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ergoCubSN001 - update network file (#652)
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@davidetome
davidetome authored May 24, 2024
1 parent a7a547e commit 4ed3bf6
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259 changes: 259 additions & 0 deletions ergoCubSN001/network.ergoCubSN001-2foc-special.xml
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<?xml version="1.0"?>

<!-- description
this file contains the boards mounted on the robot grouped by body parts.
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 two compulsory fields: ondevice, ataddress. 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 CFW2 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".
- version: contains the required version. typically only major and mino values are specified.
the aim of this files is to be parsed by the python program robotFWmanager.py
-->

<robot>



<part name="left_arm">

<board type='ems4' name="left_arm-eb2-j0_1">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.2" />

</board>

<board type='foc-special' name="foc-special.2.1">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.2" canbus="1" canadr="1" />
<connected bus="CAN" />
</board>

<board type='foc-special' name="foc-special.2.2">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.2" canbus="1" canadr="2" />
<connected bus="CAN" />
</board>

<board type='ems4' name="left_arm-eb4-j2_3">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.4" />

</board>

<board type='foc-special' name="foc-special.4.1">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.4" canbus="1" canadr="1" />
<connected bus="CAN" />
</board>

<board type='foc-special' name="foc-special.4.2">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.4" canbus="1" canadr="2" />
<connected bus="CAN" />
</board>

</part>


<part name="right_arm">

<board type='ems4' name="right_arm-eb1-j0_1">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.1" />

</board>

<board type='foc-special' name="foc-special.1.1">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.1" canbus="1" canadr="1" />
<connected bus="CAN" />
</board>

<board type='foc-special' name="foc-special.1.2">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.1" canbus="1" canadr="2" />
<connected bus="CAN" />
</board>

<board type='ems4' name="right_arm-eb3-j2_3">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.1" />

</board>

<board type='foc-special' name="foc-special.3.1">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.3" canbus="1" canadr="1" />
<connected bus="CAN" />
</board>

<board type='foc-special' name="foc-special.3.2">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.3" canbus="1" canadr="2" />
<connected bus="CAN" />
</board>

</part>


<part name="torso">

<board type='ems4' name="torso-eb5-j0_2">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.5" />
<connected bus="ETH" prev="10.0.1.29" next="10.0.1.6" />
</board>

<board type='foc-special' name="foc-special.5.1">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.5" canbus="1" canadr="1" />
<connected bus="CAN" />
</board>

<board type='foc-special' name="foc-special.5.2">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.5" canbus="1" canadr="2" />
<connected bus="CAN" />
</board>

<board type='foc-special' name="foc-special.5.3">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.5" canbus="1" canadr="3" />
<connected bus="CAN" />
</board>

<board type='foc-special' name="foc-special.5.4">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.5" canbus="1" canadr="4" />
<connected bus="CAN" />
</board>

</part>


<part name="right_leg">

<board type='ems4' name="left_leg-eb6-j0_1">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.6" />

</board>

<board type='ems4' name="left_leg-eb7-j2_3">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.7" />

</board>



<board type='foc-special' name="foc-special.6.1">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.6" canbus="1" canadr="1" />
<connected bus="CAN" />
</board>

<board type='foc-special' name="foc-special.6.2">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.6" canbus="1" canadr="2" />
<connected bus="CAN" />
</board>

<board type='foc-special' name="foc-special.6.3">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.6" canbus="1" canadr="3" />
<connected bus="CAN" />
</board>

<board type='foc-special' name="foc-special.6.4">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.6" canbus="1" canadr="4" />
<connected bus="CAN" />
</board>

<board type='foc-special' name="foc-special.7.1">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.7" canbus="1" canadr="1" />
<connected bus="CAN" />
</board>

<board type='foc-special' name="foc-special.7`.2">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.7" canbus="1" canadr="2" />
<connected bus="CAN" />
</board>

</part>

<part name="left_leg">

<board type='ems4' name="left_leg-eb8-j0_1">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.8" />

</board>

<board type='ems4' name="left_leg-eb9-j2_3">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.9" />

</board>



<board type='foc-special' name="foc-special.8.1">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.8" canbus="1" canadr="1" />
<connected bus="CAN" />
</board>

<board type='foc-special' name="foc-special.8.2">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.8" canbus="1" canadr="2" />
<connected bus="CAN" />
</board>

<board type='foc-special' name="foc-special.8.3">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.8" canbus="1" canadr="3" />
<connected bus="CAN" />
</board>

<board type='foc-special' name="foc-special.8.4">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.8" canbus="1" canadr="4" />
<connected bus="CAN" />
</board>

<board type='foc-special' name="foc-special.9.1">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.9" canbus="1" canadr="1" />
<connected bus="CAN" />
</board>

<board type='foc-special' name="foc-special.9.2">
<ondevice>ETH</ondevice>
<ataddress ip="10.0.1.9" canbus="1" canadr="2" />
<connected bus="CAN" />
</board>

</part>


</robot>


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