Parse axis prefix name from config

roboticslab-uc3m · Aug 24, 2023 · 1f768c0 · 1f768c0
1 parent e3e935d
commit 1f768c0
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Showing 7 changed files with 37 additions and 15 deletions.
diff --git a/libraries/DextraRawControlboardLib/CMakeLists.txt b/libraries/DextraRawControlboardLib/CMakeLists.txt
@@ -4,6 +4,7 @@ if(ENABLE_DextraRawControlboardLib)
 
     add_library(DextraRawControlboardLib SHARED DextraRawControlboard.hpp
                                                 DextraRawControlboard.cpp
+                                                DeviceDriverImpl.cpp
                                                 IAxisInfoRawImpl.cpp
                                                 IControlLimitsRawImpl.cpp
                                                 IControlModeRawImpl.cpp

diff --git a/libraries/DextraRawControlboardLib/DeviceDriverImpl.cpp b/libraries/DextraRawControlboardLib/DeviceDriverImpl.cpp
@@ -0,0 +1,15 @@
+// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
+
+#include "DextraRawControlboard.hpp"
+
+using namespace roboticslab;
+
+// -----------------------------------------------------------------------------
+
+bool DextraRawControlboard::open(yarp::os::Searchable & config)
+{
+    axisPrefix = config.check("axisPrefix", yarp::os::Value(""), "common refix for all axis names").asString();
+    return true;
+}
+
+// -----------------------------------------------------------------------------
diff --git a/libraries/DextraRawControlboardLib/DextraRawControlboard.hpp b/libraries/DextraRawControlboardLib/DextraRawControlboard.hpp
@@ -4,6 +4,7 @@
 #define __DEXTRA_RAW_CONTROLBOARD_HPP__
 
 #include <mutex>
+#include <string>
 
 #include <yarp/dev/ControlBoardInterfaces.h>
 
@@ -39,6 +40,10 @@ class DextraRawControlboard : public yarp::dev::DeviceDriver,
     void acquireSynapseHandle(Synapse * synapse);
     void destroySynapse();
 
+    //  --------- DeviceDriver declarations. Implementation in DeviceDriverImpl.cpp ---------
+
+    bool open(yarp::os::Searchable & config) override;
+
     //  --------- IAxisInfoRaw declarations. Implementation in IAxisInfoRawImpl.cpp ---------
 
     bool getAxisNameRaw(int axis, std::string & name) override;
@@ -128,6 +133,7 @@ class DextraRawControlboard : public yarp::dev::DeviceDriver,
 
 protected:
     Synapse * synapse {nullptr};
+    std::string axisPrefix;
 
 private:
     double getSetpoint(int j);

diff --git a/libraries/DextraRawControlboardLib/IAxisInfoRawImpl.cpp b/libraries/DextraRawControlboardLib/IAxisInfoRawImpl.cpp
@@ -14,7 +14,7 @@ bool DextraRawControlboard::getAxisNameRaw(int axis, std::string & name)
 {
     yCITrace(DEXTRA, id(), "%d", axis);
     CHECK_JOINT(axis);
-    name = Synapse::LABELS[axis];
+    name = axisPrefix + Synapse::LABELS[axis];
     return true;
 }
 

diff --git a/libraries/DextraRawControlboardLib/Synapse.cpp b/libraries/DextraRawControlboardLib/Synapse.cpp
@@ -14,21 +14,21 @@ constexpr int MESSAGE_SIZE = (FLOAT_SIZE + 1) * Synapse::DATA_POINTS;
 constexpr unsigned char FINGER_ADDRESS[Synapse::DATA_POINTS] = {0x01, 0x02, 0x03, 0x04, 0x05, 0x06};
 
 const std::array<std::pair<Synapse::setpoint_t, Synapse::setpoint_t>, Synapse::DATA_POINTS> Synapse::LIMITS = {
-    {0, 90},
-    {0, 10},
-    {0, 20},
-    {0, 20},
-    {0, 20},
-    {0, 20}
+    {0.0f, 90.0f},
+    {0.0f, 10.0f},
+    {0.0f, 20.0f},
+    {0.0f, 20.0f},
+    {0.0f, 20.0f},
+    {0.0f, 20.0f}
 };
 
 const std::array<std::string, Synapse::DATA_POINTS> Synapse::LABELS = {
-    "abductor",
-    "thumb",
-    "index",
-    "middle",
-    "ring",
-    "pinky"
+    "HandAbductor",
+    "ThumbFinger",
+    "IndexFinger",
+    "MiddleFinger",
+    "RingFinger",
+    "PinkyFinger"
 };
 
 void Synapse::configure(void * handle)

diff --git a/libraries/YarpPlugins/DextraCanControlboard/DeviceDriverImpl.cpp b/libraries/YarpPlugins/DextraCanControlboard/DeviceDriverImpl.cpp
@@ -29,7 +29,7 @@ bool DextraCanControlboard::open(yarp::os::Searchable & config)
 
     acquireSynapseHandle(new CanSynapse(canId));
 
-    return true;
+    return DextraRawControlboard::open(config); // parses axisPrefix
 }
 
 // -----------------------------------------------------------------------------

diff --git a/libraries/YarpPlugins/DextraSerialControlboard/DeviceDriverImpl.cpp b/libraries/YarpPlugins/DextraSerialControlboard/DeviceDriverImpl.cpp
@@ -51,7 +51,7 @@ bool DextraSerialControlboard::open(yarp::os::Searchable & config)
 
     raw.acquireSynapseHandle(new SerialSynapse(iSerialDevice));
 
-    return true;
+    return raw.open(config); // parses axisPrefix
 }
 
 // -----------------------------------------------------------------------------