Create a CANBUS plugin library

[triccyx]

Create a CANBUS plugin library.

• Create repository with make system in Robotology
• Create library code
• Create connect block
• Create write block
• Create read block with a comparison with expected values
• Write Xml for ScriptBuilder
• Write library documentation

[traversaro]

Just to understand, the idea is to use the existing YARP devices that expose the ICanBus interface?
This would be the advantage that we have already maintained backend for the main CAN apis that you support, socketcan and cfw2Can in Linux and ESD CAN SDK on Windows.

[triccyx]

To be honest my idea was to use a CANBUS lib and interact directly with the board in order to test them without any intermediary.
BUT, I think your proposal is interesting (I didn't know that these Yarp components exist).
We can produce two different series of block one for each issue. I expect that the Yarp blocks will be easier to create.

[traversaro]

Personally I would just develop the block based on the existing YARP drivers to reduce the amount of duplicate code. The code for the can device drivers in icub-main is quite limited (just a small class for each API). If you experience any problem in those drivers, you can fix the problems in the icub-main devices, so that everyone (people using the FirmwareUpdater, robots devices) benefits from the improvements.

[triccyx]

Not sure, because I would like to permit to test also without Yarp. I will invite you to the meeting when we will speak about this.

[traversaro]

Hi @triccyx, I guess I can remove this assignment from this issue if no work is planned on this at the moment, right?

[triccyx]

Yes, agree.
@pattacini will we think about canbus tests or this argument is obsolete?

[pattacini]

@triccyx let's put this in icebox; I don't see now when we can get back to it.