sr-config/sr_ethercat_hand_config/diagnostic_analyzer_lite.yaml at noetic-devel · shadow-robot/sr-config · GitHub

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# Copyright 2022 Shadow Robot Company Ltd.
#
# This program is free software: you can redistribute it and/or modify it
# under the terms of the GNU General Public License as published by the Free
# Software Foundation version 2 of the License.
#
# This program is distributed in the hope that it will be useful, but WITHOUT
# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
# more details.
#
# You should have received a copy of the GNU General Public License along
# with this program. If not, see <http://www.gnu.org/licenses/>.

analyzers:
  # The shadow hand has two motors per EtherCAT slave device.
  # The diagnostics for the devices and motors are seperate
  # All devices are put in one category
  # The motors are split into multiple categories based on which finger they belong to.
  shadow_hand:
    type: diagnostic_aggregator/AnalyzerGroup
    path: Shadow Hand
    analyzers:
      tactiles:
        type: diagnostic_aggregator/GenericAnalyzer
        path: Tactiles
        timeout: 5.0
        regex: '([^\s]+) Tactile .*[1-5].*'
        num_items: 5
      first_finger:
        type: diagnostic_aggregator/GenericAnalyzer
        path: First Finger
        timeout: 5.0
        regex: '([^\s]+) SRDMotor .*FFJ[0-9].*'
        num_items: 5
      right_finger:
        type: diagnostic_aggregator/GenericAnalyzer
        path: Ring Finger
        timeout: 5.0
        regex: '([^\s]+) SRDMotor .*RFJ[0-9].*'
        num_items: 5
      middle_finger:
        type: diagnostic_aggregator/GenericAnalyzer
        path: Middle Finger
        timeout: 5.0
        regex: '([^\s]+) SRDMotor .*MFJ[0-9].*'
        num_items: 5
      little_finger:
        type: diagnostic_aggregator/GenericAnalyzer
        path: Little Finger
        timeout: 5.0
        regex: '([^\s]+) SRDMotor .*LFJ[0-9].*'
        num_items: 2
      thumb:
        type: diagnostic_aggregator/GenericAnalyzer
        path: Thumb
        timeout: 5.0
        regex: '([^\s]+) SRDMotor .*THJ[0-9].*'
        num_items: 4
  ethercat:
    type: diagnostic_aggregator/AnalyzerGroup
    path: EtherCat
    analyzers:
      EtherCAT_slaves:
        type: diagnostic_aggregator/GenericAnalyzer
        path: EtherCAT Slaves
        timeout: 5.0
        regex: ['SRBridge.*', '([^\s]+) EtherCAT Dual CAN Palm']
        num_items: 2
      EtherCAT_master:
        type: diagnostic_aggregator/GenericAnalyzer
        path: EtherCAT Master
        timeout: 5.0
        regex: 'EtherCAT Master'
        num_items: 1
  control_loop:
    type: diagnostic_aggregator/GenericAnalyzer
    path: Realtime Control Loop
    timeout: 5.0
    startswith: 'Realtime Control Loop'
    num_items: 1