modified network file for iCub Genova 11

[sksubiit]

Based on the Firmware Updater GUI and the results obtained from executing the automated firmware script with the verify option, the modified network configuration file was generated using the existing configuration already present on the robot.

[gemini-code-assist]

Hello @sksubiit, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

Summary of Changes

Hello team, Gemini or gemini-code-assist here with a summary of this pull request. This PR, authored by sksubiit, focuses on updating the network configuration file for the iCub Genova 11 robot. According to the description, the changes were generated based on the current configuration found on the robot using the Firmware Updater GUI and verified with an automated script. The primary goal is to ensure the network.iCubGenova11.xml file accurately reflects the hardware setup of this specific robot.

Highlights

• Head and Face Configuration Update: Adds a new mc4plus board named head-eb22 and an rfe board named rfe.head to the head part. Concurrently, a mc4plus board named face-eb22-j0 is removed from the face part, suggesting a re-categorization or correction of board location.
• Strain Board Type Update: Updates the type attribute for several strain boards across the left_arm, left_leg, and right_leg parts from strain to strain2.
• Hand MAIS Board IP Correction: Corrects the ataddress IP for the mais.left_hand board from 10.0.1.26 to 10.0.1.25 and for the mais.right_hand board from 10.0.1.26 to 10.0.1.28. Comments are added noting that these boards might appear twice in the GUI but are physically single boards.
• Torso FOC Board Addition: Adds a new foc board named foc.5.1 to the torso part.
• MTB Board Configuration Changes (Commented Out): Comments out several mtb boards (noted as mtb4 in comments) in the left_arm, torso, left_leg, and right_leg sections. Comments indicate these were skipped for automatic firmware updates due to consistency issues found during GUI discovery.

Changelog

Click here to see the changelog

• iCubGenova11/network.iCubGenova11.xml
  • Added mc4plus board head-eb22 (lines 60-64).
  • Added rfe board rfe.head (lines 66-70).
  • Removed mc4plus board face-eb22-j0 from the face part (lines 65-69 removed).
  • Changed strain.left_arm board type from strain to strain2 (line 112).
  • Changed mais.left_hand board ataddress IP from 10.0.1.26 to 10.0.1.25 (line 144).
  • Commented out several mtb boards in the left_arm part (lines 137-177 commented out, noted as mtb4).
  • Changed strain.right_arm board type from strain to strain2 (line 227).
  • Changed mais.right_hand board ataddress IP from 10.0.1.26 to 10.0.1.28 (line 258).
  • Commented out several mtb boards in the right_arm part (lines 244-284 commented out, noted as mtb4).
  • Added foc board foc.5.1 to the torso part (lines 323-327).
  • Commented out several mtb boards in the torso part (lines 315-337 commented out, noted as mtb4).
  • Changed strain.left_leg board type from strain to strain2 (line 428).
  • Changed strain.left_foot board type from strain to strain2 (line 434).
  • Commented out several mtb boards in the left_leg part (lines 410-486 commented out, noted as mtb4).
  • Changed strain.right_leg board type from strain to strain2 (line 584).
  • Changed strain.right_foot board type from strain to strain2 (line 590).
  • Commented out several mtb boards in the right_leg part (lines 559-635 commented out, noted as mtb4).

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---

XML tags define,
A robot's network line,
Boards connect and bind,
Firmware update designed,
Genova 11 refined.

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[gemini-code-assist]

Code Review

This pull request updates the network configuration file for iCubGenova11, reportedly based on the robot's current state as determined by the Firmware Updater GUI and automated scripts. The changes involve adding, removing, and modifying board definitions, including updating board types (e.g., strain to strain2, mtb to mtb4) and commenting out several mtb4 boards due to noted consistency issues or intentional removal.

Overall, the changes seem to reflect an effort to align the configuration with the actual hardware setup. However, there are a few points regarding potential correctness and maintainability that would be good to discuss.

Summary of Findings

• Potential Duplicate Board Name: A newly added foc board (lines 323-327) has the name foc.5.1, which is identical to an existing board's name (lines 317-321 in the full file), differing only by the canadr attribute. This could cause parsing or operational issues if board names are expected to be unique. (Severity: high)
• Maintainability of Commented-Out Code: Several large sections of mtb4 board configurations (e.g., for arms, torso, legs) have been commented out with explanations like "consistency issue" or "removing mtb4 on leg". While the intent is noted, these large commented blocks reduce file readability and maintainability. It would be good to confirm if this is the intended final representation or if these sections could be removed, relying on version control for history. (Severity: medium)
• Empty XML Part Definition: The <part name="face"> (lines 75-77) is now empty after its board was moved/removed. It's worth verifying if an empty part definition is valid and handled correctly by consuming tools, or if it should be removed. (Severity: medium)
• Minor XML Formatting Issues: Several instances of trailing whitespace on lines and/or excessive empty lines were introduced (e.g., lines 59, 64, 65, 70, 141, 340, 341, 371, 522, 524-527, 678, 680-682, 688, 689-693, and within some commented blocks). These are minor and were not commented on directly due to review settings, but cleaning them up would improve consistency.

Merge Readiness

The pull request aims to synchronize the network configuration with the robot's actual state, which is a valuable update. However, there's a high-severity concern regarding a potentially duplicate board name (foc.5.1) and several medium-severity points about the maintainability of large commented-out code blocks and an empty <part> definition.

I recommend addressing these points, particularly the duplicate name issue, before merging. Discussing the strategy for handling disabled or problematic boards in this configuration file would also be beneficial for long-term clarity. As I am an AI, I am not authorized to approve pull requests; please ensure further review and approval from team members.

[pattacini]

Thanks heaps @sksubiit for porting icub-tech-iit#5 here.

Gemini spotted a couple of points deserving our attention.

[pattacini]

Thanks!