diff --git a/README.md b/README.md index e909a2e..d68cfdb 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,7 @@ ![YARP logo](https://raw.githubusercontent.com/robotology/yarp/master/doc/images/yarp-robot-24.png "YARP") YARP telemetry ============== + :warning: LIBRARY UNDER DEVELOPMENT :warning: ![Continuous Integration](https://github.com/robotology-playground/yarp-telemetry/workflows/Continuous%20Integration/badge.svg) @@ -9,6 +10,22 @@ YARP telemetry This is the telemetry component for YARP. +## Table of contents +- [Installation](#installation) + * [Dependencies](#dependencies) + * [Linux/macOS](#linux-macos) + * [Windows](#windows) +- [libYARP_telemetry](#libyarp-telemetry) + * [Example scalar variable](#example-scalar-variable) + * [Example vector variable](#example-vector-variable) + * [Example matrix variable](#example-matrix-variable) + * [Example configuration file](#example-configuration-file) +- [TelemetryDeviceDumper](#telemetrydevicedumper) + * [Parameters](#parameters) + * [Example of xml](#example-of-xml) +- [Contributing](#contributing) +- [License](#license) + ## Installation ### Dependencies @@ -46,7 +63,7 @@ cmake --build . --target INSTALL --config Release ``` In order to allow CMake finding yarp-telemetry, you have to specify the path where you installed in the `CMAKE_PREFIX_PATH` or exporting the `YARP_telemetry_DIR` env variable pointing to the same path. -## Usage +## libYARP_telemetry In order to use this library in your own appliction add this lines in your `CMakeLists.txt` ```cmake find_package(YARP COMPONENTS telemetry) @@ -240,6 +257,77 @@ The configuration can be saved **to a json file** ``` +## TelemetryDeviceDumper + +The `telemetryDeviceDumper` is a [yarp device](http://yarp.it/git-master/note_devices.html) that has to be launched through the [`yarprobotointerface`](http://yarp.it/git-master/yarprobotinterface.html) for dumping quantities from your robot(e.g. encoders, velocities etc.) in base of what specified in the configuration. + +### Parameters + + + +| Parameter name | Type | Units | Default | Required | Description | +| -------- | -------- | -------- | -------- | -------- | -------- | +| `axesNames` | List of strings | - | - | Yes | The axes contained in the axesNames parameter are then mapped to the wrapped controlboard in the attachAll method, using controlBoardRemapper class. | +| `logJointVelocity` | bool | - | false | No | Enable the log of joint velocities. | +| `logJointAcceleration` | bool | - | false | No | Enable the log of joint accelerations. | +| `saveBufferManagerConfiguration` | bool | - | false | No | Enable the save of the configuration of the BufferManager into `path`+ `"bufferConfig"` + `experimentName` + `".json"` | +| `json_file` | string | - | - | No | Configure the `yarp::telemetry::BufferManager`s reading from a json file like [in Example configuration file](#example-configuration-file). Note that this configuration will overwrite the parameter-by-parameter configuration | +| `experimentName` | string | - | - | Yes | Prefix of the files that will be saved. The files will be named: `experimentName`+`timestamp`+ `".mat"`. | +| `path` | string | - | - | No | Path of the folder where the data will be saved. | +| `n_samples` | size_t | - | - | Yes | The max number of samples contained in the circular buffer/s | +| `save_periodically` | bool | - | false | No(but it has to be set to true if `auto_save` is set to false) | The flag for enabling the periodic save thread. | +| `save_period` | double | seconds | - | Yes(if `save_periodically` is set to true) | The period in seconds of the save thread | +| `data_threshold` | size_t | - | 0 | No | The save thread saves to a file if there are at least `data_threshold` samples | +| `auto_save` | bool | - | false | No(but it has to be set to true if `save_periodically` is set to false) | the