Skip to content

Ignore saved_position_file.yaml if topology contains only absolute encoders #155

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
kwehage merged 3 commits into from
Dec 22, 2025
+20 −4
Merged

Ignore saved_position_file.yaml if topology contains only absolute encoders #155

Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
6119809
Bypass saved pos file when using all abs actuators
Dec 22, 2025
81e9b2e
Only dynamic cast actuator types
Dec 22, 2025
14ab825
Fix typo in warning message
Dec 22, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
24 changes: 20 additions & 4 deletions src/manager.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1026,12 +1026,30 @@ bool fastcat::Manager::LoadActuatorPosFile()
break;
}
}

if (!actuators_in_topo) {
MSG("No actuators found in topology, bypassing saved positions file "
"functions");
return true;
}

bool all_absolute_actuators_in_topo = true;
for (auto device = jsd_device_list_.begin(); device != jsd_device_list_.end();
++device) {
if ((*device)->GetState()->type == GOLD_ACTUATOR_STATE ||
(*device)->GetState()->type == PLATINUM_ACTUATOR_STATE) {
std::shared_ptr<Actuator> actuator =
std::dynamic_pointer_cast<Actuator>(*device);
if (!actuator->HasAbsoluteEncoder()) {
all_absolute_actuators_in_topo = false;
break;
}
}
}
if (all_absolute_actuators_in_topo) {
MSG("Topology contains only actuators with absolute encoders; bypassing processing "
"saved positions file");
return true;
}

if (!actuator_fault_on_missing_pos_file_) {
WARNING("YAML parameter \'actuator_fault_on_missing_pos_file\' is FALSE");
Expand Down Expand Up @@ -1124,15 +1142,13 @@ bool fastcat::Manager::ValidateActuatorPosFile()
}

actuator = std::dynamic_pointer_cast<Actuator>(*device);

auto find_pos_data = actuator_pos_map_.find(dev_name);

if (actuator->HasAbsoluteEncoder()) {
MSG("Actuator %s has absolute encoder so does not need saved position",
dev_name.c_str());
continue;
}

auto find_pos_data = actuator_pos_map_.find(dev_name);
if (find_pos_data == actuator_pos_map_.end()) {
if (!actuator_fault_on_missing_pos_file_) {
WARNING(
Expand Down
Loading