Remove the usage of yarp::dev::IAnalogSensors

[Nicogene]

I let things get out of hand and in the PR listed below I removed it also from other devices that had been already ported to the usage of the MultipleAnalogSensorsInterfaces

• Remove IAnalogSensor interface from the devices ported to the new interfaces #928

Looking at the usage of yarp::dev::IAnalogSensor interface in icub-main some devices still use it and they have not been ported to the MAS interfaces:

• canBusAnalogSensor
• canBusInertialMTB
• canBusMotionControl
• canBusSkin
• embObjMulltiEnc
• embObjPOS
• embObjPSC
• embObjSkin
• skinWrapper
• skinManager

We know that the skin pipeline has to be refactored, maybe some of them can be removed completely as we did for the embObjAnalogSensor

For the remaining we have to chat with @marcoaccame

Originally posted by @Nicogene in #919 (comment)

[Nicogene]

Device	Usage in robots-configurations	Interfaces implemented	Possible action
canBusAnalogSensor	☑️ view usage (CAN iCub)	yarp::dev::IAnalogSensor	Use canBusFtSensor for strain, create canBusMais similar to embObjMais, remove canBusAnalogSensor from robots-configuration and icub-main
canBusInertialMTB	☑️ view usage (CAN iCub)	yarp::dev::IAnalogSensor	Port it to MAS interfaces
canBusMotionControl	☑️ view usage (CAN iCub)	Has a list of yarp::dev::IAnalogSensor	❓❓❓
canBusSkin	☑️ view usage (CAN iCub)	yarp::dev::IAnalogSensor	Refactor skin sw stack
embObjMulltiEnc	❌ view usage	yarp::dev::IAnalogSensor	Let's remove it from icub-main or we port it to MultiEncArray interface
embObjPOS	☑️ view usage (ergoCub)	yarp::dev::IAnalogSensor	❓❓❓
embObjPSC	☑️ view usage (only CER)	yarp::dev::IAnalogSensor	❓❓❓
embObjSkin	☑️ view usage (both ergoCub and iCub)	yarp::dev::IAnalogSensor	Refactor skin sw stack

skinWrapper and skinManager are executables that until we do not refactor the skin sw stack will rely on IAnalogSensor

I tried to write down the current situation with some possible action points for what I know, @marcoaccame @traversaro @pattacini please feel free to contribute to this table

[traversaro]

fyi @valegagge , as apparently she was the original author of embObjMultiEnc: 7578d28 .

[valegagge]

Hi guys,
I report here some information related to the embObjMultiEnc.
In r1SN001 there is an encoder called spichainof3 at joint.
As the name says, the joint position is calculated by a combination of 3 spi encoder using the matrix defined in the mechanical file.
So the joint position in this robot is provided as usual, but we needed a way to publish the value of each single joint, especially in the first stages of development and testing on this architecture.
From this need, we developed the embObjMultiEnc.

I also looked around in the fw. the code that can publish such values still exists, but I didn't understand if they are broadcasted toward YRI.(I guess no)

Said that, I suppose that now there are very occasions where we need to check the raw value of the spichainof3 encoder. they are only on R1 robot.

In my opinion, we can remove the device, but we need to take into account that maybe we need to develop it. (it is a slim chance.)

[Nicogene]

/remind 6th may plan for action points

[octo-reminder]

⏰ Reminder
Monday, May 6, 2024 10:00 AM (GMT+02:00)

plan for action points

[octo-reminder]

🔔 @Nicogene

plan for action points

[Nicogene]

Action points

• Remove embObjPSC from both icub-main and robots-configuration

  • Assignee: @Nicogene
  • PRs:
    • Remove embObjPSC and embObjMultiEnc #970
    • Remove all the embObjPSC and embObjMultiEnc references robots-configuration#662

• Remove embObjMulltiEnc from both icub-main and robots-configuration

  • Assignee: @Nicogene
  • PRs:
    • Remove embObjPSC and embObjMultiEnc #970
    • Remove all the embObjPSC and embObjMultiEnc references robots-configuration#662

• embObjSkin

  • Assignee: @marcoaccame @simeonedussoni
  • PRs:
    • ...

• embObjPOS -> https://www.yarp.it/latest/classyarp_1_1dev_1_1IEncoderArrays.html or new five interface

  • Assignee: @valegagge @MSECode @marcoaccame
  • issue: Remove the implementation of yarp::dev::IAnalogSensors from the embObjPOS device #973
  • PRs:
    • ...

• canBusMotionControl -> not clear how iAnalogSensor is used, needed a study on it

  • Assignee: @valegagge
  • issue: Remove the implementation of yarp::dev::IAnalogSensors from the canBusMotionControl device #974
  • PRs:
    • ...

• embObjMais -> fix springyFingers readout

  • Assignee: @pattacini
  • PRs:
    • ...

• canBusMais

  • Assignee: @mfussi66
  • PRs:
    • ...

• canBusInertialMTB

  • Assignee: @Nicogene
  • PRs:
    • ..

[Nicogene]

I converted this to an Epic, you can link your activities to this.

cc @pattacini @valegagge @marcoaccame @MSECode @simeonedussoni @mfussi66