F#9 gauge bias setting

[guihomework]

to solve #9

• I first added a way to set the Bias, hence refactoring the send function to provide more possibilities and be re-usable
• Then in order to create a manual test, I also added a getsetting function, used by default currently at start to retrieve the counts per force and the RDT rate. Now can also retrieve the current gauge bias.
• Finally added a manual test that calls bias, read the new biased value, then sets a manual bias, and reads it back for comparison.

the test should look like this

rosrun ati_sensor gauge_bias_tester 192.168.10.100
Creating sensor
Initializing sensor
Initializing ft sensor (gnulinux)
Start realtime streaming with 1 samples
Using current calibration
Sucessfully retrieved counts per force : 1000000
Sucessfully retrieved counts per torque : 1000000
Set bias (reset) and read gauge bias values
Using current calibration
Gauge bias values after biasing : -18343, -1227, 10589, 5600, 8657, -5097,
Set gauge bias to specific values and read them back
Using current calibration
Gauge bias values are : 10 (10 was set), -1 (-1 was set), 11 (11 was set), -2 (-2 was set), 12 (12 was set), -3 (-3 was set),
Sensor shutdown sucessfully

was tested on a NON-rtnet system and without xenomai obviously.

before merging, tested are required on such a system

[JimmyDaSilva]

Thank you for your contribution! I will try to test this later in the afternoon