Add the possibility to log the YarpTextLogging

[nunoguedelha]

Some modules can forward their execution log to the Yarplogger through a Yarp port. We could visualise the logged data on OpenMCT. Refer to the discussion referenced below:

It might also be useful to log the text log coming from the modules. In general anyway, it would be nice to have a shared interface between the online and offline logging.

cc @GiulioRomualdi

Originally posted by @S-Dafarra in #121 (comment)

For the TextLogging I took inspiration from what is done in YarpManager. ami-iit/bipedal-locomotion-framework#546

Originally posted by @GiulioRomualdi in #121 (comment)

For the TextLogging I took inspiration from what is done in YarpManager. ami-iit/bipedal-locomotion-framework#546

@GiulioRomualdi , I guess you meant more specifically ami-iit/bipedal-locomotion-framework#541.

Originally posted by @nunoguedelha in #121 (comment)

For the development, we relate to the analysis done in ami-iit/bipedal-locomotion-framework#540 .

[nunoguedelha]

Using yarp_logging

yarp_logging Logging with YARP

YARP has an internal mechanism to help you debug your distributed application.

While you can simply use printf or std::cout methods to debug your
application locally, if you use the functionalities offered, YARP will collect
and show several additional information, including system and network time,
file, line, thread id, etc., and eventually forward them to
[yarplogger](@ref yarplogger).

YARP is also able to detect if it is running on a console or inside
[yarprun](@ref yarprun) and if the application output is forwarded to
[yarplogger](@ref yarplogger) (using the --log option), and change its
output accordingly, so that the extra information is forwarded properly.

When the log is forwarded over the network, the logging process opens a yarp port
with the following syntax: /log/hostname/processname/pid.
NOTE: If yarprun is used, hostname is replaced by the name of yarprun server.

Environment variables

Identifying the process which is currently broadcasting

User can set YARP_LOG_PROCESS_LABEL to specify a string which can help in identifying the
process which is currently broadcasting the log over the network.
The string will be appended after the process name in the log port and included between
two square brackets, i.e. /log/hostname/processname[user_label]/pid.
A typical use case for this environment variable is when multiple [yarprobotinterface](@ref yarprobotinterface)
and/or [yarpdev](@ref yarpdev) are running simultaneously. In this case, the name log ports are
difficult to interpret, since the process name alone is not enough to identify them.
In this case the user can set a custom label for each of them to better distinguish them
in the [yarplogger](@ref yarplogger) gui.
YARP_LOG_PROCESS_LABEL can be easily set for each individual process, via [yarpmanager](@ref yarpmanager),
using the environment section.

Forwarding output

By default, the logging callback prints the output on the stdout/stderr.
When a YARP program is started by [yarprun --log](@ref yarprun), this will
forward the output on a YARP port that can be read by
[yarplogger](@ref yarplogger), and displayed.

This behaviour can be obtained also without [yarprun](@ref yarprun), by
setting the YARP_FORWARD_LOG_ENABLE environment variable to 1.
Please note that, while [yarprun](@ref yarprun) is able to forward all the
output of the application (including printf and std::out output), this
method will forward only the output using YARP log utilities.

At the moment, not all the information gathered is forwarded. It is possible
to enable them by using the following environment variables:

• YARP_FORWARD_CODEINFO_ENABLE
• YARP_FORWARD_HOSTNAME_ENABLE
• YARP_FORWARD_PROCESSINFO_ENABLE
• YARP_FORWARD_BACKTRACE_ENABLE

Please note that yarp::os internal logging is never forwarded, since this
could cause recursions that will crash the program.

---

For now, we shall only use the variables YARP_FORWARD_LOG_ENABLE=1 and :

• YARP_LOG_PROCESS_LABEL=YarpJS_WholeBodyDynamics at the step 5 of https://github.com/ami-iit/yarp-openmct#how-to-run-the-telemetry-visualization-tool-arrow_up :

  YARP_CLOCK=/clock YARP_LOG_PROCESS_LABEL=YarpJS_WholeBodyDynamics yarprobotinterface YARP_FORWARD_LOG_ENABLE=1 --config launch-wholebodydynamics.xml
  

• YARP_LOG_PROCESS_LABEL=YarpJS_WalkingModule at step 6 of https://github.com/ami-iit/yarp-openmct#how-to-run-the-telemetry-visualization-tool-arrow_up :

  YARP_CLOCK=/clock YARP_LOG_PROCESS_LABEL=YarpJS_WalkingModule YARP_FORWARD_LOG_ENABLE=1 WalkingModule
  

[nunoguedelha]

The YARP_FORWARD_LOG_ENABLE=1 setting is working properly, I'm able to connect to the respective logging ports and stream the expected messages.

