>

<action phase="startup" level="10" type="calibrate">
<param name="target">cer_left_arm_mc_wrapper</param>
<param name="target">cer_left_arm_mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">cer_left_arm_mc_wrapper</param>
<param name="target">cer_left_arm_mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />
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4 changes: 2 additions & 2 deletions R1SN000/calibrators/cer_left_hand-calib.xml
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Expand Up @@ -33,11 +33,11 @@
<param name="CALIB_ORDER">(0 1) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">cer_left_hand_mc_wrapper</param>
<param name="target">cer_left_hand_mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">cer_left_hand_mc_wrapper</param>
<param name="target">cer_left_hand_mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />
Expand Down
4 changes: 2 additions & 2 deletions R1SN000/calibrators/cer_right_arm-calib.xml
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Expand Up @@ -34,11 +34,11 @@
<param name="CALIB_ORDER">(0 1 2 3) (4) (5 6 7)</param>

<action phase="startup" level="10" type="calibrate">
<param name="target">cer_right_arm_mc_wrapper</param>
<param name="target">cer_right_arm_mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">cer_right_arm_mc_wrapper</param>
<param name="target">cer_right_arm_mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />
Expand Down
4 changes: 2 additions & 2 deletions R1SN000/calibrators/cer_right_hand-calib.xml
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Expand Up @@ -33,11 +33,11 @@
<param name="CALIB_ORDER">(0 1) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">cer_right_hand_mc_wrapper</param>
<param name="target">cer_right_hand_mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">cer_right_hand_mc_wrapper</param>
<param name="target">cer_right_hand_mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />
Expand Down
4 changes: 2 additions & 2 deletions R1SN000/calibrators/cer_torso-calib.xml
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Expand Up @@ -36,11 +36,11 @@
<param name="CALIB_ORDER">(0 1 2 3) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">cer_torso_mc_wrapper</param>
<param name="target">cer_torso_mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">cer_torso_mc_wrapper</param>
<param name="target">cer_torso_mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />
Expand Down
16 changes: 16 additions & 0 deletions R1SN000/wrappers/motorControl/cer_base-mc_remapper.xml
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@@ -0,0 +1,16 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_base-mc_remapper" type="controlboardremapper">
<paramlist name="networks">
<elem name="FirstSetOfJoints">( 0 3 0 3 )</elem>
</paramlist>
<param name="joints"> 4 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="FirstSetOfJoints"> cer_base-ems21-mc </elem>
</paramlist>
</action>
<action phase="shutdown" level="20" type="detach" />
</device>

22 changes: 7 additions & 15 deletions R1SN000/wrappers/motorControl/cer_base-mc_wrapper.xml
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@@ -1,19 +1,11 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_mobile_base_mc_wrapper" type="controlboardwrapper2">
<paramlist name="networks">
<!-- elem name hereafter are custom names that live only in this file, they are used in the attach phase -->
<elem name="FirstSetOfJoints">( 0 3 0 3 )</elem>
</paramlist>
<param name="period"> 10 </param>
<param name="name"> /cer/mobile_base </param>
<param name="ports"> mobile_base </param>
<param name="joints"> 4 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding emsX file -->
<elem name="FirstSetOfJoints"> cer_mobile_base_mc </elem>
</paramlist>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_base-mc_nws_yarp" type="controlBoard_nws_yarp">
<param name="name"> /icub/cer_base </param>
<param name="period"> 0.005 </param>
<action phase="startup" level="10" type="attach">
<param name="device"> cer_base_mc_remapper </param>
</action>
<action phase="shutdown" level="5" type="detach" />
<action phase="shutdown" level="15" type="detach" />
</device>
15 changes: 15 additions & 0 deletions R1SN000/wrappers/motorControl/cer_head-mc_remapper.xml
