forked from ami-iit/robots-configuration
-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathnetwork.iCubGenova01.xml
416 lines (332 loc) · 14.1 KB
/
network.iCubGenova01.xml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
<?xml version="1.0"?>
<!-- description
this file contains the boards mounted on the robot grouped by body parts.
there is only one group called host which contains name and as many rows as the supported
devices. each one is tagged <hasdevice> and contains a type (ETH or CFW) and an address
(in ip format or just a number for the case of CFW).
then there are many groups called part. each one may contain many groups called boards:
one per physical board on the robot on that part.
every <board> has two compulsory properties: type, name. it may also have an
additional property: required. so far the only value of required is "version".
each <board> contains three compulsory fields: ondevice, ataddress, connected.
and it may have an additional field: version (if there is the required="version" property).
here is description of each of the previous:
- type: must have a valid board name in short format: ems4, mc4plus, foc, strain,
strain2, mtb, mtb4, mais, mc4, etc.
- name: can be any string.
- required: if present can be only ="version". it tells that that board MUST match
a given version of firmware. it is used to identify amongst the many versions of mc4
boards.
- ondevice: tells on which device the board is located. it can be ETH (for ETH robots)
or CFW for first generation CAN robots.
- ataddress: contains the network address under device. if device is ETH there is
ip="10.0.1.x" and if the board is a CAN board there is also canbus="c" canadr="a".
if the device is CFW, then there is only canbus="c" canadr="a".
- connected: contains the connection information. if bus ETH there are: prev and next
which are the previous and the next ip addresses (they both must be present). the last
board must have next="none". if bus is CAN there are no extra fields.
- version: contains the required version. typically only major and minor values are specified.
the aim of this files is to be parsed by the python program robotFWmanager.py
-->
<robotnetwork>
<host name="pc104" >
<hasdevice type= "CFW" address="0" />
<hasdevice type= "CFW" address="1" />
<hasdevice type= "CFW" address="2" />
<hasdevice type= "CFW" address="3" />
<hasdevice type= "CFW" address="4" />
<hasdevice type= "CFW" address="5" />
<hasdevice type= "CFW" address="6" />
<hasdevice type= "CFW" address="7" />
<hasdevice type= "CFW" address="8" />
<hasdevice type= "CFW" address="9" />
</host>
<part name="head">
<board type='bll' name="bll.head.CAN0:1" required="version">
<version major="1" minor="98" />
<ondevice>CFW</ondevice>
<ataddress canbus="0" canadr="1" />
<connected bus="CAN" />
</board>
<board type='mc4' name="mc4.head.CAN0:2" required="version">
<version major="2" minor="21" />
<ondevice>CFW</ondevice>
<ataddress canbus="0" canadr="2" />
<connected bus="CAN" />
</board>
</part>
<part name="face">
</part>
<part name="left_arm">
<board type='bll' name="bll.left_arm.CAN1:1" required="version">
<version major="1" minor="80" />
<ondevice>CFW</ondevice>
<ataddress canbus="1" canadr="1" />
<connected bus="CAN" />
</board>
<board type='bll' name="bll.left_arm.CAN1:2" required="version">
<version major="1" minor="87" />
<ondevice>CFW</ondevice>
<ataddress canbus="1" canadr="2" />
<connected bus="CAN" />
</board>
<board type='mc4' name="mc4.left_arm.CAN1:3" required="version">
<version major="2" minor="25" />
<ondevice>CFW</ondevice>
<ataddress canbus="1" canadr="3" />
<connected bus="CAN" />
</board>
<board type='mc4' name="mc4.left_arm.hand.CAN5:5" required="version">