The YARP_LOG_PROCESS_LABEL variable is not having any effect on the port name. This is probably because I was using an old YARP version older than 3.5.1, while 3.5.1 includes the commit https://github.com/robotology/yarp/tree/64beef5720bedd3ecca59d6a315a6fb7124047c5 .

So I tried updating my setup, installing a recent superbuild (binary installation). I'm having some issues installing the whole barraca due to some cross-dependencies on Conda. I will discuss with @traversaro offline about this.

[nunoguedelha]

@traversaro , at the end I was able to install Gazebo 11.11.0, after:

• updating conda to 4.14.0 (although you mentioned it shouldn't matter in this case, but maybe same base package was causing a conflict and resulting in a crash of Gazebo)
• re-creating again the environment
• installing first Gazebo 11.11.0 and running it (with success)
• then installing the robotology packages in the order yarp, gazebo-yarp-plugins, icub-models, icub-main.

The installation of Robotology packages was successful, but I'm now encountering a new issue with Gazebo, unrelated to Robotology packages. Every time I try to insert any model (even native Gazebo models), it simply disappears right away:

• run gazebo --verbose
• go to insert tab on the left pane
• select the Arm Part model (for instance)
• hover the world canvas (at this point the part is displayed and follows the mouse position on the canvas)
• click where you wish to drop the model => the model disappears from the canvas

No debug, warning nor error message is printed on the terminal.

[nunoguedelha]

When previously installing Gazebo with conda, I got the warning message:

...
Preparing transaction: done
Verifying transaction: done
Executing transaction: \ objc[39523]: Class GNotificationCenterDelegate is implemented in both /Users/nunoguedelha/miniforge3/envs/robotologybin/lib/libgio-2.0.0.dylib (0x103bc1bc0) and /usr/local/opt/glib/lib/libgio-2.0.0.dylib (0x104109330). One of the two will be used. Which one is undefined.

- objc[39594]: Class GNotificationCenterDelegate is implemented in both /Users/nunoguedelha/miniforge3/envs/robotologybin/lib/libgio-2.0.0.dylib (0x1065a9bc0) and /usr/local/opt/glib/lib/libgio-2.0.0.dylib (0x106aeb330). One of the two will be used. Which one is undefined.

