RT Capabilities Part 1 - YARP Logger Device #817

nicktrem · 2024-03-04T14:44:54Z

The first part of the real-time capabilities functionality for the YARP logger device. This PR is a smaller portion of this original pull request for the logger device and just contains the bare-bone software required to get real-time logging up and running. The original pull request for the logger device will be broken up into this pull request and others to simplify the merge process

… json format

…-visualizer

src/YarpUtilities/src/VectorsCollectionServer.cpp

devices/YarpRobotLoggerDevice/src/YarpRobotLoggerDevice.cpp

GiulioRomualdi

Thank you @nicktrem for the effort! I added some comments.

bindings/python/YarpUtilities/src/VectorsCollection.cpp

GiulioRomualdi · 2024-03-05T12:17:41Z

devices/YarpRobotLoggerDevice/include/BipedalLocomotion/YarpRobotLoggerDevice.h

+ void logData(const std::string& name,
+ const Eigen::VectorXd& data,
+ const double time);


Suggested change

void logData(const std::string& name,

const Eigen::VectorXd& data,

const double time);

void logData(const std::string& name,

Eigen::Ref<const Eigen::VectorXd> data,

const double time);

Fixed in 0888c96. The change of just adding Eigen::Ref<> causes issues when saving the data via buffer manager. This is because the push_back method of the buffer manager uses a template for the data and is storing the raw data of the Eigen::Ref and not the Eigen::VectorXd. The solution was discussed and implemented with the help of @S-Dafarra in which we used a lambda function to still pass the Eigen::Vector by a reference.

devices/YarpRobotLoggerDevice/include/BipedalLocomotion/YarpRobotLoggerDevice.h

devices/YarpRobotLoggerDevice/src/YarpRobotLoggerDevice.cpp

GiulioRomualdi · 2024-03-05T12:21:08Z

devices/YarpRobotLoggerDevice/src/YarpRobotLoggerDevice.cpp

+void YarpRobotLoggerDevice::logData(const std::string& name,
+ const Eigen::VectorXd& data,
+ const double time)


Suggested change

void YarpRobotLoggerDevice::logData(const std::string& name,

const Eigen::VectorXd& data,

const double time)

void YarpRobotLoggerDevice::logData(const std::string& name,

Eigen::Ref<const Eigen::VectorXd> data,

const double time)

Fixed in 0888c96. The change of just adding Eigen::Ref<> causes issues when saving the data via buffer manager. This is because the push_back method of the buffer manager uses a template for the data and is storing the raw data of the Eigen::Ref and not the Eigen::VectorXd. The solution was discussed and implemented with the help of @S-Dafarra in which we used a lambda function to still pass the Eigen::Vector by a reference.

devices/YarpRobotLoggerDevice/src/YarpRobotLoggerDevice.cpp

devices/YarpRobotLoggerDevice/include/BipedalLocomotion/YarpRobotLoggerDevice.h

S-Dafarra

Great job!

devices/YarpRobotLoggerDevice/include/BipedalLocomotion/YarpRobotLoggerDevice.h

Co-authored-by: Stefano Dafarra <stefano.dafarra@gmail.com>

traversaro · 2024-03-11T10:28:55Z

The macOS failure is:

2024-03-11T09:02:15.9093100Z �[31mError:�[0m The `brew link` step did not complete successfully
2024-03-11T09:02:15.9095690Z The formula built, but is not symlinked into /usr/local
2024-03-11T09:02:15.9099740Z Could not symlink lib/node_modules/npm/node_modules/@npmcli/disparity-colors/node_modules/ansi-styles/index.js
2024-03-11T09:02:15.9103080Z Target /usr/local/lib/node_modules/npm/node_modules/@npmcli/disparity-colors/node_modules/ansi-styles/index.js
2024-03-11T09:02:15.9105240Z already exists. You may want to remove it:
2024-03-11T09:02:15.9107510Z   rm '/usr/local/lib/node_modules/npm/node_modules/@npmcli/disparity-colors/node_modules/ansi-styles/index.js'
2024-03-11T09:02:15.9109480Z 
2024-03-11T09:02:15.9110010Z To force the link and overwrite all conflicting files:
2024-03-11T09:02:15.9111330Z   brew link --overwrite node@18
2024-03-11T09:02:15.9111960Z 
2024-03-11T09:02:15.9112310Z To list all files that would be deleted:
2024-03-11T09:02:15.9113650Z   brew link --overwrite node@18 --dry-run
2024-03-11T09:02:15.9114480Z

it is unrelated to the PR, and kind the npm equivalent of actions/setup-python#577 .