<version major="2" minor="40" />
<ondevice>CFW</ondevice>
<ataddress canbus="5" canadr="5" />
<connected bus="CAN" />
</board>
<board type='mc4' name="mc4.left_arm.hand.CAN5:7" required="version">
<version major="2" minor="48" />
<ondevice>CFW</ondevice>
<ataddress canbus="5" canadr="7" />
<connected bus="CAN" />
</board>
<board type='strain' name="strain.left_arm.CAN1:13">
<ondevice>CFW</ondevice>
<ataddress canbus="1" canadr="13" />
<connected bus="CAN" />
</board>
<board type='mais' name="mais.left_arm.hand.CAN5:14">
<ondevice>CFW</ondevice>
<ataddress canbus="5" canadr="14" />
<connected bus="CAN" />
</board>
<board type='mtb' name="mtb.left_arm:CAN7:8">
<ondevice>CFW</ondevice>
<ataddress canbus="7" canadr="8" />
<connected bus="CAN" />
</board>
<board type='mtb' name="mtb.left_arm:CAN7:9">
<ondevice>CFW</ondevice>
<ataddress canbus="7" canadr="9" />
<connected bus="CAN" />
</board>
<board type='mtb' name="mtb.left_arm:CAN7:10">
<ondevice>CFW</ondevice>
<ataddress canbus="7" canadr="10" />
<connected bus="CAN" />
</board>
<board type='mtb' name="mtb.left_arm:CAN7:11">
<ondevice>CFW</ondevice>
<ataddress canbus="7" canadr="11" />
<connected bus="CAN" />
</board>
<board type='mtb' name="mtb.left_arm:CAN7:12">
<ondevice>CFW</ondevice>
<ataddress canbus="7" canadr="12" />
<connected bus="CAN" />
</board>
<board type='mtb' name="mtb.left_arm:CAN7:13">
<ondevice>CFW</ondevice>
<ataddress canbus="7" canadr="13" />
<connected bus="CAN" />
</board>
<board type='mtb' name="mtb.left_arm:CAN7:14">
<ondevice>CFW</ondevice>
<ataddress canbus="7" canadr="14" />
<connected bus="CAN" />
</board>
</part>
<part name="right_arm">
<board type='bll' name="bll.right_arm.CAN2:1" required="version">
<version major="1" minor="80" />
<ondevice>CFW</ondevice>
<ataddress canbus="2" canadr="1" />
<connected bus="CAN" />
</board>
<board type='bll' name="bll.right_arm.CAN2:2" required="version">
<version major="1" minor="87" />
<ondevice>CFW</ondevice>
<ataddress canbus="2" canadr="2" />
<connected bus="CAN" />
</board>
<board type='mc4' name="mc4.right_arm.CAN2:3" required="version">
<version major="2" minor="25" />
<ondevice>CFW</ondevice>
<ataddress canbus="2" canadr="3" />
<connected bus="CAN" />
</board>
<board type='mc4' name="mc4.right_arm.hand.CAN6:5" required="version">
<version major="2" minor="40" />
<ondevice>CFW</ondevice>
<ataddress canbus="6" canadr="5" />
<connected bus="CAN" />
</board>
<board type='mc4' name="mc4.right_arm.hand.CAN6:7" required="version">
<version major="2" minor="48" />
<ondevice>CFW</ondevice>
<ataddress canbus="6" canadr="7" />
<connected bus="CAN" />
</board>
<board type='strain' name="strain.right_arm.CAN2:13">
<ondevice>CFW</ondevice>
<ataddress canbus="2" canadr="13" />
<connected bus="CAN" />
</board>
<board type='mais' name="mais.right_arm.hand.CAN6:14">
<ondevice>CFW</ondevice>
<ataddress canbus="6" canadr="14" />
<connected bus="CAN" />
</board>
<board type='mtb' name="mtb.right_arm:CAN8:8">
<ondevice>CFW</ondevice>
<ataddress canbus="8" canadr="8" />
<connected bus="CAN" />
</board>
<board type='mtb' name="mtb.right_arm:CAN8:9">
<ondevice>CFW</ondevice>
<ataddress canbus="8" canadr="9" />
<connected bus="CAN" />
</board>
<board type='mtb' name="mtb.right_arm:CAN8:10">
<ondevice>CFW</ondevice>
<ataddress canbus="8" canadr="10" />
<connected bus="CAN" />
</board>
<board type='mtb' name="mtb.right_arm:CAN8:11">
<ondevice>CFW</ondevice>
<ataddress canbus="8" canadr="11" />
<connected bus="CAN" />
</board>
<board type='mtb' name="mtb.right_arm:CAN8:12">
<ondevice>CFW</ondevice>
<ataddress canbus="8" canadr="12" />
<connected bus="CAN" />
</board>
<board type='mtb' name="mtb.right_arm:CAN8:13">
