Rename ForceTorqueCan to Jr3Mbed

roboticslab-uc3m · Sep 19, 2023 · 40990d7 · 40990d7
1 parent 4ad7ff6
commit 40990d7
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Showing 13 changed files with 74 additions and 75 deletions.
diff --git a/libraries/YarpPlugins/CMakeLists.txt b/libraries/YarpPlugins/CMakeLists.txt
@@ -11,8 +11,8 @@ add_subdirectory(DextraCanControlBoard)
 add_subdirectory(DextraSerialControlBoard)
 add_subdirectory(EmulatedControlBoard)
 add_subdirectory(FakeJoint)
-add_subdirectory(ForceTorqueCan)
 add_subdirectory(JointCalibrator)
+add_subdirectory(Jr3Mbed)
 add_subdirectory(Jr3Pci)
 add_subdirectory(LacqueyFetch)
 add_subdirectory(LeapMotionSensor)

diff --git a/libraries/YarpPlugins/ForceTorqueCan/CMakeLists.txt b/libraries/YarpPlugins/ForceTorqueCan/CMakeLists.txt
diff --git a/libraries/YarpPlugins/ForceTorqueCan/LogComponent.cpp b/libraries/YarpPlugins/ForceTorqueCan/LogComponent.cpp
diff --git a/libraries/YarpPlugins/ForceTorqueCan/LogComponent.hpp b/libraries/YarpPlugins/ForceTorqueCan/LogComponent.hpp
diff --git a/libraries/YarpPlugins/Jr3Mbed/CMakeLists.txt b/libraries/YarpPlugins/Jr3Mbed/CMakeLists.txt
@@ -0,0 +1,29 @@
+yarp_prepare_plugin(Jr3Mbed
+                    CATEGORY device
+                    TYPE roboticslab::Jr3Mbed
+                    INCLUDE Jr3Mbed.hpp
+                    DEFAULT ON)
+
+if(NOT SKIP_Jr3Mbed)
+
+    yarp_add_plugin(Jr3Mbed Jr3Mbed.hpp
+                            DeviceDriverImpl.cpp
+                            ISixAxisForceTorqueSensorsImpl.cpp
+                            CanReadThread.hpp
+                            CanReadThread.cpp
+                            LogComponent.hpp
+                            LogComponent.cpp)
+
+    target_link_libraries(Jr3Mbed YARP::YARP_os
+                                  YARP::YARP_dev)
+
+    yarp_install(TARGETS Jr3Mbed
+                 LIBRARY DESTINATION ${ROBOTICSLAB-YARP-DEVICES_DYNAMIC_PLUGINS_INSTALL_DIR}
+                 ARCHIVE DESTINATION ${ROBOTICSLAB-YARP-DEVICES_STATIC_PLUGINS_INSTALL_DIR}
+                 YARP_INI DESTINATION ${ROBOTICSLAB-YARP-DEVICES_PLUGIN_MANIFESTS_INSTALL_DIR})
+
+else()
+
+    set(ENABLE_Jr3Mbed OFF CACHE BOOL "Enable/disable Jr3Mbed device" FORCE)
+
+endif()
diff --git a/...pPlugins/ForceTorqueCan/CanReadThread.cpp → ...ies/YarpPlugins/Jr3Mbed/CanReadThread.cpp b/...pPlugins/ForceTorqueCan/CanReadThread.cpp → ...ies/YarpPlugins/Jr3Mbed/CanReadThread.cpp
@@ -78,7 +78,7 @@ void CanReadThread::run()
 
             if ((msg.getId() & 0x07F) == 0x001)
             {
-                yCDebug(FTC, "Received from id %d: %s", msg.getId(), msgToStr(msg.getLen(), msg.getData()).c_str());
+                yCDebug(JR3M, "Received from id %d: %s", msg.getId(), msgToStr(msg.getLen(), msg.getData()).c_str());
 
                 std::memcpy(&data, msg.getData(), sizeof(data));
 
@@ -110,7 +110,7 @@ void CanReadThread::interpretMessage(std::uint8_t op, std::int16_t val1, std::in
         mz = val3 * 61.0 / 16384;
         break;
     default:
-        yCWarning(FTC, "Unknown operation %d", op);
+        yCWarning(JR3M, "Unknown operation %d", op);
         break;
     }
 }

diff --git a/...pPlugins/ForceTorqueCan/CanReadThread.hpp → ...ies/YarpPlugins/Jr3Mbed/CanReadThread.hpp b/...pPlugins/ForceTorqueCan/CanReadThread.hpp → ...ies/YarpPlugins/Jr3Mbed/CanReadThread.hpp
@@ -14,7 +14,7 @@ namespace roboticslab
 {
 
