robotology · Nicogene · Jul 28, 2020 · Jul 27, 2020 · Jul 27, 2020 · Jul 28, 2020
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -195,6 +195,9 @@ endif()
 if(ROBOTOLOGY_ENABLE_ICUB_HEAD)
   find_or_build_package(icub_firmware_shared)
   find_or_build_package(ICUB)
+  if((ROBOTOLOGY_PROJECT_TAGS STREQUAL "Unstable") AND (NOT APPLE))
+    find_or_build_package(diagnosticdaemon)
+  endif()
   if((NOT WIN32) AND (NOT APPLE))
     find_or_build_package(xsensmt-yarp-driver)
   endif()

diff --git a/README.md b/README.md
@@ -67,7 +67,7 @@ Note that any dependencies of the included packages that is not available in the
 | `ROBOTOLOGY_ENABLE_CORE` | The core robotology software packages, necessary for most users. | [`YARP`](https://github.com/robotology/yarp), [`ICUB`](https://github.com/robotology/icub-main), [`ICUBcontrib`](https://github.com/robotology/icub-contrib-common), [`icub-models`](https://github.com/robotology/icub-models) and  [`robots-configurations`](https://github.com/robotology/robots-configuration). [`GazeboYARPPlugins`](https://github.com/robotology/GazeboYARPPlugins) and [`icub-gazebo`](https://github.com/robotology/icub-gazebo) if the `ROBOTOLOGY_USES_GAZEBO` option is enabled. | `ON` | [Documentation on Core profile.](#core) |
 | `ROBOTOLOGY_ENABLE_ROBOT_TESTING` | The robotology software packages related to robot testing. |  [`RobotTestingFramework`](https://github.com/robotology/robot-testing-framework), [`icub-tests`](https://github.com/robotology/icub-tests), [`blocktest`](https://github.com/robotology/blocktest) and [`blocktest-yarp-plugins`](https://github.com/robotology/blocktest-yarp-plugins) | `OFF` | [Documentation on Robot Testing profile.](#robot-testing)  |
 | `ROBOTOLOGY_ENABLE_DYNAMICS` | The robotology software packages related to balancing, walking and force control. | [`iDynTree`](https://github.com/robotology/idyntree), [`blockfactory`](https://github.com/robotology/blockfactory), [`wb-Toolbox`](https://github.com/robotology/wb-Toolbox), [`whole-body-controllers`](https://github.com/robotology/whole-body-controllers), [`walking-controllers`](https://github.com/robotology/walking-controllers). [`icub-gazebo-wholebody`](https://github.com/robotology-playground/icub-gazebo-wholebody) if the `ROBOTOLOGY_USES_GAZEBO` option is enabled. | `OFF` | [Documentation on Dynamics profile.](#dynamics)  |
-| `ROBOTOLOGY_ENABLE_ICUB_HEAD` | The robotology software packages needed on the system that is running on the head of the iCub robot, or in general to communicate directly with iCub low-level devices. | [`icub-firmware`](https://github.com/robotology/icub-firmware), [`icub-firmware-shared`](https://github.com/robotology/icub-firmware-shared). Furthermore, several additional devices are compiled in `YARP` and `ICUB` if this option is enabled. | `OFF` | [Documentation on iCub Head profile.](#icub-head)  |
+| `ROBOTOLOGY_ENABLE_ICUB_HEAD` | The robotology software packages needed on the system that is running on the head of the iCub robot, or in general to communicate directly with iCub low-level devices. | [`icub-firmware`](https://github.com/robotology/icub-firmware), [`icub-firmware-shared`](https://github.com/robotology/icub-firmware-shared), [`diagnostic-daemon`](https://github.com/robotology/diagnostic-daemon). Furthermore, several additional devices are compiled in `YARP` and `ICUB` if this option is enabled. | `OFF` | [Documentation on iCub Head profile.](#icub-head)  |
 | `ROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS` | The robotology software packages needed to run basic demonstrations with the iCub robot. | [`icub-basic-demos`](https://github.com/robotology/icub-basic-demos), [`speech`](https://github.com/robotology/speech),  [`funny-things`](https://github.com/robotology/funny-things). | `OFF` | [Documentation on iCub Basic Demos profile.](#icub-basic-demos)  |
 | `ROBOTOLOGY_ENABLE_TELEOPERATION` | The robotology software packages related to teleoperation. | [`walking-teleoperation`](https://github.com/robotology/walking-teleoperation). To use Oculus or Cyberith Omnidirectional Treadmill enable `ROBOTOLOGY_USES_OCULUS_SDK` and `ROBOTOLOGY_USES_CYBERITH_SDK` options. | `OFF` | [Documentation on teleoperation profile.](#teleoperation)  |
 | `ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS` | The robotology software packages related to human dynamics estimation. | [`human-dynamics-estimation`](https://github.com/robotology/human-dynamics-estimation), [`wearables`](https://github.com/robotology/wearables), [`forcetorque-yarp-devices`](https://github.com/robotology/forcetorque-yarp-devices). For options check the profile documentation. | `OFF` | [Documentation on human dynamics profile.](#human-dynamics)  |
@@ -384,7 +384,7 @@ The steps necessary to install the system dependencies of the Robot Testing prof
 operating system-specific installation documentation, and no additional required system dependency is required.
 