flag for enabling the save in the destructor of the `yarp::telemetry::BufferManager` | + + + +### Example of xml + +Example of xml file for using it on the `iCub` robot: + +```xml + + + + + + (torso_pitch,torso_roll,torso_yaw,neck_pitch, neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_prosup,l_wrist_pitch,l_wrist_yaw,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_prosup,r_wrist_pitch,r_wrist_yaw,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll) + true + true + true + test_telemetry + /home/icub/test_telemetry/ + 100000 + true + 120 + 300 + true + + + + + left_leg-eb7-j4_5-mc + right_leg-eb9-j4_5-mc + left_leg-eb6-j0_3-mc + right_leg-eb8-j0_3-mc + torso-eb5-j0_2-mc + right_arm-eb27-j4_7-mc + left_arm-eb24-j4_7-mc + right_arm-eb3-j0_3-mc + left_arm-eb1-j0_3-mc + head-eb20-j0_1-mc + head-eb21-j2_5-mc + + + + + + + +``` + + ## Contributing diff --git a/src/telemetryDeviceDumper/TelemetryDeviceDumper.cpp b/src/telemetryDeviceDumper/TelemetryDeviceDumper.cpp index 8916c8e..5d06653 100644 --- a/src/telemetryDeviceDumper/TelemetryDeviceDumper.cpp +++ b/src/telemetryDeviceDumper/TelemetryDeviceDumper.cpp @@ -87,14 +87,74 @@ bool TelemetryDeviceDumper::loadSettingsFromConfig(yarp::os::Searchable& config) settings.useRadians = prop.find(useRadians.c_str()).asBool(); } - std::string experimentName = "experimentName"; - if (prop.check(experimentName.c_str()) && prop.find(experimentName.c_str()).isString()) { - settings.experimentName = prop.find(experimentName.c_str()).asString(); + std::string saveBufferManagerConfiguration = "saveBufferManagerConfiguration"; + if (prop.check(saveBufferManagerConfiguration.c_str())) { + settings.saveBufferManagerConfiguration = prop.find(saveBufferManagerConfiguration.c_str()).asBool(); } - std::string path = "path"; - if (prop.check(path.c_str()) && prop.find(path.c_str()).isString()) { - settings.path = prop.find(path.c_str()).asString(); + // BufferManager options + std::string json_file = "json_file"; + if (prop.check(json_file.c_str()) && prop.find(json_file.c_str()).isString()) { + auto json_path = prop.find(json_file.c_str()).asString(); + bool ok = bufferConfigFromJson(m_bufferConfig, json_path); + return ok; + } + else { + std::string experimentName = "experimentName"; + if (prop.check(experimentName.c_str()) && prop.find(experimentName.c_str()).isString()) { + m_bufferConfig.filename = prop.find(experimentName.c_str()).asString(); + } + else { + yError() << "TelemetryDeviceDumper: missing" << experimentName; + return false; + } + + std::string path = "path"; + if (prop.check(path.c_str()) && prop.find(path.c_str()).isString()) { + m_bufferConfig.path = prop.find(path.c_str()).asString(); + } + + std::string n_samples = "n_samples"; + if (prop.check(n_samples.c_str()) && prop.find(n_samples.c_str()).isInt32()) { + m_bufferConfig.n_samples = prop.find(n_samples.c_str()).asInt32(); + } + else { + yError() << "TelemetryDeviceDumper: missing" << n_samples; + return false; + } + + std::string save_periodically = "save_periodically"; + if (prop.check(save_periodically.c_str()) && prop.find(save_periodically.c_str()).isBool()) { + m_bufferConfig.save_periodically = prop.find(save_periodically.c_str()).asBool(); + } + + if (m_bufferConfig.save_periodically) { + std::string save_period = "save_period"; + if (prop.check(save_period.c_str()) && prop.find(save_period.c_str()).isFloat64()) { + m_bufferConfig.save_period = prop.find(save_period.c_str()).asFloat64(); + } + else { + yError() << "TelemetryDeviceDumper: missing" << save_period; + return false; + } + + std::string data_threshold = "data_threshold"; + if (prop.check(data_threshold.c_str()) && prop.find(data_threshold.c_str()).isInt32()) { + m_bufferConfig.data_threshold = prop.find(data_threshold.c_str()).asInt32(); + } + + } + + std::string auto_save = "auto_save"; + if (prop.check(auto_save.c_str()) && prop.find(auto_save.c_str()).isBool()) { + m_bufferConfig.auto_save = prop.find(auto_save.c_str()).asBool(); + } + + } + + if (!