 /**
- * @ingroup ForceTorqueCan
+ * @ingroup Jr3Mbed
  * @brief A thread for reading incoming CAN messages.
  */
 class CanReadThread : public yarp::os::Thread

diff --git a/...ugins/ForceTorqueCan/DeviceDriverImpl.cpp → .../YarpPlugins/Jr3Mbed/DeviceDriverImpl.cpp b/...ugins/ForceTorqueCan/DeviceDriverImpl.cpp → .../YarpPlugins/Jr3Mbed/DeviceDriverImpl.cpp
@@ -1,6 +1,6 @@
 // -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
-#include "ForceTorqueCan.hpp"
+#include "Jr3Mbed.hpp"
 
 #include <vector>
 
@@ -14,23 +14,23 @@ using namespace roboticslab;
 
 // -----------------------------------------------------------------------------
 
-bool ForceTorqueCan::open(yarp::os::Searchable & config)
+bool Jr3Mbed::open(yarp::os::Searchable & config)
 {
     yarp::os::Property robotConfig;
     auto & rf = yarp::os::ResourceFinder::getResourceFinderSingleton();
     auto configPath = rf.findFileByName("config.ini"); // set YARP_ROBOT_NAME first
 
     if (configPath.empty() || !robotConfig.fromConfigFile(configPath))
     {
-        yCError(FTC) << "Robot config file not found or insufficient permissions:" << configPath;
+        yCError(JR3M) << "Robot config file not found or insufficient permissions:" << configPath;
         return false;
     }
 
     const auto * canBuses = config.find("canBuses").asList();
 
     if (!canBuses)
     {
-        yCError(FTC) << "Missing key \"canBuses\" or not a list";
+        yCError(JR3M) << "Missing key \"canBuses\" or not a list";
         return false;
     }
 
@@ -44,7 +44,7 @@ bool ForceTorqueCan::open(yarp::os::Searchable & config)
 
         if (filtersList->size() != canBuses->size())
         {
-            yCError(FTC) << "Number of filters does not match number of CAN buses";
+            yCError(JR3M) << "Number of filters does not match number of CAN buses";
             return false;
         }
 
@@ -65,15 +65,15 @@ bool ForceTorqueCan::open(yarp::os::Searchable & config)
 
         if (!robotConfig.check(canBus))
         {
-            yCError(FTC) << "Missing CAN bus key:" << canBus;
+            yCError(JR3M) << "Missing CAN bus key:" << canBus;
             return false;
         }
 
         const auto & canBusGroup = robotConfig.findGroup(canBus);
 
         if (canBusGroup.isNull())
         {
-            yCError(FTC) << "Missing CAN bus device group:" << canBus;
+            yCError(JR3M) << "Missing CAN bus device group:" << canBus;
             return false;
         }
 
@@ -88,7 +88,7 @@ bool ForceTorqueCan::open(yarp::os::Searchable & config)
 
         if (!canBusDevice->open(canBusOptions))
         {
-            yCError(FTC) << "Failed to open CAN device:" << canBus;
+            yCError(JR3M) << "Failed to open CAN device:" << canBus;
             return false;
         }
 
@@ -97,7 +97,7 @@ bool ForceTorqueCan::open(yarp::os::Searchable & config)
 
         if (!canBusDevice->view(iCanBus) || !canBusDevice->view(iCanBufferFactory))
         {
-            yCError(FTC) << "Failed to acquire CAN device interfaces:" << canBus;
+            yCError(JR3M) << "Failed to acquire CAN device interfaces:" << canBus;
             return false;
         }
 
@@ -106,19 +106,19 @@ bool ForceTorqueCan::open(yarp::os::Searchable & config)
 
         if (!canReadThread->start())
         {
-            yCError(FTC) << "Failed to start CAN read thread:" << canBus;
+            yCError(JR3M) << "Failed to start CAN read thread:" << canBus;
             return false;
         }
 
-        yCInfo(FTC) << "Started CAN read thread:" << canBus;
+        yCInfo(JR3M) << "Started CAN read thread:" << canBus;
     }
 
     return true;
 }
 
 // -----------------------------------------------------------------------------
 
-bool ForceTorqueCan::close()
+bool Jr3Mbed::close()
 {
     bool ok = true;
 

diff --git a/...queCan/ISixAxisForceTorqueSensorsImpl.cpp → ...r3Mbed/ISixAxisForceTorqueSensorsImpl.cpp b/...queCan/ISixAxisForceTorqueSensorsImpl.cpp → ...r3Mbed/ISixAxisForceTorqueSensorsImpl.cpp
@@ -1,6 +1,6 @@
 // -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
-#include "ForceTorqueCan.hpp"
+#include "Jr3Mbed.hpp"
 
 #include <yarp/os/LogStream.h>
 #include <yarp/os/SystemClock.h>
@@ -11,35 +11,35 @@ using namespace roboticslab;
 
 // -----------------------------------------------------------------------------
 
-std::size_t ForceTorqueCan::getNrOfSixAxisForceTorqueSensors() const
+std::size_t Jr3Mbed::getNrOfSixAxisForceTorqueSensors() const
 {
     return 1;
 }
 