done

full log

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  + libgdal                         3.5.1  hcf5fda6_5          conda-forge/osx-64      10MB
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  + libsdformat                     9.8.0  h36e5baf_2          conda-forge/osx-64     670kB
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  + sdl2                           2.0.22  hb486fe8_2          conda-forge/osx-64       2MB
  + simbody                           3.7  h43072b6_3          conda-forge/osx-64      39MB
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  + sqlite                         3.39.3  h9ae0607_0          conda-forge/osx-64     896kB
  + svt-av1                         1.2.1  hbbd2c75_0          conda-forge/osx-64       3MB
  + swig                            4.0.2  hce5123c_2          conda-forge/osx-64       1MB
  + tbb                          2021.5.0  hbb4e6a2_1          conda-forge/osx-64     161kB
  + tbb-devel                    2021.5.0  hbb4e6a2_1          conda-forge/osx-64     983kB
  + tiledb                         2.11.1  h3b7b576_0          conda-forge/osx-64       5MB
  + tinyxml                         2.6.2  h65a07b1_2          conda-forge/osx-64      52kB
  + tinyxml2                        9.0.0  he49afe7_2          conda-forge/osx-64     108kB
  + tzcode                          2022c  h775f41a_0          conda-forge/osx-64      69kB
  + urdfdom                         3.1.0  hd1da41a_1          conda-forge/osx-64     117kB
  + urdfdom_headers                 1.1.0  h1b54a9f_0          conda-forge/osx-64      19kB
  + x264                       1!164.3095  h775f41a_2          conda-forge/osx-64     937kB
  + x265                              3.5  hbb4e6a2_3          conda-forge/osx-64       3MB
  + xerces-c                        3.2.3  hf5b2a72_5          conda-forge/osx-64       2MB
  + xorg-fixesproto                   5.0  h0d85af4_1002       conda-forge/osx-64       9kB
  + xorg-kbproto                    1.0.7  h35c211d_1002       conda-forge/osx-64      27kB
  + xorg-libice                    1.0.10  h0d85af4_0          conda-forge/osx-64      49kB
  + xorg-libsm                      1.2.3  h0d85af4_1000       conda-forge/osx-64      23kB
  + xorg-libx11                     1.7.2  h0d85af4_0          conda-forge/osx-64     907kB
  + xorg-libxau                     1.0.9  h35c211d_0          conda-forge/osx-64      11kB
  + xorg-libxaw                    1.0.14  h0d85af4_1          conda-forge/osx-64     314kB
  + xorg-libxdmcp                   1.1.3  h35c211d_0          conda-forge/osx-64      17kB
  + xorg-libxext                    1.3.4  h0d85af4_1          conda-forge/osx-64      44kB
  + xorg-libxfixes                  5.0.3  h0d85af4_1004       conda-forge/osx-64      16kB
  + xorg-libxmu                     1.1.3  h0d85af4_0          conda-forge/osx-64      70kB
  + xorg-libxpm                    3.5.13  h0d85af4_0          conda-forge/osx-64      60kB
  + xorg-libxrender                0.9.10  h0d85af4_1003       conda-forge/osx-64      25kB
  + xorg-libxt                      1.2.1  h0d85af4_2          conda-forge/osx-64     207kB
  + xorg-renderproto               0.11.1  h0d85af4_1002       conda-forge/osx-64      10kB
  + xorg-xextproto                  7.3.0  h35c211d_1002       conda-forge/osx-64      28kB
  + xorg-xproto                    7.0.31  h35c211d_1007       conda-forge/osx-64      75kB
  + zeromq                          4.3.4  he49afe7_1          conda-forge/osx-64     321kB
  + zlib                           1.2.12  hfe4f2af_2          conda-forge/osx-64      95kB
  + zziplib                       0.13.69  h5dbffcc_1          conda-forge/osx-64      84kB

  Summary:

  Install: 169 packages

  Total download: 592MB

─────────────────────────────────────────────────────────────────────────────────────────────

