[iCubTelemVizServer] Add ports, parsing and notification of Yarp Text…

… Logging data (#138) - [config] Add port configuration (manual setting after running the logged processes) => To be improved. - [icubtelemetry] Add the respective entries in the `state` structure property. - [icubtelemetry] Add a parser converting a bottle string to a nested array then a JSON object, used in the parsing of the Yarp Text Logging data.
ami-iit · Sep 12, 2022 · c9b285d · c9b285d
1 parent 47a887c
commit c9b285d
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Showing 3 changed files with 58 additions and 2 deletions.
diff --git a/common/utils.js b/common/utils.js
@@ -1,5 +1,7 @@
 "use strict";
 
+var yarp = require('YarpJS');
+
 /**
  * Signal string to code conversion from the POSIX standard
  *
@@ -135,7 +137,9 @@ function evalTemplateLiteralInJSON(jsonObjectWithTemplateLiterals, ...args) {
 
 /**
  * Generates the values template blocks (generatedValuesBase) from the parameters in valuesTemplateGeneratorParams.
- * @type {{MyCounter: MyCounter, jsonExportScript: (function(Object, string): string), signalName2exitCodeMap: (function(string)), signalName2codeMap: {SIGQUIT: number, SIGINT: number, SIGALRM: number, SIGHUP: number, SIGABRT: number, SIGTERM: number, SIGKILL: number}, evalTemplateLiteralInJSON: (function(Object): Object)}}
+ *
+ * @param {object} dictionary2expand - JSON dictionary with the parameters for generating the generatedValuesBase blocks.
+ * @returns {object} - expanded dictionary.
  */
 function expandTelemetryDictionary(dictionary2expand) {
     // Run a first interpolation
@@ -170,11 +174,27 @@ function expandTelemetryDictionary(dictionary2expand) {
     return dictionary2expand;
 }
 
+/**
+ * Convert Bottle from string to JSON format
+ *
+ * @param {string} bottleAsString - JSON dictionary with the parameters for generating the generatedValuesBase blocks.
+ * @returns {object} - JSON formatted object.
+ */
+function yarpBottleString2JSON(bottleAsString) {
+    let bottleAsJSON = {};
+    let bottleAsNestedArray = yarp.Bottle().fromString(bottleAsString).toArray();
+    bottleAsNestedArray.forEach((elem) => {
+        bottleAsJSON[elem[0]] = elem[1];
+    });
+    return bottleAsJSON;
+}
+
 module.exports = {
     signalName2codeMap: signalName2codeMap,
     signalName2exitCodeMap: signalName2exitCodeMap,
     MyCounter: MyCounter,
     jsonExportScript: jsonExportScript,
     evalTemplateLiteralInJSON: evalTemplateLiteralInJSON,
-    expandTelemetryDictionary: expandTelemetryDictionary
+    expandTelemetryDictionary: expandTelemetryDictionary,
+    yarpBottleString2JSON: yarpBottleString2JSON
 };
diff --git a/conf/servers.json b/conf/servers.json
@@ -320,6 +320,24 @@
                 "type": "internal",
                 "outputFormat": "vectorCollection"
             }
+        },
+        "processTextLogging.yarpRobotInterface": {
+            "yarpName": "/log/iiticublap199/yarprobotinterfa[yarprobotinterface]/1205",
+            "localName": "${this.localYarpPortPrefix}/proc-yarprobotinterface-yarptextlogging:i",
+            "portType": "bottle",
+            "parser": {
+                "type": "internal",
+                "outputFormat": "fromId"
+            }
+        },
+        "processTextLogging.walkingModule": {
+            "yarpName": "/log/iiticublap199/WalkingModule-0.[walkingModule]/1470",
+            "localName": "${this.localYarpPortPrefix}/proc-walkingmodule-yarptextlogging:i",
+            "portType": "bottle",
+            "parser": {
+                "type": "internal",
+                "outputFormat": "fromId"
+            }
         }
     }
 }
diff --git a/iCubTelemVizServer/icubtelemetry.js b/iCubTelemVizServer/icubtelemetry.js
@@ -15,6 +15,8 @@
 
 // Handle errors
 var assert = require('assert');
+const {yarpBottleString2JSON} = require('../common/utils');
+
 const NOTIFIER_REPEAT_INTERVAL_MS = 10;
 const TELEMETRY_DATA_DEPTH_MS = 60 * 1000;
 
@@ -85,6 +87,9 @@ function ICubTelemetry(portInConfig) {
         },
         "sens.batteryStatus": {
             "voltage": 0, "current": 0, "charge": 0, "temperature": 0, "status": 0
+        },
+        "processTextLogging.yarpRobotInterface": {
+            "message": "", "level": "", "filename": "", "line": 0, "function": "", "hostname": "", "pid": 0, "cmd": "", "args": "", "thread_id": 0 , "component": "", "id": "", "systemtime": 0, "networktime": 0, "externaltime": 0, "backtrace": ""
         }
     };
 
@@ -113,6 +118,8 @@ function ICubTelemetry(portInConfig) {
     this.state["sens.leftFootToetipFT"] = JSON.parse(JSON.stringify(this.state["sens.leftArmFT"]));
     this.state["sens.rightFootHeelFT"] = JSON.parse(JSON.stringify(this.state["sens.leftArmFT"]));
     this.state["sens.rightFootToetipFT"] = JSON.parse(JSON.stringify(this.state["sens.leftArmFT"]));
+    this.state["sens.rightFootToetipFT"] = JSON.parse(JSON.stringify(this.state["sens.leftArmFT"]));
+    this.state["processTextLogging.walkingModule"] = JSON.parse(JSON.stringify(this.state["processTextLogging.yarpRobotInterface"]));
 
     this.parser = {};
     Object.keys(portInConfig).forEach((key) => {
@@ -334,6 +341,17 @@ ICubTelemetry.prototype.parseFromId = function (id,sensorSample) {
             this.state[id].temperature = sensorSample[3];
             this.state[id].status = sensorSample[4];
             break;
+        case "processTextLogging.yarpRobotInterface":
+        case "processTextLogging.walkingModule":
+            // Parse hostname, pid, port.
+            let pid, hostname;
+            [,hostname,,pid] = sensorSample[0].match(/[^\/]*\/log\/(.+)\/(.+)\/([0-9]+)/);
+            // Parse other information: level, systemtime, etc.
+            Object.assign(this.state[id],
+                {"pid": Number(pid), "hostname": hostname},
+                yarpBottleString2JSON(sensorSample[1])
+            );
+            break;
         default:
             this.state[id] = sensorSample;
     }