 // -----------------------------------------------------------------------------
 
-yarp::dev::MAS_status ForceTorqueCan::getSixAxisForceTorqueSensorStatus(std::size_t sens_index) const
+yarp::dev::MAS_status Jr3Mbed::getSixAxisForceTorqueSensorStatus(std::size_t sens_index) const
 {
     return yarp::dev::MAS_OK;
 }
 
 // -----------------------------------------------------------------------------
 
-bool ForceTorqueCan::getSixAxisForceTorqueSensorName(std::size_t sens_index, std::string & name) const
+bool Jr3Mbed::getSixAxisForceTorqueSensorName(std::size_t sens_index, std::string & name) const
 {
     return true;
 }
 
 // -----------------------------------------------------------------------------
 
-bool ForceTorqueCan::getSixAxisForceTorqueSensorFrameName(std::size_t sens_index, std::string & name) const
+bool Jr3Mbed::getSixAxisForceTorqueSensorFrameName(std::size_t sens_index, std::string & name) const
 {
     return getSixAxisForceTorqueSensorName(sens_index, name);
 }
 
 // -----------------------------------------------------------------------------
 
-bool ForceTorqueCan::getSixAxisForceTorqueSensorMeasure(std::size_t sens_index, yarp::sig::Vector & out, double & timestamp) const
+bool Jr3Mbed::getSixAxisForceTorqueSensorMeasure(std::size_t sens_index, yarp::sig::Vector & out, double & timestamp) const
 {
     out = canReadThreads[sens_index]->getMeasurements();
     timestamp = yarp::os::SystemClock::nowSystem();

diff --git a/...Plugins/ForceTorqueCan/ForceTorqueCan.hpp → libraries/YarpPlugins/Jr3Mbed/Jr3Mbed.hpp b/...Plugins/ForceTorqueCan/ForceTorqueCan.hpp → libraries/YarpPlugins/Jr3Mbed/Jr3Mbed.hpp
@@ -1,7 +1,7 @@
 // -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
-#ifndef __FORCE_TORQUE_CAN_HPP__
-#define __FORCE_TORQUE_CAN_HPP__
+#ifndef __JR3_MBED_HPP__
+#define __JR3_MBED_HPP__
 
 #include <vector>
 
@@ -16,22 +16,22 @@ namespace roboticslab
 
 /**
  * @ingroup YarpPlugins
- * @defgroup ForceTorqueCan
- * @brief Contains roboticslab::ForceTorqueCan.
+ * @defgroup Jr3Mbed
+ * @brief Contains roboticslab::Jr3Mbed.
  */
 
  /**
- * @ingroup ForceTorqueCan
- * @brief Implementation of a CAN node that publishes data from a force-torque sensor.
+ * @ingroup Jr3Mbed
+ * @brief Implementation of a CAN node on an Mbed board that publishes data from a JR3 sensor.
  */
-class ForceTorqueCan : public yarp::dev::DeviceDriver,
-                       public yarp::dev::ISixAxisForceTorqueSensors
+class Jr3Mbed : public yarp::dev::DeviceDriver,
+                public yarp::dev::ISixAxisForceTorqueSensors
 {
 public:
-    ForceTorqueCan()
+    Jr3Mbed()
     { }
 
-    ~ForceTorqueCan() override
+    ~Jr3Mbed() override
     { close(); }
 
     //  --------- DeviceDriver Declarations. Implementation in DeviceDriverImpl.cpp ---------
@@ -52,4 +52,4 @@ class ForceTorqueCan : public yarp::dev::DeviceDriver,
 
 } // namespace roboticslab
 
-#endif // __FORCE_TORQUE_CAN_HPP__
+#endif // __JR3_MBED_HPP__
diff --git a/libraries/YarpPlugins/Jr3Mbed/LogComponent.cpp b/libraries/YarpPlugins/Jr3Mbed/LogComponent.cpp
@@ -0,0 +1,3 @@
+#include "LogComponent.hpp"
+
+YARP_LOG_COMPONENT(JR3M, "rl.Jr3Mbed")
diff --git a/libraries/YarpPlugins/Jr3Mbed/LogComponent.hpp b/libraries/YarpPlugins/Jr3Mbed/LogComponent.hpp
@@ -0,0 +1,8 @@
+#ifndef __JR3_MBED_LOG_COMPONENT_HPP__
+#define __JR3_MBED_LOG_COMPONENT_HPP__
+
+#include <yarp/os/LogComponent.h>
+
+YARP_DECLARE_LOG_COMPONENT(JR3M)
+
+#endif // __JR3_MBED_LOG_COMPONENT_HPP__
diff --git a/...ries/YarpPlugins/ForceTorqueCan/README.md → libraries/YarpPlugins/Jr3Mbed/README.md b/...ries/YarpPlugins/ForceTorqueCan/README.md → libraries/YarpPlugins/Jr3Mbed/README.md
@@ -1,3 +1,3 @@
-# ForceTorqueCan
+# Jr3Mbed
 
 The firmware this device interfaces with is located at: https://github.com/roboticslab-uc3m/jr3-mbed-firmware.