Status passed to embObjBattery.cpp

[MSECode]

This PR allow the user to see debug message when BAT status change in YRI
Moreover status is sent as an int32_t to the specific BAT or BMS port

[MSECode]

NOTE for @MSECode PRs:
Fourth PR to be merged.

[pattacini]

Awaiting robotology/icub-firmware-shared#85 to be merge before putting this PR in ready for review.

[MSECode]

Considering the current status of the updates and upcoming features, I've decided to make some more analysis and tests on this feature, thus I'm keeping two parallel branches on my fork with similar code architecture proposal that are doable for the BAT/BMS status update. Here follows the link to the branches, so that one can take a look to them. The code is quite similar but two different data container are used for managing the status strings and the execution time is almost the same (we are talking about the same order of magnitude, so it's just a matter of code clearance) as one can see in the image below:

with std array

with std map

Here the branches:

• https://github.com/MSECode/icub-main/tree/feature/batteryStatus (using map)
• https://github.com/MSECode/icub-main/tree/feature/batteryStatus01 (using array)

A F2F discussion can even be done after vacation to revise the proposals, which we have also on icub-firmware-shared, and go with a final one.
Both have been tested on the bench setup. And when one is chosen we can test on both R1 and ergoCub robots.

cc: @valegagge @marcoaccame

[MSECode]

Ready for review (waiting icub_firmware_shared to be merged before)

Here are the latest test results, showing that the readings of the status are correct and that the 2 devices (for the bms and for the bat) are correctly instantiated.

[pattacini]

Yet problems (Ubuntu/static-link) with unit-testing:

/home/runner/work/icub-main/icub-main/src/unittest/testDeviceCanBatterySensor.cpp:175:50: error: cannot convert ‘const char*’ to ‘double’ in initialization
2023-09-08T13:04:40.8857805Z   175 |     CanBatteryData expected = {1, 4, 5, 6, 2, 7, ""};
2023-09-08T13:04:40.8858250Z       |                                                  ^~
2023-09-08T13:04:40.8858641Z       |                                                  |
2023-09-08T13:04:40.8859210Z       |                                                  const char*
2023-09-08T13:04:40.8961437Z /home/runner/work/icub-main/icub-main/src/unittest/testDeviceCanBatterySensor.cpp: In member function ‘virtual void CanBatterysensor_update_simple_positive_trunk_voltage_001_Test::TestBody()’:
2023-09-08T13:04:40.8962608Z /home/runner/work/icub-main/icub-main/src/unittest/testDeviceCanBatterySensor.cpp:194:52: error: cannot convert ‘const char*’ to ‘double’ in initialization
2023-09-08T13:04:40.8963253Z   194 |     CanBatteryData expected = {1, 4.1, 5, 6, 2, 7, ""};
2023-09-08T13:04:40.8963674Z       |                                                    ^~
2023-09-08T13:04:40.8964038Z       |                                                    |
2023-09-08T13:04:40.8964448Z       |                                                    const char*
2023-09-08T13:04:40.8981021Z /home/runner/work/icub-main/icub-main/src/unittest/testDeviceCanBatterySensor.cpp: In member function ‘virtual void CanBatterysensor_update_simple_negative_001_Test::TestBody()’:
2023-09-08T13:04:40.8981911Z /home/runner/work/icub-main/icub-main/src/unittest/testDeviceCanBatterySensor.cpp:213:50: error: cannot convert ‘const char*’ to ‘double’ in initialization
2023-09-08T13:04:40.8982923Z   213 |     CanBatteryData expected = {1, 2, 3, 4, 5, 7, ""};
2023-09-08T13:04:40.8983239Z       |                                                  ^~
2023-09-08T13:04:40.8983528Z       |                                                  |
2023-09-08T13:04:40.8983821Z       |                                                  const char*
2023-09-08T13:04:40.8999540Z /home/runner/work/icub-main/icub-main/src/unittest/testDeviceCanBatterySensor.cpp: In member function ‘virtual void CanBatterysensor_getBatteryVoltage_positive_001_Test::TestBody()’:
2023-09-08T13:04:40.9000512Z /home/runner/work/icub-main/icub-main/src/unittest/testDeviceCanBatterySensor.cpp:230:51: error: no match for ‘operator=’ (operand types are ‘CanBatteryData’ and ‘<brace-enclosed initializer list>’)
2023-09-08T13:04:40.9001074Z   230 |     device.canBatteryData_ = {1, 2, 3, 4, 5, 6, ""};
2023-09-08T13:04:40.9001378Z       |                                                   ^
2023-09-08T13:04:40.9001904Z In file included from /home/runner/work/icub-main/icub-main/src/unittest/testDeviceCanBatterySensor.cpp:15:
2023-09-08T13:04:40.9003086Z /home/runner/work/icub-main/icub-main/src/libraries/icubmod/embObjBattery/embObjBattery.h:31:7: note: candidate: ‘CanBatteryData& CanBatteryData::operator=(const CanBatteryData&)’
2023-09-08T13:04:40.9003593Z    31 | class CanBatteryData
2023-09-08T13:04:40.9003819Z       |       ^~~~~~~~~~~~~~
2023-09-08T13:04:40.9004528Z /home/runner/work/icub-main/icub-main/src/libraries/icubmod/embObjBattery/embObjBattery.h:31:7: note:   no known conversion for argument 1 from ‘<brace-enclosed initializer list>’ to ‘const CanBatteryData&’
2023-09-08T13:04:40.9005492Z /home/runner/work/icub-main/icub-main/src/libraries/icubmod/embObjBattery/embObjBattery.h:31:7: note: candidate: ‘CanBatteryData& CanBatteryData::operator=(CanBatteryData&&)’
2023-09-08T13:04:40.9006517Z /home/runner/work/icub-main/icub-main/src/libraries/icubmod/embObjBattery/embObjBattery.h:31:7: note:   no known conversion for argument 1 from ‘<brace-enclosed initializer list>’ to ‘CanBatteryData&&’
2023-09-08T13:04:42.2881181Z gmake[2]: *** [src/unittest/CMakeFiles/unittest.dir/build.make:132: src/unittest/CMakeFiles/unittest.dir/testDeviceCanBatterySensor.cpp.o] Error 1
2023-09-08T13:04:42.2885836Z gmake[1]: *** [CMakeFiles/Makefile2:4392: src/unittest/CMakeFiles/unittest.dir/all] Error 2
2023-09-08T13:04:42.2886191Z gmake: *** [Makefile:146: all] Error 2

cc @MSECode