 ### Check the installation
-If the profile has been correctly enabled and compiler, you should be able to run the `robottestingframework-testrunner` and `blocktestrunner` executable from the command line.
+If the profile has been correctly enabled and compiled, you should be able to run the `robottestingframework-testrunner` and `blocktestrunner` executable from the command line.
 
 
 ## Dynamics
@@ -430,7 +430,7 @@ On Linux all the software necessary to communicate with boards contained in the
 
 On Windows to communicate with CAN devices via [esd's CAN USB bridges](https://esd.eu/en/products/can-usb2) you need to set to ON the Windows-only CMake option [`ROBOTOLOGY_ENABLE_ESDCAN`](#esdcan).
 
-On macOS, communication with [esd's CAN USB bridges](https://esd.eu/en/products/can-usb2) is not supported.
+On macOS, communication with [esd's CAN USB bridges](https://esd.eu/en/products/can-usb2) is not supported and `diagnosticdaemon` is not available because of https://github.com/robotology/robotology-superbuild/issues/439.
 
 This section documents the iCub Head profile as any other profile, in a way agnostic of the specific machine in which it is installed. To get information on how to use the robotology-superbuild to install software on the machine mounted in the head of physical iCub robots, please check the documentation in [`doc/use-on-icub-head.md`](doc/use-on-icub-head.md).
 
@@ -447,7 +447,7 @@ please always get in contact with [icub-support](https://github.com/robotology/i
 The `ROBOTOLOGY_ENABLE_ICUB_HEAD` installs several YARP devices for communicating directly with embedded boards of the iCub.
 To check if the installation was correct, you can list all the available YARP devices using the `yarpdev --list` command,
 and check if devices whose name is starting with `embObj` are present in the list. If those devices are present, then the installation
-should be working correctly.
+should be working correctly. Furthermore, if the profile has been correctly enabled and compiled, you should be able to run the `diagnosticdaemon` executable from the command line.
 
 
 ## iCub Basic Demos

diff --git a/cmake/Builddiagnosticdaemon.cmake b/cmake/Builddiagnosticdaemon.cmake
@@ -0,0 +1,18 @@
+# Copyright (C) 2020 iCub Facility, Istituto Italiano di Tecnologia
+# Authors: Nicolò Genesio <[email protected]>
+# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+
+include(YCMEPHelper)
+
+find_or_build_package(YARP QUIET)
+find_or_build_package(icub_firmware_shared QUIET)
+
+ycm_ep_helper(diagnosticdaemon TYPE GIT
+              STYLE GITHUB
+              REPOSITORY robotology/diagnostic-daemon.git
+              TAG master
+              CMAKE_ARGS -DCOMPILE_WITHYARP_DEF:BOOL=ON
+              COMPONENT core
+              FOLDER robotology
+              DEPENDS YARP
+                      icub_firmware_shared)