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@@ -0,0 +1,15 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_head-mc_remapper" type="controlboardremapper">
<paramlist name="networks">
<elem name="FirstSetOfJoints">( 0 3 0 3 )</elem>
</paramlist>
<param name="joints"> 4 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="FirstSetOfJoints"> cer_head-mcp10-mc </elem>
</paramlist>
</action>
<action phase="shutdown" level="20" type="detach" />
</device>
22 changes: 7 additions & 15 deletions R1SN000/wrappers/motorControl/cer_head-mc_wrapper.xml
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@@ -1,19 +1,11 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_head_mc_wrapper" type="controlboardwrapper2">
<paramlist name="networks">
<!-- elem name hereafter are custom names that live only in this file, they are used in the attach phase -->
<elem name="FirstSetOfJoints">( 0 1 0 1 )</elem>
</paramlist>
<param name="period"> 10 </param>
<param name="name"> /cer/head </param>
<param name="ports"> head </param>
<param name="joints"> 2 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding emsX file -->
<elem name="FirstSetOfJoints"> cer_head_mc </elem>
</paramlist>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_head-mc_nws_yarp" type="controlBoard_nws_yarp">
<param name="name"> /icub/cer_head </param>
<param name="period"> 0.005 </param>
<action phase="startup" level="10" type="attach">
<param name="device"> cer_head_mc_remapper </param>
</action>
<action phase="shutdown" level="5" type="detach" />
<action phase="shutdown" level="15" type="detach" />
</device>
24 changes: 24 additions & 0 deletions R1SN000/wrappers/motorControl/cer_left_arm_no_hand-mc_remapper.xml
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@@ -0,0 +1,24 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_left_arm_no_hand_mc_remapper" type="controlboardremapper">
<paramlist name="networks">
<!-- elem name hereafter are custom names that live only in this file, they are used in the attach phase -->
<elem name="FirstSetOfJoints">( 0 1 0 1 )</elem>
<elem name="SecondSetOfJoints">( 2 3 0 1 )</elem>
<elem name="YawSetOfJoints">( 4 4 3 3 )</elem>
<elem name="ThirdSetOfJoints">( 5 7 0 2 )</elem>
<!-- <elem name="HandSetOfJoints"> 8 9 0 1 </elem> -->
</paramlist>
<param name="joints"> 8 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding emsX file -->
<elem name="FirstSetOfJoints"> cer_left_shoulder_mc </elem>
<elem name="SecondSetOfJoints"> cer_left_upper_arm_mc </elem>
<elem name="YawSetOfJoints"> cer_left_lower_arm_mc </elem>
<elem name="ThirdSetOfJoints"> cer_left_wrist_equivalent_mc </elem>
<!-- <elem name="HandSetOfJoints"> cer_left_hand_mc </elem> -->
</paramlist>
</action>
<action phase="shutdown" level="20" type="detach" />
</device>
26 changes: 5 additions & 21 deletions R1SN000/wrappers/motorControl/cer_left_arm_no_hand-mc_wrapper.xml
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@@ -1,25 +1,9 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_left_arm_mc_wrapper" type="controlboardwrapper2">
<paramlist name="networks">
<!-- elem name hereafter are custom names that live only in this file, they are used in the attach phase -->
<elem name="FirstSetOfJoints">( 0 3 0 3 )</elem>
<elem name="YawSetOfJoints">( 4 4 3 3 )</elem>
<elem name="SecondSetOfJoints">( 5 7 0 2 )</elem>
<!-- <elem name="HandSetOfJoints"> 8 9 0 1 </elem> -->
</paramlist>
<param name="period"> 10 </param>
<param name="name"> /cer/left_arm </param>
<param name="ports"> left_arm </param>
<param name="joints"> 8 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding emsX file -->
<elem name="FirstSetOfJoints"> cer_left_upper_arm_mc</elem>
<elem name="SecondSetOfJoints"> cer_left_wrist_equivalent_mc</elem>
<elem name="YawSetOfJoints"> cer_left_lower_arm_mc</elem>
<!-- <elem name="HandSetOfJoints"> cer_left_hand_mc </elem> -->
</paramlist>
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_left_arm_no_hand_mc_wrapper" type="controlBoard_nws_yarp">
<param name="name"> /cer/left_arm </param>
<action phase="startup" level="10" type="attach">
<param name="device"> cer_left_arm_no_hand_mc_remapper </param>
</action>
<action phase="shutdown" level="5" type="detach" />
<action phase="shutdown" level="15" type="detach" />
