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[iCubTelemVizServer] Send the telemetry samples to the client only wh…
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…en they are received from the Yarp port

...instead of repeating the last received message.
This is critical for visualising the process Yarp text log messages.
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@nunoguedelha
nunoguedelha committed Sep 16, 2022
1 parent ebd123e commit 126edf9
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Showing 2 changed files with 104 additions and 44 deletions.
108 changes: 72 additions & 36 deletions conf/servers.json
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.headIMU": {
"yarpName": "${this.robotYarpPortPrefix}/head/inertials/measures:o",
Expand All @@ -31,7 +32,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.leftArmIMU": {
"yarpName": "${this.robotYarpPortPrefix}/left_arm/imu/measures:o",
Expand All @@ -40,7 +42,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.rightArmIMU": {
"yarpName": "${this.robotYarpPortPrefix}/right_arm/imu/measures:o",
Expand All @@ -49,7 +52,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.leftLegIMU": {
"yarpName": "${this.robotYarpPortPrefix}/left_leg/imu/measures:o",
Expand All @@ -58,7 +62,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.rightLegIMU": {
"yarpName": "${this.robotYarpPortPrefix}/right_leg/imu/measures:o",
Expand All @@ -67,7 +72,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.leftFootIMU": {
"yarpName": "${this.robotYarpPortPrefix}/left_foot/imu/measures:o",
Expand All @@ -76,7 +82,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.rightFootIMU": {
"yarpName": "${this.robotYarpPortPrefix}/right_foot/imu/measures:o",
Expand All @@ -85,7 +92,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.leftLegJointState": {
"yarpName": "${this.robotYarpPortPrefix}/left_leg/stateExt:o",
Expand All @@ -94,7 +102,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.rightLegJointState": {
"yarpName": "${this.robotYarpPortPrefix}/right_leg/stateExt:o",
Expand All @@ -103,7 +112,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.leftArmJointState": {
"yarpName": "${this.robotYarpPortPrefix}/left_arm/stateExt:o",
Expand All @@ -112,7 +122,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.rightArmJointState": {
"yarpName": "${this.robotYarpPortPrefix}/right_arm/stateExt:o",
Expand All @@ -121,7 +132,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.torsoJointState": {
"yarpName": "${this.robotYarpPortPrefix}/torso/stateExt:o",
Expand All @@ -130,7 +142,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.headJointState": {
"yarpName": "${this.robotYarpPortPrefix}/head/stateExt:o",
Expand All @@ -139,7 +152,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.camLeftEye": {
"yarpName": "${this.robotYarpPortPrefix}/camLeftEye",
Expand All @@ -148,7 +162,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.camRightEye": {
"yarpName": "${this.robotYarpPortPrefix}/camRightEye",
Expand All @@ -157,7 +172,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.leftArmEEwrench": {
"yarpName": "/wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o",
Expand All @@ -166,7 +182,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.rightArmEEwrench": {
"yarpName": "/wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o",
Expand All @@ -175,7 +192,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.leftUpperLegEEwrench": {
"yarpName": "/wholeBodyDynamics/left_upper_leg/cartesianEndEffectorWrench:o",
Expand All @@ -184,7 +202,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.leftLowerLegEEwrench": {
"yarpName": "/wholeBodyDynamics/left_lower_leg/cartesianEndEffectorWrench:o",
Expand All @@ -193,7 +212,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.rightUpperLegEEwrench": {
"yarpName": "/wholeBodyDynamics/right_upper_leg/cartesianEndEffectorWrench:o",
Expand All @@ -202,7 +222,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.rightLowerLegEEwrench": {
"yarpName": "/wholeBodyDynamics/right_lower_leg/cartesianEndEffectorWrench:o",
Expand All @@ -211,7 +232,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.leftFootFrontEEwrench": {
"yarpName": "/wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o",
Expand All @@ -220,7 +242,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.leftFootRearEEwrench": {
"yarpName": "/wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o",
Expand All @@ -229,7 +252,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.rightFootFrontEEwrench": {
"yarpName": "/wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o",
Expand All @@ -238,7 +262,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.rightFootRearEEwrench": {
"yarpName": "/wholeBodyDynamics/right_foot_rear/cartesianEndEffectorWrench:o",
Expand All @@ -247,7 +272,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.leftArmFT": {
"yarpName": "${this.robotYarpPortPrefix}/left_arm/measures:o",
Expand All @@ -256,7 +282,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.rightArmFT": {
"yarpName": "${this.robotYarpPortPrefix}/right_arm/measures:o",
Expand All @@ -265,7 +292,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.leftLegHipFT": {
"yarpName": "${this.robotYarpPortPrefix}/left_leg_hip/measures:o",
Expand All @@ -274,7 +302,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.rightLegHipFT": {
"yarpName": "${this.robotYarpPortPrefix}/right_leg_hip/measures:o",
Expand All @@ -283,7 +312,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.leftFootHeelTiptoeFTs": {
"yarpName": "${this.robotYarpPortPrefix}/left_foot_heel_tiptoe/measures:o",
Expand All @@ -292,7 +322,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.rightFootHeelTiptoeFTs": {
"yarpName": "${this.robotYarpPortPrefix}/right_foot_heel_tiptoe/measures:o",
Expand All @@ -301,7 +332,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"sens.batteryStatus": {
"yarpName": "${this.robotYarpPortPrefix}/battery/data:o",
Expand All @@ -310,7 +342,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "localTimer"
},
"walkingController.logger": {
"yarpName": "/walking-coordinator/logger/data:o",
Expand All @@ -319,7 +352,8 @@
"parser": {
"type": "internal",
"outputFormat": "vectorCollection"
}
},
"sourceSync": "localTimer"
},
"yarplogger.yarpRobotInterface": {
"yarpName": "/log/iiticublap199/yarprobotinterfa[yarprobotinterface]/1205",
Expand All @@ -328,7 +362,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "yarpPort"
},
"yarplogger.walkingModule": {
"yarpName": "/log/iiticublap199/WalkingModule-0.[walkingModule]/1470",
Expand All @@ -337,7 +372,8 @@
"parser": {
"type": "internal",
"outputFormat": "fromId"
}
},
"sourceSync": "yarpPort"
}
}
}
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