(m_bufferConfig.auto_save || m_bufferConfig.save_periodically)) { + yError() << "TelemetryDeviceDumper: both auto_save and save_periodically are set to false, nothing will be saved."; + return false; } return true; @@ -140,6 +200,10 @@ bool TelemetryDeviceDumper::openRemapperControlBoard(os::Searchable& config) bool ok = getUsedDOFsList(config, jointNames); if (!ok) return false; + // Add the joint names to the BufferManager + // Note that this will overwrite what is set from the configuration phase + m_bufferConfig.description_list = jointNames; + addVectorOfStringToProperty(propRemapper, "axesNames", jointNames); ok = remappedControlBoard.open(propRemapper); @@ -203,8 +267,6 @@ void TelemetryDeviceDumper::resizeBuffers(int size) { } bool TelemetryDeviceDumper::configBufferManager(yarp::os::Searchable& conf) { - // This is the buffer manager configuration - yarp::telemetry::BufferConfig bufferConfig; bool ok{ true }; ok = ok && bufferManager.addChannel({ "encoders", {jointPos.size(), 1} }); if (ok && settings.logJointVelocity) { @@ -215,19 +277,7 @@ bool TelemetryDeviceDumper::configBufferManager(yarp::os::Searchable& conf) { ok = ok && bufferManager.addChannel({ "acceleration", {jointAcc.size(), 1} }); } - // TODO: some settings from the ini are duplicated respect to the settings specified in the json file - - bufferConfig.filename = settings.experimentName; - bufferConfig.path = settings.path; - - // TODO for now it is just hardcoded - bufferConfig.n_samples = 100000; - bufferConfig.save_period = 120.0; - bufferConfig.data_threshold = 300; - bufferConfig.save_periodically = true; - bufferConfig.description_list = jointNames; - - ok = ok && bufferManager.configure(bufferConfig); + ok = ok && bufferManager.configure(m_bufferConfig); return ok; } @@ -263,8 +313,13 @@ bool TelemetryDeviceDumper::close() remappedControlBoard.close(); // Flush all the remaining data. bufferManager.saveToFile(); + bool ok = true; + if (settings.saveBufferManagerConfiguration) { + auto buffConfToSave = bufferManager.getBufferConfig(); + ok = bufferConfigToJson(buffConfToSave, buffConfToSave.path + "bufferConfig" + buffConfToSave.filename + ".json"); + } - return true; + return ok; } diff --git a/src/telemetryDeviceDumper/TelemetryDeviceDumper.h b/src/telemetryDeviceDumper/TelemetryDeviceDumper.h index 4703537..761c3dc 100644 --- a/src/telemetryDeviceDumper/TelemetryDeviceDumper.h +++ b/src/telemetryDeviceDumper/TelemetryDeviceDumper.h @@ -32,8 +32,7 @@ struct TelemetryDeviceDumperSettings { bool logJointVelocity{ false }; bool logJointAcceleration{ false }; bool useRadians{ false }; - std::string experimentName{"telemetryDeviceDumper"}; - std::string path{ "" }; + bool saveBufferManagerConfiguration{ false }; }; /** * @brief FILL DOCUMENTATION @@ -90,6 +89,7 @@ class TelemetryDeviceDumper : public yarp::dev::DeviceDriver, std::vector jointPos, jointVel, jointAcc; std::vector jointNames; TelemetryDeviceDumperSettings settings; + yarp::telemetry::BufferConfig m_bufferConfig; yarp::telemetry::BufferManager bufferManager; diff --git a/src/telemetryDeviceDumper/app/telelmetryDeviceDumper.xml b/src/telemetryDeviceDumper/app/telelmetryDeviceDumper.xml index 6155a01..6f17469 100644 --- a/src/telemetryDeviceDumper/app/telelmetryDeviceDumper.xml +++ b/src/telemetryDeviceDumper/app/telelmetryDeviceDumper.xml @@ -6,8 +6,14 @@ (torso_pitch,torso_roll,torso_yaw,neck_pitch, neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_prosup,l_wrist_pitch,l_wrist_yaw,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_prosup,r_wrist_pitch,r_wrist_yaw,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll) true true + true test_telemetry /home/icub/test_telemetry/ + 100000 + true + 120 + 300 + true