Confirm changes: [Y/n] Y
openal-soft                                        548.2kB @   1.4MB/s  0.4s
expat                                              149.6kB @ 365.2kB/s  0.4s
libdeflate                                          86.3kB @ 193.8kB/s  0.0s
libusb                                              79.5kB @ 127.0kB/s  0.6s
libpng                                             319.2kB @ 509.7kB/s  0.2s
imath                                              164.8kB @ 170.5kB/s  0.3s
octomap                                            315.2kB @ 292.5kB/s  0.5s
json-c                                              72.5kB @  66.4kB/s  0.1s
curl                                               150.5kB @ 108.3kB/s  0.3s
eigen                                                1.3MB @ 893.2kB/s  1.0s
llvm-openmp                                        336.9kB @ 230.7kB/s  0.4s
libopus                                            280.0kB @ 159.8kB/s  0.3s
libprotobuf                                          2.4MB @   1.2MB/s  1.9s
pugixml                                            107.1kB @  54.2kB/s  0.2s
xorg-libxdmcp                                       17.2kB @   8.7kB/s  0.1s
sqlite                                             896.3kB @ 430.7kB/s  0.7s
graphite2                                           86.6kB @  39.3kB/s  0.2s
libignition-cmake2                                 251.6kB @ 113.0kB/s  2.2s
xorg-libice                                         49.5kB @  21.7kB/s  0.2s
xorg-xproto                                         74.8kB @  29.8kB/s  0.2s
gdbm                                               134.2kB @  47.5kB/s  0.3s
lame                                               533.6kB @ 188.5kB/s  0.6s
openh264                                             1.6MB @ 431.9kB/s  1.8s
swig                                                 1.2MB @ 274.0kB/s  1.5s
libtiff                                            618.0kB @ 134.5kB/s  0.8s
assimp                                               3.2MB @ 505.8kB/s  3.6s
openexr                                              1.7MB @ 253.2kB/s  2.3s
x265                                                 3.4MB @ 488.6kB/s  4.8s
libdap4                                              2.3MB @ 317.0kB/s  2.6s
xorg-libsm                                          23.0kB @   3.1kB/s  0.2s
libxcb                                             312.4kB @  40.8kB/s  0.6s
fontconfig                                         287.6kB @  35.5kB/s  0.5s
lcms2                                              413.9kB @  46.8kB/s  0.7s
gts                                                335.1kB @  35.0kB/s  0.7s
libgfortran                                        149.7kB @  15.2kB/s  0.3s
libsdformat                                        669.8kB @  62.1kB/s  0.9s
postgresql                                           5.3MB @ 438.4kB/s  5.5s
gnutls                                               2.2MB @ 172.9kB/s  2.2s
cfitsio                                              1.4MB @ 100.4kB/s  1.3s
xorg-libxext                                        43.7kB @   3.0kB/s  0.2s
libraw                                               1.6MB @ 109.7kB/s  2.8s
libblas                                             13.0kB @ 868.0 B/s  0.1s
libignition-msgs5                                  838.6kB @  54.1kB/s  1.0s
libclang13                                           8.5MB @ 536.3kB/s  9.4s
libignition-transport8                             360.4kB @  22.7kB/s  0.4s
libcblas                                            12.9kB @ 809.0 B/s  0.1s
ruby                                                 9.0MB @ 486.5kB/s 11.2s
flann                                                3.0MB @ 148.1kB/s  5.3s
font-ttf-inconsolata                                96.5kB @   4.7kB/s  0.2s
fonts-conda-forge                                    4.1kB @ 200.0 B/s  0.0s
cairo                                                1.4MB @  62.6kB/s  2.2s
poppler                                              1.8MB @  71.6kB/s  2.7s
libllvm14                                           28.1MB @ 828.5kB/s 32.5s
libgdal                                              9.6MB @ 277.1kB/s  9.3s
libwebp-base                                       393.8kB @  11.1kB/s  0.7s
zlib                                                95.0kB @   2.6kB/s  0.5s
lerc                                               290.3kB @   7.9kB/s  0.5s
jsoncpp                                            173.4kB @   4.7kB/s  0.5s
libccd-double                                       30.9kB @ 830.0 B/s  0.2s
dartsim                                             15.7MB @ 397.5kB/s 20.9s
tbb                                                161.0kB @   4.0kB/s  0.4s
libpq                                                3.0MB @  74.6kB/s  3.5s
mysql-common                                         2.0MB @  47.4kB/s  2.6s
pthread-stubs                                        5.7kB @ 132.0 B/s  0.1s
sdl2                                                 1.6MB @  37.0kB/s  2.1s
librsvg                                              7.6MB @ 177.0kB/s  9.1s
libtasn1                                           118.8kB @   2.8kB/s  0.3s
gmp                                                792.1kB @  18.1kB/s  1.1s
xorg-xextproto                                      28.2kB @ 642.0 B/s  0.2s
libsodium                                          528.8kB @  12.0kB/s  0.8s
zziplib                                             84.3kB @   1.9kB/s  0.4s
librttopo                                          222.8kB @   5.0kB/s  0.4s
hdf4                                               951.7kB @  20.9kB/s  1.6s
blosc                                               48.7kB @   1.1kB/s  0.2s
urdfdom                                            117.2kB @   2.5kB/s  0.5s
aom                                                  3.3MB @  71.0kB/s  3.6s
libgfortran5                                         2.0MB @  41.2kB/s  2.9s
openjpeg                                           515.5kB @  10.8kB/s  1.0s
glib-tools                                          96.7kB @   2.0kB/s  0.2s
geotiff                                            131.5kB @   2.7kB/s  0.3s
gdk-pixbuf                                         586.4kB @  12.1kB/s  0.8s
libvorbis                                          254.2kB @   5.2kB/s  2.2s
xorg-libxfixes                                      15.5kB @ 317.0 B/s  0.4s
xorg-libxpm                                         59.9kB @   1.2kB/s  0.4s
liblapack                                           12.9kB @ 261.0 B/s  0.1s
gstreamer                                            1.9MB @  38.0kB/s  2.4s
libopenblas                                         10.1MB @ 166.6kB/s 12.4s
font-ttf-source-code-pro                           700.8kB @  11.3kB/s  1.6s
qt-main                                             54.3MB @ 698.8kB/s 1m:1.9s
ffmpeg                                              11.1MB @ 137.9kB/s 18.4s
harfbuzz                                             2.4MB @  29.5kB/s  3.1s
pcre                                               225.6kB @   2.8kB/s  0.5s
jpeg                                               266.7kB @   3.3kB/s  0.4s
libzip                                             119.7kB @   1.5kB/s  0.3s
geos                                                 1.4MB @  17.1kB/s  2.1s
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Preparing transaction: done
Verifying transaction: done
Executing transaction: \ objc[39523]: Class GNotificationCenterDelegate is implemented in both /Users/nunoguedelha/miniforge3/envs/robotologybin/lib/libgio-2.0.0.dylib (0x103bc1bc0) and /usr/local/opt/glib/lib/libgio-2.0.0.dylib (0x104109330). One of the two will be used. Which one is undefined.