@nicktrem You can safely ignore this failure.

@GiulioRomualdi @S-Dafarra For me we can safely disable homebrew CI.

GiulioRomualdi · 2024-03-22T11:22:26Z

Hi @nicktrem! Thanks for iterating! I'm going to merge the PR well done!

PS; sorry for the delay 😭

DanielePucci · 2024-03-25T21:02:44Z

Great work all!

nicktrem added 30 commits December 18, 2023 15:54

Edited to test sending of logging data to YARP port

c8134c6

Added a test for streaming data, it was successful

76c01a2

Added dummy value to send for testing

4267db2

temporarily removed sending all of the data for testing purposes

45bade1

Sending FT data to log visualizer

c213ed7

Moved the code for sending data to a more centralized function

c4da8b5

Added more logging data to send to the visualizer

4667433

Added Cartesian Wrench valus to be streamed in real-time

98b0563

Added external data, moved current system of sending data to a better…

d498c21

… json format

Fixed bug related to json key field

cf20448

Cleaned up the code a little bit

296cd2c

Cleaned up the code, removed hard-coded values

a735dd4

Added back motor state logging

f43d2d7

Changed rt logging port name

325d378

Fixed merge conflict

04c14cd

Added Vector Collection Client

5bd0122

Initial test sucessful of sending vector collection data to robot-log…

ca1fffb

…-visualizer

Added get metadata method for pybind11

6ca1fe9

Added metadata values

6284950

Got joint data sending over the vector Collection Network

5f4c3fb

Added more values to send over via the vector collection server

edf8b45

Cleaned up the code

c25f25d

got plot scaling updating correctly

5409fab

Flight data streaming

b83a7f6

Got metadata naming correct

5eabf65

Added ability to stream motor states

554fa1e

Cleaned up the code a bit

f45bfb5

Removed whitespace in Module.cpp

ebf9d76

Removed whitespace from VectorsCollection.cpp

9def9a5

Cleaned up the code, removed debug statements/comments

d92f7f4

nicktrem requested review from GiulioRomualdi and S-Dafarra as code owners March 4, 2024 14:44

github-actions bot added 🔨 component: YarpUtilities 🐍 bindings labels Mar 4, 2024

nicktrem changed the title ~~Rt capabilities p1~~ RT Capabilities Part 1 Mar 4, 2024

nicktrem changed the title ~~RT Capabilities Part 1~~ RT Capabilities Part 1 - YARP Logger Device Mar 4, 2024

nicktrem mentioned this pull request Mar 4, 2024

Added Vector Collection Server for publishing information for real-time users in the YARPRobotLoggerDevice #796

Closed

S-Dafarra reviewed Mar 4, 2024

View reviewed changes

GiulioRomualdi reviewed Mar 5, 2024

View reviewed changes

nicktrem added 3 commits March 6, 2024 12:02

Removed leftover comments

ee4cf0d

replaced unnecessary code with a function

8f0e4a8

Restructured reading rt setting from log file

4ea7f85

github-actions bot removed the 🔨 component: YarpUtilities label Mar 6, 2024

nicktrem added 11 commits March 6, 2024 13:04

Fixed code formatting

f8d16c4

Removed unused includes

9429b0e

Fixed more formatting

69fa835

Added use of Eigen::Map

1939bee

Moved the remote string variable

0c6be42

Fixed bug with bitwise and

7c8d912

Changed variable names

1c924a9

reverted to previous signal name

9555d00

Cleaned up python bindings

a91ee01

Turned log data into a lambda

0888c96

Removed Eigen Map after logData lambda change

01aea4e

S-Dafarra approved these changes Mar 11, 2024

View reviewed changes

devices/YarpRobotLoggerDevice/include/BipedalLocomotion/YarpRobotLoggerDevice.h Outdated Show resolved Hide resolved

removed duplicate include of vector

0c28b90

Co-authored-by: Stefano Dafarra <stefano.dafarra@gmail.com>

GiulioRomualdi merged commit 4e9a2ba into ami-iit:master Mar 22, 2024
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RT Capabilities Part 1 - YARP Logger Device #817

RT Capabilities Part 1 - YARP Logger Device #817

nicktrem commented Mar 4, 2024 •

edited

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traversaro commented Mar 11, 2024

GiulioRomualdi commented Mar 22, 2024

DanielePucci commented Mar 25, 2024

RT Capabilities Part 1 - YARP Logger Device #817

RT Capabilities Part 1 - YARP Logger Device #817

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traversaro commented Mar 11, 2024

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DanielePucci commented Mar 25, 2024

nicktrem commented Mar 4, 2024 •

edited

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