<ondevice>CFW</ondevice>
<ataddress canbus="8" canadr="13" />
<connected bus="CAN" />
</board>
<board type='mtb' name="mtb.right_arm:CAN8:14">
<ondevice>CFW</ondevice>
<ataddress canbus="8" canadr="14" />
<connected bus="CAN" />
</board>
</part>
<part name="torso">
<board type='bll' name="bll.torso.CAN0:5" required="version">
<version major="1" minor="84" />
<ondevice>CFW</ondevice>
<ataddress canbus="0" canadr="5" />
<connected bus="CAN" />
</board>
<board type='bll' name="bll.torso.CAN0:6" required="version">
<version major="1" minor="82" />
<ondevice>CFW</ondevice>
<ataddress canbus="0" canadr="6" />
<connected bus="CAN" />
</board>
<board type='mtb' name="mtb.torso.CAN9:7">
<ondevice>CFW</ondevice>
<ataddress canbus="9" canadr="7" />
<connected bus="CAN" />
</board>
<board type='mtb' name="mtb.torso.CAN9:8">
<ondevice>CFW</ondevice>
<ataddress canbus="9" canadr="8" />
<connected bus="CAN" />
</board>
<board type='mtb' name="mtb.torso.CAN9:9">
<ondevice>CFW</ondevice>
<ataddress canbus="9" canadr="9" />
<connected bus="CAN" />
</board>
<board type='mtb' name="mtb.torso.CAN9:10">
<ondevice>CFW</ondevice>
<ataddress canbus="9" canadr="10" />
<connected bus="CAN" />
</board>
</part>
<part name="left_leg">
<board type='bll' name="bll.left_leg.CAN3:5" required="version">
<version major="2" minor="81" />
<ondevice>CFW</ondevice>
<ataddress canbus="3" canadr="5" />
<connected bus="CAN" />
</board>
<board type='bll' name="bll.left_leg.CAN3:6" required="version">
<version major="2" minor="81" />
<ondevice>CFW</ondevice>
<ataddress canbus="3" canadr="6" />
<connected bus="CAN" />
</board>
<board type='bll' name="bll.left_leg.CAN3:7" required="version">
<version major="2" minor="81" />
<ondevice>CFW</ondevice>
<ataddress canbus="3" canadr="7" />
<connected bus="CAN" />
</board>
<board type='strain' name="strain.left_leg.CAN3:13">
<ondevice>CFW</ondevice>
<ataddress canbus="3" canadr="13" />
<connected bus="CAN" />
</board>
<board type='strain' name="strain.left_leg.foot.CAN3:1">
<ondevice>CFW</ondevice>
<ataddress canbus="3" canadr="1" />
<connected bus="CAN" />
</board>
<board type='mtb' name="mtb.left_leg.foot.CAN9:2">
<ondevice>CFW</ondevice>
<ataddress canbus="9" canadr="2" />
<connected bus="CAN" />
</board>
<board type='mtb' name="mtb.left_leg.foot.CAN9:3">
<ondevice>CFW</ondevice>
<ataddress canbus="9" canadr="3" />
<connected bus="CAN" />
</board>
</part>
<part name="right_leg">
<board type='bll' name="bll.right_leg.CAN4:8" required="version">
<version major="2" minor="81" />
<ondevice>CFW</ondevice>
<ataddress canbus="4" canadr="8" />
<connected bus="CAN" />
</board>
<board type='bll' name="bll.right_leg.CAN4:9" required="version">
<version major="2" minor="81" />
<ondevice>CFW</ondevice>
<ataddress canbus="4" canadr="9" />
<connected bus="CAN" />
</board>
<board type='bll' name="bll.right_leg.CAN4:10" required="version">
<version major="2" minor="81" />
<ondevice>CFW</ondevice>
<ataddress canbus="4" canadr="10" />
<connected bus="CAN" />
</board>
<board type='strain' name="strain.right_leg.CAN4:14">
<ondevice>CFW</ondevice>
<ataddress canbus="4" canadr="14" />
<connected bus="CAN" />
</board>
<board type='strain' name="strain.right_leg.foot.CAN4:1">
<ondevice>CFW</ondevice>
<ataddress canbus="4" canadr="1" />
<connected bus="CAN" />
</board>
<board type='mtb' name="mtb.right_leg.foot.CAN9:13">
<ondevice>CFW</ondevice>
<ataddress canbus="9" canadr="13" />
<connected bus="CAN" />
</board>
<board type='mtb' name="mtb.right_leg.foot.CAN9:14">
<ondevice>CFW</ondevice>
<ataddress canbus="9" canadr="14" />
<connected bus="CAN" />
</board>
</part>
<part name="custom">
</part>
<part name="test">
</part>
</robotnetwork>