- objc[39594]: Class GNotificationCenterDelegate is implemented in both /Users/nunoguedelha/miniforge3/envs/robotologybin/lib/libgio-2.0.0.dylib (0x1065a9bc0) and /usr/local/opt/glib/lib/libgio-2.0.0.dylib (0x106aeb330). One of the two will be used. Which one is undefined.

done
(robotologybin) nunoguedelha@iiticublap199 ~
$
(robotologybin) nunoguedelha@iiticublap199 ~
$ conda list gazebo
# packages in environment at /Users/nunoguedelha/miniforge3/envs/robotologybin:
#
# Name                    Version                   Build  Channel
gazebo                    11.11.0             ha646a65_12    conda-forge

but it doesn't seem to be related to my issue.

[traversaro]

updating conda to 4.14.0 (although you mentioned it shouldn't matter in this case, but maybe same base package was causing a conflict and resulting in a crash of Gazebo)

In theory no package in the base environment should be used by Gazebo . Anyhow, perhaps something strange was going on.

[traversaro]

Are you able to run models by spawning an existing world?

[nunoguedelha]

Are you able to run models by spawning an existing world?

As discussed in Teams, yes I can, but I can't add other models from the GUI. As @traversaro noticed, it seems that the client is not connected to the server. refer to conda-forge/gazebo-feedstock#148 submitted by @traversaro .

As this issue prevents running Gazebo ≥ 11.10.1, and installing/running Gazebo < 11.10.1 prevents running the gazebo-yarp-plugins and yarp versions required for getting the proper handling of the YARP_LOG_PROCESS_LABEL variable, I'm proceeding without it for now.

[traversaro]

As this issue prevents running Gazebo ≥ 11.10.1, and installing/running Gazebo < 11.10.1 prevents running the gazebo-yarp-plugins and yarp versions required for getting the proper handling of the YARP_LOG_PROCESS_LABEL variable, I'm proceeding without it for now.

A possible alternative is to compile yarp and gazebo-yarp-plugins from source with gazebo 11.9, right? Anyhow, if it is not worth the trouble no problem.

[nunoguedelha]

Indeed, but I wanted to avoid building from source to make it quicker 😄 , at the end it was worse.. well, I'll give a shot to building from source.

[nunoguedelha]

Side note: it would be interesting to build Gazebo from source, installing the dependencies through Conda. This requires significant effort rewriting the CMake files.

[traversaro]

Side note: it would be interesting to build Gazebo from source, installing the dependencies through Conda. This requires significant effort rewriting the CMake files.

I actually did this, I do not think there is any modification required in CMake files, see conda-forge/gazebo-feedstock#148 (comment) .

[nunoguedelha]

Awesome, thanks @traversaro ! I wasn't aware of this.

CC @S-Dafarra

[nunoguedelha]

well, I'll give a shot to building from source.

I built the superbuild from source and installed Gazebo 11.9.1 on the same conda environment.
I ran Gazebo and as soon as I insert an iCub model, I get this protobuf error:

[libprotobuf ERROR google/protobuf/descriptor_database.cc:559] Invalid file descriptor data passed to EncodedDescriptorDatabase::Add().
[libprotobuf FATAL google/protobuf/descriptor.cc:1357] CHECK failed: GeneratedDatabase()->Add(encoded_file_descriptor, size):
libc++abi.dylib: terminating with uncaught exception of type google::protobuf::FatalException: CHECK failed: GeneratedDatabase()->Add(encoded_file_descriptor, size):

I'll open an issue on the superbuild repo.

