Rename solo to elmo in profile utilities

Author: JosephBowkett

README.md

@@ -8,7 +8,7 @@ To learn more about fastcat, checkout the following documents:
 
 - [Fastcat Primer](doc/fastcat_primer.md)
 - [Complete list of Fastcat Device Configuration YAML Parameters](doc/fastcat_device_config_parameters.md)
-- [Command-line Utilities](doc/utilities.md) — `jsd_slaveinfo`, `solo_vel_profile`, `solo_pos_profile`
+- [Command-line Utilities](doc/utilities.md) — `jsd_slaveinfo`, `elmo_vel_profile`, `elmo_pos_profile`
 - 2021 Aeroconf paper submission `Fastcat: An Open-Source Library for Composable
   EtherCAT Control Systems`
 - README for build details
@@ -60,19 +60,19 @@ $ make
 
 ### Network Port Access for EtherCAT
 
-The shipped utilities (`jsd_slaveinfo`, `solo_vel_profile`, `solo_pos_profile`) and any modules built using fastcat open raw EtherCAT sockets and need `CAP_NET_ADMIN` + `CAP_NET_RAW` permissions.
+The shipped utilities (`jsd_slaveinfo`, `elmo_vel_profile`, `elmo_pos_profile`) and any modules built using fastcat open raw EtherCAT sockets and need `CAP_NET_ADMIN` + `CAP_NET_RAW` permissions.
 This can be achieved either by running the binary as the root user, or by using the `sudo setcap` command to permit non-root users to access the raw socket.
-For example, you can permit a non-root user to run the `solo_vel_profile` binary with the command:
+For example, you can permit a non-root user to run the `elmo_vel_profile` binary with the command:
 
 ```bash
-$ sudo setcap cap_net_admin,cap_net_raw=eip /absolute/path/to/build/bin/solo_vel_profile
+$ sudo setcap cap_net_admin,cap_net_raw=eip /absolute/path/to/build/bin/elmo_vel_profile
 ```
 
 **The raw socketr permissions are cleared on every relink**, so you must re-run `sudo setcap` after each rebuild.
 
 #### Auto-setcap during build
 
-For dev machines, build with `-DAUTO_SETCAP=ON` to automatically run `sudo setcap` on `solo_vel_profile` and `solo_pos_profile` after each link:
+For dev machines, build with `-DAUTO_SETCAP=ON` to automatically run `sudo setcap` on `elmo_vel_profile` and `elmo_pos_profile` after each link:
 
 ```bash
 $ cmake -S . -B build -DAUTO_SETCAP=ON

doc/utilities.md

@@ -6,11 +6,11 @@ them land in `build/bin/`:
 | Binary | Purpose |
 |---|---|
 | `jsd_slaveinfo` | Enumerate EtherCAT slaves on a given interface |
-| `solo_vel_profile` | Run a trapezoidal velocity profile on a single actuator |
-| `solo_pos_profile` | Run a trapezoidal position profile on a single actuator |
+| `elmo_vel_profile` | Run a trapezoidal velocity profile on a single actuator |
+| `elmo_pos_profile` | Run a trapezoidal position profile on a single actuator |
 
 `jsd_slaveinfo` is built as part of fastcat's [JSD](https://github.com/nasa-jpl/jsd)
-dependency. The two `solo_*_profile` binaries are native fastcat utilities
+dependency. The two `elmo_*_profile` binaries are native fastcat utilities
 under `utils/`.
 
 ## Capabilities
@@ -46,7 +46,7 @@ To enable password-less `setcap`, run `sudo visudo` and add:
 <your_username> ALL=(ALL) NOPASSWD: /usr/sbin/setcap
 ```
 
-Note: `AUTO_SETCAP` only applies to `solo_vel_profile` and `solo_pos_profile`.
+Note: `AUTO_SETCAP` only applies to `elmo_vel_profile` and `elmo_pos_profile`.
 `jsd_slaveinfo` is built by the JSD dependency and is not covered by this
 option — set its capabilities manually after each rebuild.
 