</device>
15 changes: 15 additions & 0 deletions R1SN000/wrappers/motorControl/cer_left_hand-mc_remapper.xml
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@@ -0,0 +1,15 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_left_hand_mc_remapper" type="controlboardremapper">
<paramlist name="networks">
<!-- elem name hereafter are custom names that live only in this file, they are used in the attach phase -->
<elem name="FirstSetOfJoints">( 0 1 0 1 )</elem>
</paramlist>
<param name="joints"> 2 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="FirstSetOfJoints"> cer_left_hand_mc </elem>
</paramlist>
</action>
<action phase="shutdown" level="20" type="detach" />
</device>
10 changes: 10 additions & 0 deletions R1SN000/wrappers/motorControl/cer_left_hand-mc_wrapper copy.xml
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@@ -0,0 +1,10 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_left_hand_mc_wrapper" type="controlBoard_nws_yarp">
<param name="name"> /cer/left_hand </param>
<action phase="startup" level="10" type="attach">
<param name="device"> cer_left_hand_mc_remapper </param>
</action>
<action phase="shutdown" level="15" type="detach" />
</device>
16 changes: 16 additions & 0 deletions R1SN000/wrappers/motorControl/cer_left_wrist_tripod-mc_remapper.xml
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@@ -0,0 +1,16 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_left_wrist_tripod_mc_remapper" type="controlboardremapper">
<paramlist name="networks">
<!-- elem name hereafter are custom names that live only in this file, they are used in the attach phase -->
<elem name="FirstSetOfJoints">( 0 2 0 2 )</elem>
</paramlist>
<param name="joints"> 3 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding emsX file -->
<elem name="FirstSetOfJoints"> cer_left_lower_arm_mc </elem>
</paramlist>
</action>
<action phase="shutdown" level="20" type="detach" />
</device>
19 changes: 5 additions & 14 deletions R1SN000/wrappers/motorControl/cer_left_wrist_tripod-mc_wrapper.xml
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@@ -1,19 +1,10 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_left_wrist_tripod_mc_wrapper" type="controlboardwrapper2">
<param name="period"> 10 </param>
<paramlist name="networks">
<!-- elem name hereafter are custom names that live only in this file, they are used in the attach phase -->
<elem name="FirstSetOfJoints">( 0 2 0 2 )</elem>
</paramlist>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_left_wrist_tripod_mc_wrapper" type="controlBoard_nws_yarp">
<param name="name"> /cer/left_wrist_tripod </param>
<param name="ports"> left_wrist_tripod </param>
<param name="joints"> 3 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding emsX file -->
<elem name="FirstSetOfJoints"> cer_left_lower_arm_mc </elem>
</paramlist>
<action phase="startup" level="10" type="attach">
<param name="device"> cer_left_wrist_tripod_mc_remapper </param>
</action>
<action phase="shutdown" level="5" type="detach" />
<action phase="shutdown" level="15" type="detach" />
</device>
24 changes: 24 additions & 0 deletions R1SN000/wrappers/motorControl/cer_right_arm_no_hand-mc_remapper.xml
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_right_arm_no_hand_mc_remapper" type="controlboardremapper">
<paramlist name="networks">
<!-- elem name hereafter are custom names that live only in this file, they are used in the attach phase -->
<elem name="FirstSetOfJoints">( 0 1 0 1 )</elem>
<elem name="SecondSetOfJoints">( 2 3 0 1 )</elem>
<elem name="YawSetOfJoints">( 4 4 3 3 )</elem>
<elem name="ThirdSetOfJoints">( 5 7 0 2 )</elem>
<!-- <elem name="HandSetOfJoints"> 8 9 0 1 </elem> -->
</paramlist>
<param name="joints"> 8 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding emsX file -->
<elem name="FirstSetOfJoints"> cer_right_shoulder_mc </elem>
<elem name="SecondSetOfJoints"> cer_right_upper_arm_mc </elem>
<elem name="YawSetOfJoints"> cer_right_lower_arm_mc </elem>
<elem name="ThirdSetOfJoints"> cer_right_wrist_equivalent_mc </elem>
<!-- <elem name="HandSetOfJoints"> cer_right_hand_mc </elem> -->
</paramlist>
</action>
<action phase="shutdown" level="20" type="detach" />
</device>
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