[nunoguedelha]

I'll open an issue on the superbuild repo.

robotology/robotology-superbuild#1253

[nunoguedelha]

Moving on...

Implementation Steps

I list below the steps for getting the Yarprobotinterface and WalkingController modules logging output on the OpenMCT visualizer.

First Working Version: no auto search for the ports streaming the Yarp text logging

In a first step we focus on the data parsing and sending to the visualizer, the dictionary definition and the actual data visualisation in the OpenMCT framework. For this purpose, the port names are fully defined in the configuration file servers.js, and edited every time the processes logging the data (yarprobotinterface, WalkingModule) are stopped and run again.

In the configuration file:

• Add the Yarprobotinterface and WalkingController logging ports to the port configuration.

On the telemetry server:

• Add the Yarp Text Logging to the state buffer.
• Add the parsing of the data to the main parser.

On OpenMCT framework:

• Add a new folder "Modules process output logging".
• Add to the folder the two new entries related to the Yarprobotinterface and WalkingController processes.
• Add the respective dictionary and set the appropriate data type and format.
• Use plugin "Telemetry Table" to display the log data.
• Set eventually the canvas form to display the message details right below the table, and synchronised with the message selected in the table. => this would be a nice to have, but not critical right now, since we have already a pop-up window when we point a given datum, and we have a "view full datum" option.

Improved Version: auto search for ports streaming the logged data

In the configuration file:

• Replace the full port names by the Yarprobotinterface and WalkingController process labels.

On the telemetry server:

• Connect the Yarp text logging ports as soon as a subscription is received from the OpenMCT client:
  • Get the list of Yarp ports
  • Select the ports matching the process labels set in the main configuration.
  • Open the ports and connect.

[nunoguedelha]

On the telemetry server:

• Connect the Yarp text logging ports as soon as a subscription is received from the OpenMCT client:

  • Get the list of Yarp ports
  • Select the ports matching the process labels set in the main configuration.
  • Open the ports and connect.

I've worked on the design of this part, but it needs further analysis/improvement. I've decided to manually add the YARP ports in the config file for now and proceed with the development steps (parsing, dictionary & OpenMCT changes, etc).

[nunoguedelha]

Updated the Implementation Steps.

[nunoguedelha]

Testing First Working Version

• The new folder is added.
• The dictionary is properly requested and received upon clicking on an entry within the folder.
• No data sample is received on the OpenMCT client. Apparently the subscription is not sent when we click on a telemetry domain object (yarprobotinterface or WalkingModule).

(we are not breaking nor on the supportsSubscribe nor subscribe methods.

Analysing...

[nunoguedelha]

Vue.js debugging

I've checked the Vue.js components bound to the telemetry domain objects, and compared a working case with the failing case, e.g. comparing yarpopenmct.icubtelemetry:sens.legacyIMU to yarpopenmct.processLogging:yarplogger.yarpRobotInterface:

yarpopenmct.icubtelemetry:sens.legacyIMU

yarpopenmct.processLogging:yarplogger.yarpRobotInterface

domainObject.telemetry.values hasn't been evaluated (expanded), we still see the unexpanded string ${JSON.stringify(this.presetValuesBase.yarpLoggerMessage)}.

This is because the dictionary file was retrieved through an http request, and no route function was added through app.get on the server side to "evaluate" the file (evaluate template literals through evalTemplateLiteralInJSON) prior sending it.

After fixing this issue, clicking on the domain object "yarprobotinterface process logging through yarplogger" triggers a subscription and the logging data stream is established. We can see the data displayed in the canvas, in the "telemetry table" view:

After creating a "Telemetry Table" domain object in "My Items", dragging into it the "yarprobotinterface process logging through yarplogger" and arranging the table to display the more relevant data, we get:

Next step is to display messages only when they are received from the Yarp port, instead of repeating the last received message.

[nunoguedelha]

Next step is to display messages only when they are received from the Yarp port, instead of repeating the last received message.

=> completed in commit 126edf9.
(adding details shortly)

Work now on the automatic port detection.

