Finalize CAN rework

[PeterBowman]

Follow-up of #229 and a final (?) take on the [CAN-TEO] project.

• Add SYNC thread in CanBusControlboard with optional TIME protocol handling (Create CANopen abstraction layer #223), configure relevant PDOs (Leverage CANopen & general improvements #232). f7e0cc3
• Set node guard procedures in CanBusControlboard (Local CAN bus monitor thread #242) via heartbeat and boot-up protocols (Create CANopen abstraction layer #223). ca1aef8
• Stream CAN data through YARP ports and enable RPC to target remote SDO downloads, among others (YARP ports to interface remotely with CAN traffic #160). bf2bbd8
• Fix mode-change bug (Cannot change control mode some/many times #170). 8872f40
• Implement position-direct via CSP mode (Implement cyclic synchronous position (CSP) mode #222). 3a9fe3e
• Handle streaming commands via RPDO (Leverage CANopen & general improvements #232). f4970a2
• Handle velocity commands via CSV mode (Implement cyclic synchronous velocity (CSV) mode #221)? d747bb0
• Move ICanBusSharer.hpp to YarpDevices/ and rename CAN library and classes? (Create CANopen abstraction layer #223). See Create CANopen abstraction layer #223 (comment).
• Nuke dumpCanBus, finally? See YARP ports to interface remotely with CAN traffic #160 (comment).
• Review .ini defaults. 8082d0c, 79a475e
• Monitor CAN bus load, tweak delays and minimize acquisition periods (Investigate CAN bus load #231).

Closes #160, closes #170, closes #221, closes #222, closes #223, closes #231, closes #232, closes #242.

---

The following substasks have been considered but finally discarded or deferred until a later moment:

• Hide StateObserverLib in CanOpenNodeLib's implementation (mark as PRIVATE in CMake's usage requirements).
• Refactor ICanBusSharer::registerSender into its own interface (similarly to CanMessageNotifier), use this in CanOpenNodeLib's classes.
• Rename CanMessageNotifier to ICanMessageNotifier?
• Investigate timeouts in id25 related to the transition from Switched on to Operation enabled (ref).
• Decide on the correct/expected behavior of Technosoft's monitor thread (ref). Should it always attempt reconnection after a heartbeat failure?
• There is something wrong with left arm CAN bus, we suspect some kind of hardware issue.
• Review debug logs in TechnosoftIpos, print CAN ID.
• Improve doxygen.

[coveralls]

Coverage increased (+0.05%) to 99.218% when pulling ef71fc0 on road-to-canhalla into 71c5524 on develop.

[PeterBowman]

Now it is good to go. Optional side-quests have been added in the description.

Keep in mind commit ef71fc0 concerning the internal template implementation check (ok boolean) prior to returning from the following functions:

yarp-devices/libraries/YarpDeviceMapperLib/DeviceMapper.hpp

Lines 175 to 190 in ef71fc0

	//! Full-joint command mapping. See class description.
	template<typename T, typename... T_refs>
	bool mapAllJoints(full_mapping_fn<T, T_refs...> fn, T_refs *... refs)
	{
	auto task = createTask();
	bool ok = false;
	for (const auto & t : getDevicesWithOffsets())
	{
	T * p = std::get<0>(t)->getHandle<T>();
	ok |= p && (task->add(p, fn, refs + std::get<1>(t)...), true);
	}
	// at least one targeted device must implement the 'T' iface
	return ok && task->dispatch();
	}

yarp-devices/libraries/YarpDeviceMapperLib/DeviceMapper.hpp

Lines 196 to 212 in ef71fc0

	//! Joint-group command mapping. See class description.
	template<typename T, typename... T_refs>
	bool mapJointGroup(multi_mapping_fn<T, T_refs...> fn, int n_joint, const int * joints, T_refs *... refs)
	{
	auto task = createTask();
	auto devices = getDevices(n_joint, joints); // extend lifetime of local joint vector
	bool ok = true;
	for (const auto & t : devices)
	{
	T * p = std::get<0>(t)->getHandle<T>();
	ok &= p && (task->add(p, fn, std::get<1>(t).size(), std::get<1>(t).data(), refs + std::get<2>(t)...), true);
	}
	// all targeted devices must implement the 'T' iface
	return ok && task->dispatch();
	}