1. General info

The device's purpose is to make it possible to connect up to the CanBattery sensor to a single EMS board. This device works with the bms board. Note that the board can not be programmed for different message rates.

1.1. Prerequisite

The following modules should be included in the compilation process:

ENABLE_icubmod_embObjCanBattery   ON

2. XML configuration file

This device should be used with XMLs like the following:

The root XML:

<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 
    <robot name="testFT" build="1" portprefix="icub" xmlns:xi="http://www.w3.org/2001/XInclude">
        <params>
    <xi:include href="hardware/electronics/pc104.xml" />
        </params>
        
    <devices>
 
 
    <!-- ANALOG SENSOR CANBATTERY -->
    <xi:include href="wrappers/CanBattery/testCanBattery_wrapper.xml" />    
    <xi:include href="hardware/CanBattery/eb1-j0-strain2-canbattery.xml" /> 
  
      
    </devices>
</robot> 

The device XML in hardware\canBattery (refer to the root XML file):

<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE device 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="canbattery" type="embObjBattery">
 
    <xi:include href="../../general.xml" />
 
    <!-- This value must match the net board name in the corresponding hardware/electronics/... file -->
    <xi:include href="../electronics/left_arm-eb1-j0_1-eln.xml" />
 
    <group name="SERVICE">
 
        <param name="type"> eomn_serv_AS_battery </param>
 
        <group name="PROPERTIES">
 
            <group name="CANBOARDS">
                <param name="type">                 bms      </param>
 
                <group name="PROTOCOL">
                    <param name="major">            0                   </param>
                    <param name="minor">            0                      </param>
                </group>
                <group name="FIRMWARE">
                    <param name="major">            0                   </param>
                    <param name="minor">            0                   </param>
                    <param name="build">            0                   </param>
                </group>
            </group>
 
            <group name="SENSORS">
                <param name="id">                   battery1        </param>
                <param name="board">                bms             </param>
                <param name="location">             CAN2:13         </param>
            </group>
 
        </group>
 
 
        <group name="SETTINGS">
            <param name="enabledSensors">            battery1        </param>
            <param name="acquisitionRate">           1000            </param>   <!-- msec -->
        </group>
 
 
    </group>
 
</device>

And the XML wrapper in .\wrappers\canBattery (refer to the root XML file)::

<?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="battery_wrapper" type="batteryWrapper">
    <param name="period">       1                  </param> 
    <param name="name">       /icub/battery      </param>
 
    <action phase="startup" level="5" type="attach">
        <paramlist name="networks">
        <!-- This value must match the device name in the corresponding hardware/battery/canBattery.xml file -->
            <elem name="battery">  canbattery </elem>
        </paramlist>
    </action>
 
    <action phase="shutdown" level="5" type="detach" />
</device>

3. Yarp output

3.1. Ports

As for the wrapper file:

/<robot_name>/battery/data:o 
/<robot_name>/battery/rpc:o

3.2. Output format

The output from bash commend

yarp read ... /icub/battery/data:o

40 3.300000011920928955078 80.0 31.0 0
voltage -- current -- charge -- temperature -- status

Voltage in Volt Current in Amper Charge in percent Temperature in degree Celtius Status not used for now

4. Battery client

To receive data from the device you should use the iBattery interface. See a complete example here: https://github.com/robotology/yarp/tree/master/src/yarpbatterygui

5. Debug

5.1. Install folder

If you have already installed robotology-superbuild and you have cloned icub-main (and you are working here) overwrite robotology-superbuild binary like this in your icub-main:

CMAKE_INSTALL_PREFIX             <path_to_robotology>/robotology-superbuild/build/install

5.2. Visual studio code debugging

Use the following launch.json

    {
    "version": "0.2.0",
    "configurations": [
    {
            "name": "App debug battery sensor",
            "type": "cppdbg",
            "request": "launch",
            "program": "<robotology-path>/robotology-superbuild/build/install/bin/yarprobotinterface",
            "args": [],
            "stopAtEntry": false,
            "cwd": "<xmlconfig-files>/yarprobotinterface-config-canbattery",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "Enable pretty-printing for gdb",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                },
                {
                    "description": "Set Disassembly Flavor to Intel",
                    "text": "-gdb-set disassembly-flavor intel",
                    "ignoreFailures": true
                }
            ],
            "miDebuggerPath": "/usr/bin/gdb",
        },
        {
        "name": "UT debug battery sensor",
        "type": "cppdbg",
        "request": "launch",
        "program": "/home/triccyx/Documents/robotology-superbuild/build/install/bin/unittest",
        "args": [],
        "stopAtEntry": false,
        "cwd": "/home/triccyx/Documents/robotology-superbuild/build/install/bin",
        "environment": [],
        "externalConsole": false,
        "MIMode": "gdb",
        "setupCommands": [
            {
                "description": "Enable pretty-printing for gdb",
                "text": "-enable-pretty-printing",
                "ignoreFailures": true
            },
            {
                "description": "Set Disassembly Flavor to Intel",
                "text": "-gdb-set disassembly-flavor intel",
                "ignoreFailures": true
            }
        ],
        "miDebuggerPath": "/usr/bin/gdb",
    }
    ]
}

Also select as build type DEBUG

6. Unittest

The device has a set of unittest that can be activated with:

BUILD_TESTING                    ON