[nunoguedelha]

Additional config option: Telemetry server sends only last received Yarp messages

We added a sourceSync parameter to the portInConfig port configuration portInConfig, with two possible values, localTimer or yarpPort.

yarp-openmct/conf/servers.json

Lines 368 to 377 in 126edf9

	"yarplogger.walkingModule": {
	"yarpName": "/log/iiticublap199/WalkingModule-0.[walkingModule]/1470",
	"localName": "${this.localYarpPortPrefix}/proc-walkingmodule-yarptextlogging:i",
	"portType": "bottle",
	"parser": {
	"type": "internal",
	"outputFormat": "fromId"
	},
	"sourceSync": "yarpPort"
	}

localTimer

This was the default setting so far for which a notifierTask is triggered by a local timer every 10 ms and calls generateTelemetry which generates and sends the telemetry samples. The task used to send the samples for all the telemetry IDs in the ICubTelemetry.state buffer.

Change => The task sends the samples of the IDs scheduled for sending in ICubTelemetry.telemetryIDsToSend. Upon a call of the "read" listener, the Yarp message is parsed and the respective ID scheduled for sending.

yarp-openmct/iCubTelemVizServer/iCubTelemVizServer.js

Lines 87 to 89 in 126edf9

	portIn.onRead(function (bottle){
	icubtelemetry.processOrDropYarpData[id](id,bottle.toArray());
	});

=>

yarp-openmct/iCubTelemVizServer/icubtelemetry.js

Line 161 in 126edf9

this.parseNforwardDataToNotifierOrSend[key].process = function (id,data) {

=>

yarp-openmct/iCubTelemVizServer/icubtelemetry.js

Lines 148 to 151 in 126edf9

	case "localTimer":
	this.parseNforwardDataToNotifierOrSend[key].forwardOrSend = function () {
	this.telemetryIDsToSend.push(key);
	}.bind(this);

...

yarp-openmct/iCubTelemVizServer/icubtelemetry.js

Lines 180 to 186 in 126edf9

	this.notifierTask = function () {
	var timestamp = Date.now();
	this.telemetryIDsToSend.forEach(function (id) {
	this.generateTelemetry(timestamp,this.state[id],id);
	}, this);
	this.telemetryIDsToSend = [];
	}.bind(this);

yarpPort

The notifierTask is not used. Upon the call of the "read" listener, the Yarp message is parsed and the respective ID is directly sent.

yarp-openmct/iCubTelemVizServer/icubtelemetry.js

Lines 153 to 156 in 126edf9

	case "yarpPort":
	this.parseNforwardDataToNotifierOrSend[key].forwardOrSend = function () {
	this.generateTelemetry(Date.now(),this.state[key],key);
	}.bind(this);

[nunoguedelha]

Improved Version: auto search for ports streaming the logged data

In the configuration file

• We replace the full port names by a syntax¹ which is then evaluated by the telemetry server as a regular expression for matching existing Yarp ports. The user can integrate in the regexp the YARP_LOG_PROCESS_LABEL of his choice for matching the ports streaming the logging data fromyarprobotinterface and WalkingModule modules.

On the telemetry server

(Re)connect the Yarp text logging ports as soon as the client page is refreshed (servers.json config is reloaded)

• Trigger the operation in the config file servers.json route function.
• Evaluate the template literals in the whole file.
• Build a list of all the port names integrating a regexp: <regexp-port-names-list>.
• If <regexp-port-names-list> is empty, return, otherwise continue.
• Run a full scan of the existing Yarp ports => <yarp-ports-list>.
• For each port found in <regexp-port-names-list>, get the Yarp port name from <yarp-ports-list> matching the regexp pattern => <matched-yarp-remote-ports-list>.
• For each port in <matched-yarp-remote-ports-list>:
  • Check if the respective <yarpjs-local-port> port exists => if not, create it. We consider that these didn't change, otherwise just restart the telemetry server.
  • Connect <yarp-remote-port> to <yarpjs-local-port> (if the connection already exists, this step does nothing).
• Trigger the regexp ports reconnection in the config file servers.json route function (nice-to-have)

Footnotes

1. The syntax is as follows: the pattern "@{...}" wraps a regular expression which, once unwrapped, can be directly interpreted by the Javascript code. ↩

[nunoguedelha]

[ ] Trigger the regexp ports reconnection in the config file servers.json route function (nice-to-have)

@S-Dafarra , this is very useful, but not a blocker. Without this you have to restart the server if the remote yarp text logging ports are closed and opened again (with different PIDs).

You can already perform some tests the development branch feature/ami138-visualise-yarptextlogging.

[nunoguedelha]

Work completed.