Turned log data into a lambda

ami-iit · Mar 6, 2024 · 0888c96 · 0888c96
1 parent a91ee01
commit 0888c96
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Showing 2 changed files with 11 additions and 14 deletions.
diff --git a/devices/YarpRobotLoggerDevice/include/BipedalLocomotion/YarpRobotLoggerDevice.h b/devices/YarpRobotLoggerDevice/include/BipedalLocomotion/YarpRobotLoggerDevice.h
@@ -178,9 +178,6 @@ class YarpRobotLoggerDevice : public yarp::dev::DeviceDriver,
  void lookForExogenousSignals();
 
  bool initMetadata(const std::string& nameKey, const std::vector<std::string>& metadata);
- void logData(const std::string& name,
- const Eigen::VectorXd& data,
- const double time);
 
  bool hasSubstring(const std::string& str, const std::vector<std::string>& substrings) const;
  void recordVideo(const std::string& cameraName, VideoWriter& writer);

diff --git a/devices/YarpRobotLoggerDevice/src/YarpRobotLoggerDevice.cpp b/devices/YarpRobotLoggerDevice/src/YarpRobotLoggerDevice.cpp
@@ -639,17 +639,6 @@ bool YarpRobotLoggerDevice::initMetadata(const std::string& nameKey, const std::
  return ok;
 }
 
-void YarpRobotLoggerDevice::logData(const std::string& name,
- const Eigen::VectorXd& data,
- const double time)
-{
- m_bufferManager.push_back(data, time, name);
- std::string rtName = robotRtRootName + treeDelim + name;
- if (m_sendDataRT)
- {
- m_vectorCollectionRTDataServer.populateData(rtName, data);
- }
-}
 
 bool YarpRobotLoggerDevice::attachAll(const yarp::dev::PolyDriverList& poly)
 {
@@ -1354,6 +1343,17 @@ void YarpRobotLoggerDevice::recordVideo(const std::string& cameraName, VideoWrit
 
 void YarpRobotLoggerDevice::run()
 {
+ auto logData = [this](const std::string& name,
+ const auto& data,
+ const double time) {
+ m_bufferManager.push_back(data, time, name);
+ std::string rtName = robotRtRootName + treeDelim + name;
+ if (m_sendDataRT)
+ {
+ m_vectorCollectionRTDataServer.populateData(rtName, data);
+ }
+ };
+
  constexpr auto logPrefix = "[YarpRobotLoggerDevice::run]";
  const double time = std::chrono::duration<double>(BipedalLocomotion::clock().now()).count();
  std::string signalFullName = "";