Make the CAN-monitor configurable in the embObjBattery

[valegagge]

Is your feature request related to a problem?

While developing this feature on fw side robotology/icub-firmware#445, we noticed that the embObjBattery sends an empty CAN-monitor configuration. This creates an unexpected behavior: the CAN-monitor checks the presence of the battery boards with a period lower than the battery board transmission period.

The solution you would like to have available

We decided to develop the parser of the CAN-monitor configuration in the embObjBattery and use a default configuration in case the user doesn't update the configuration file according.

Alternatives you have considered

No response

Additional context

No response

[MSECode]

Some of the improvements have been done. Specifically we have that:

• new class serviceParserCanMonitor has been design containing the methods for checking and parsing the canMonitor configuration only. It is a standalone class since it can be used without any code modification by multiple types of serivice
• in the meanwhile similar methods have been added to ServiceParserCanBattery class in order to discuss about the best implementation in relation to the previous design idea of those classes