@@ -76,7 +76,7 @@ For more detailed documentation see the JSD project's own
 
 ---
 
-## `solo_vel_profile`
+## `elmo_vel_profile`
 
 Runs a trapezoidal velocity profile on one actuator described by a fastcat
 YAML config. The profile accelerates from rest to a cruise speed, holds for a
@@ -86,7 +86,7 @@ timestamped CSV file in the current working directory.
 ### Usage
 
 ```
-./build/bin/solo_vel_profile <config> <actuator_name> <accel> <cruise_speed> <cruise_duration>
+./build/bin/elmo_vel_profile <config> <actuator_name> <accel> <cruise_speed> <cruise_duration>
 ```
 
 | Argument | Description |
@@ -101,7 +101,7 @@ timestamped CSV file in the current working directory.
 
 ```
 cd build/bin
-./solo_vel_profile ../../example_configs/single_elmo.yaml gold_act_1 2.0 5.0 3.0
+./elmo_vel_profile ../../example_configs/single_elmo.yaml gold_act_1 2.0 5.0 3.0
 ```
 
 ### Telemetry output
@@ -119,7 +119,7 @@ control tick:
 
 ---
 
-## `solo_pos_profile`
+## `elmo_pos_profile`
 
 Runs a trapezoidal position profile on one actuator. The trapezoid shape is
 chosen automatically based on the requested distance: triangular if the move
@@ -130,7 +130,7 @@ Negative `relative_position` values move in the negative direction.
 ### Usage
 
 ```
-./build/bin/solo_pos_profile <config> <actuator_name> <accel> <max_velocity> <relative_position>
+./build/bin/elmo_pos_profile <config> <actuator_name> <accel> <max_velocity> <relative_position>
 ```
 
 | Argument | Description |
@@ -145,8 +145,8 @@ Negative `relative_position` values move in the negative direction.
 
 ```
 cd build/bin
-./solo_pos_profile ../../example_configs/single_elmo.yaml gold_act_1 2.0 5.0 3.0
-./solo_pos_profile ../../example_configs/single_elmo.yaml gold_act_1 2.0 5.0 -3.0
+./elmo_pos_profile ../../example_configs/single_elmo.yaml gold_act_1 2.0 5.0 3.0
+./elmo_pos_profile ../../example_configs/single_elmo.yaml gold_act_1 2.0 5.0 -3.0
 ```
 
 ### Telemetry output

utils/CMakeLists.txt

@@ -5,15 +5,15 @@ include_directories(
     ${YAMLCPP_INCLUDE_DIR}
     )
 
-add_executable(solo_vel_profile solo_vel_profile.cpp)
-target_link_libraries(solo_vel_profile fastcat ${YAMLCPP_LIBRARY} pthread rt)
+add_executable(elmo_vel_profile elmo_vel_profile.cpp)
+target_link_libraries(elmo_vel_profile fastcat ${YAMLCPP_LIBRARY} pthread rt)
 
-add_executable(solo_pos_profile solo_pos_profile.cpp)
-target_link_libraries(solo_pos_profile fastcat ${YAMLCPP_LIBRARY} pthread rt)
+add_executable(elmo_pos_profile elmo_pos_profile.cpp)
+target_link_libraries(elmo_pos_profile fastcat ${YAMLCPP_LIBRARY} pthread rt)
 
 option(AUTO_SETCAP "Run sudo setcap on profile utilities post-build" OFF)
 if(AUTO_SETCAP)
-    foreach(tgt solo_vel_profile solo_pos_profile)
+    foreach(tgt elmo_vel_profile elmo_pos_profile)
         add_custom_command(TARGET ${tgt} POST_BUILD
             COMMAND sudo setcap cap_net_admin,cap_net_raw=eip $<TARGET_FILE:${tgt}>
             COMMENT "Setting capabilities on ${tgt}")