Automatic polling for exogenous signals

[GiulioRomualdi]

Thanks to this PR the YarpRobotLoggerDevice will automatically connect to the exogenous ports. So no need to run it before the walking-controller

Moreover:

• The remote control board will use udp as a carrier
• the readouts from the genericSensorClient (wrenches) are retrieved using udp
• the multipleanalogsensorsclient data are collected with fast_tcp
• the logging of the robot cameras is disabled
• The files are formatted

[S-Dafarra]

Why do you need the full list of ports if you already know the name of the port to connect to?

[GiulioRomualdi]

to check if the port exists to establish the connection. maybe we can directly do the connection if not connected. I don't know if we can improve the performances in this case

[S-Dafarra]

In

bipedal-locomotion-framework/devices/YarpRobotLoggerDevice/src/YarpRobotLoggerDevice.cpp

Line 698 in 8958341

&& yarp::os::Network::exists(port.name))

you should be already querying the server for the existence of that port. So, I guessed that maybe asking the entire list of ports is not necessary. I think you can try to connect anyway, but I suspect in this case you will have errors printed in the terminal if the connection is not successful: https://github.com/robotology/yarp/blob/ea6ed180dd/src/libYARP_os/src/yarp/os/Network.cpp#L676

[GiulioRomualdi]

Ok let me try to rephrase this part of the code 😃

bipedal-locomotion-framework/devices/YarpRobotLoggerDevice/src/YarpRobotLoggerDevice.cpp

Lines 687 to 718 in 8958341

	if (!allPortsConnected)
	{
	// check for new messages
	yarp::profiler::NetworkProfiler::getPortsList(yarpPorts);
	for (const auto& port : yarpPorts)
	{
	// check if the port has not be already connected if exits, its resposive
	auto vectorsCollectionSignal = m_vectorsCollectionSignals.find(port.name);
	if (vectorsCollectionSignal != m_vectorsCollectionSignals.end())
	{
	if (!vectorsCollectionSignal->second.connected
	&& yarp::os::Network::exists(port.name))
	{
	std::lock_guard<std::mutex> lock(vectorsCollectionSignal->second.mutex);
	vectorsCollectionSignal->second.connected
	= vectorsCollectionSignal->second.connect();
	}
	} else
	{
	// check if the port has not be already connected if exits, its resposive
	auto vectorSignal = m_vectorSignals.find(port.name);
	if (vectorSignal != m_vectorSignals.end())
	{
	if (!vectorSignal->second.connected && yarp::os::Network::exists(port.name))
	{
	std::lock_guard<std::mutex> lock(vectorSignal->second.mutex);
	vectorSignal->second.connected = vectorSignal->second.connect();
	}
	}
	}
	}
	}

[GiulioRomualdi]

0534224 should implement what you suggested

[S-Dafarra]

That's pretty neat!