Runtime configuration of diagnostics related to the RX-DO-TX phases

[marcoaccame]

This PR introduces the xml parsing of configuration of the diagnostics associated to the execution loop and its transmission towards the ETH boards.

In particular, it will be possible to:

• enable / disable the diagnostics about execution overflow of the RX, DO and TX phases. The default is enabled.
• enable / disable the diagnostics about statistics of the RX, DO and TX phases. It will be reported minimum, average and maximum durations of the phases over a period configurable between 1 and 600 seconds. The default is disabled.

This latter feature is particularly useful when one wants to measure the effective duration of RX, DO and TX phases for a particular board over a period of time. As shown later It is possible to activate the section LOGGING.PERIODIC and set LOGGING.PERIODIC.emitRXDOTXstatistics = true to achieve such a statistics (min, average and max duration) over a period of time = LOGGING.PERIODIC.period seconds.

Format of xml file

The parsing will search for a group named LOGGING inside ETH_BOARD.ETH_BOARD_SETTINGS.RUNNINGMODE that has the following format:

<group name="LOGGING">

    <!-- Contains enabling / disabling of logging that must be emitted immediately as soon as the condition appears --> 
    <group name="IMMEDIATE">
        <!-- enable / disable the emission of diagnostics related to the measured execution time of RX higher than the configured
             maxTimeOfRXactivity and similarly for DO and tx
          -->
        <param name="emitRXDOTXoverflow">       true        </param>
    </group>
    
    <!-- Contains enabling / disabling of logging that must be emitted periodically -->
    <group name="PERIODIC">
        <!-- the period expressed in seconds in the interval [1.0, 600.0] -->
        <param name="period">                   10          </param>
        <!-- enable / disable the periodic emission of diagnostics about to the statistics of teh execution time of the RX, DO and TX phase
             in the form of minimul, average and maximum values.
          -->                        
        <param name="emitRXDOTXstatistics">     true        </param>
    </group>

</group>

Backwards compatibility

If the section ETH_BOARD.ETH_BOARD_SETTINGS.RUNNINGMODE.LOGGING is not present the following default values will be used that guarantee behavior as now:

• LOGGING.IMMADIATE.emitRXDOTXoverflow = true;
• LOGGING.PERIODIC.period = 0;
• LOGGING.PERIODIC.emitRXDOTXstatistics = false;

Associated PRs

• Runtime configuration of diagnostics related to the RX-DO-TX phases icub-firmware-shared#96
• Runtime configuration of diagnostics related to the RX-DO-TX phases icub-firmware#502
• ems v3.93, mc4plus v3.94, mc2plus v3.73, amc v2.7 (Runtime configuration of diagnostics related to the RX-DO-TX phases) icub-firmware-build#154
• robots configuration (only template files)

Tests

Performed on a dedicated setup.

Example of output with LOGGING.PERIODIC.period = 10.0 and LOGGING.PERIODIC.emitRXDOTXstatistics = true are:

[INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4146s 479m 144u : SYS: execution time statistics (min, average, max) us in a period: runner.RX() -> (15, 16, 841) us over 10.000000 sec
[INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4146s 479m 541u : SYS: execution time statistics (min, average, max) us in a period: runner.DO() -> (11, 12, 20) us over 10.000000 sec
[INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4146s 479m 922u : SYS: execution time statistics (min, average, max) us in a period: runner.TX() -> (16, 24, 94) us over 10.000000 sec
[INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4156s 479m 162u : SYS: execution time statistics (min, average, max) us in a period: runner.RX() -> (15, 16, 36) us over 10.000000 sec
[INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4156s 479m 541u : SYS: execution time statistics (min, average, max) us in a period: runner.DO() -> (12, 12, 15) us over 10.000000 sec
[INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4156s 479m 917u : SYS: execution time statistics (min, average, max) us in a period: runner.TX() -> (16, 24, 94) us over 10.000000 sec

Similar results with different values of the period such as LOGGING.PERIODIC.period = 60.0

[INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4297s 3m 440u : SYS: execution time statistics (min, average, max) us in a period: runner.RX() -> (15, 16, 836) us over 60.000000 sec
[INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4297s 3m 841u : SYS: execution time statistics (min, average, max) us in a period: runner.DO() -> (11, 11, 20) us over 60.000000 sec
[INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4297s 4m 217u : SYS: execution time statistics (min, average, max) us in a period: runner.TX() -> (16, 23, 96) us over 60.000000 sec
[DEBUG] yarprobotinterface running happily
[ERROR] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4324s 840m 437u : HW: strain values saturation. 1 is the channel involved. In the last second, the lower saturation counts is 10000 and the upper one is 0
[INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4357s 3m 440u : SYS: execution time statistics (min, average, max) us in a period: runner.RX() -> (15, 16, 145) us over 60.000000 sec
[INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4357s 3m 839u : SYS: execution time statistics (min, average, max) us in a period: runner.DO() -> (11, 11, 15) us over 60.000000 sec
[INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4357s 4m 217u : SYS: execution time statistics (min, average, max) us in a period: runner.TX() -> (16, 23, 96) us over 60.000000 sec

With no section on the xml file or with LOGGING.PERIODIC.emitRXDOTXstatistics = false the INFO messages are not sent.

[pattacini]

CI passed, merging.