New device: MultipleAnalogSensorsClientRemapper

[GiulioRomualdi]

This PR implements the MultipleAnalogSensorsClientRemapper this device implements the same logic as the remotecontroboardremapper indeed it automatically opens all the MultipleAnalogSensorsClient the MultipleAnalogSensorsRemapper and then it performs the attach of the MultipleAnalogSensorsClients to the MultipleAnalogSensorsRemapper

cc @traversaro @S-Dafarra @randaz81

[update-docs]

Thanks for opening this pull request! The maintainers of this repository would appreciate it if you would update the release notes by adding a file in doc/release/<target_branch>, based on your changes.

[traversaro]

To clarify why this device is useful, this is the snippet of code to read data from feet FT measurements from a robot that has two FT sensors for each foot (such as iCub3 or ergoCub), without and with using the multipleanalogsensorsclientremapper device. Without counting error handling, the basic code to just read the sensor goes from 40 lines to 20 lines, and this is just a simple case in which only four seconds from two parts are used, if multiple parts of the robot were used, the case without the multipleanalogsensorsclientremapper would be even more complex.

Without multipleanalogsensorsclientremapper

// Snippet of code to read just the FT sensors on the feet of iCub, for a robot that has two FT sensors for each feet (like iCub 3 or ergoCub)

std::string robotPortPrefix = "icub"; // or icubSim for simulated robots, this is tipically passed via an option
std::string localPortPrefix = "localCode";

// Create client for left_leg
yarp::os::Property left_leg_client_options;
left_leg_client_options.put("device","multipleanalogsensorsclient");
left_leg_client_options.put("remote","/" + robotPortPrefix + "/left_leg/FT");
left_leg_client_options.put("local", "/" + localPortPrefix + "/" + robotPortPrefix + "/left_leg/FT");
yarp::os::PolyDriver left_leg_clientDevice;
bool ok = left_leg_clientDevice.open(left_leg_client_options);
// Handle if ok is not true <..>


// Create client for right_leg
yarp::os::Property right_leg_client_options;
right_leg_client_options.put("device","multipleanalogsensorsclient");
right_leg_client_options.put("remote","/" + robotPortPrefix + "/right_leg/FT");
right_leg_client_options.put("local", "/" + localPortPrefix + "/" + robotPortPrefix + "/right_leg/FT");
yarp::os::PolyDriver right_leg_clientDevice;
bool ok = right_leg_clientDevice.open(right_leg_client_options);
// Handle if ok is not true <..>

// Create remapper
yarp::os::Property remapper_options;
remapper_options.put("device", "multipleanalogsensorsremapper");
yarp::os::Bottle sixAxisForceTorqueSensorsNames;
yarp::os::Bottle& sixAxisForceTorqueSensorsList = sixAxisForceTorqueSensorsNames.addList();
sixAxisForceTorqueSensorsList.addString("l_foot_rear_ft_sensor");
sixAxisForceTorqueSensorsList.addString("l_foot_front_ft_sensor");
sixAxisForceTorqueSensorsList.addString("r_foot_rear_ft_sensor");
sixAxisForceTorqueSensorsList.addString("r_foot_front_ft_sensor");
remapper_options.put("SixAxisForceTorqueSensorsNames",sixAxisForceTorqueSensorsNames.get(0));
yarp::os::PolyDriver remapperDevice;
ok = remapperDevice.open(remapper_options);
// Handle if ok is not true <..>

// Attach remapper to the clients
yarp::dev::IMultipleWrapper* imultiwrap=nullptr;
ok = remapperDevice.view(imultiwrap);
// Handle if ok is not true <..>

yarp::dev::PolyDriverList driverList;
driverList.push(&left_leg_clientDevice, "left_leg_fts");
driverList.push(&right_leg_clientDevice, "right_leg_fts");
ok = imultiwrap->attachAll(driverList);
// Handle if ok is not true <..>

// At this point, you can read FT sensors
yarp::dev::ISixAxisForceTorqueSensors* isixaxis=nullptr;
ok = remapperDevice.view(isixaxis);
// Handle if ok is not true <..>

yarp::sig::Vector measure(6).
for(int ftIdx=0; ftIdx < isixaxis->getNrOfSixAxisForceTorqueSensors(); ftIdx++)
{
    std::string sensorName;
    isixaxis->getSixAxisForceTorqueSensorName(ftIdx, sensorName);
    isixaxis->getSixAxisForceTorqueSensorMeasure(ftIdx, measure);
    std::string << "The measure of FT sensor " << sensorName << " is " << measure.toString() << std::endl;
}

With multipleanalogsensorsclientremapper

// Snippet of code to read just the FT sensors on the feet of iCub, for a robot that has two FT sensors for each feet (like iCub 3 or ergoCub)

std::string robotPortPrefix = "icub"; // or icubSim for simulated robots, this is tipically passed via an option
std::string localPortPrefix = "localCode";

// Create device to read FT sensors
yarp::os::Property options;
options.put("device","multipleanalogsensorsclientremapper");

yarp::os::Bottle sixAxisForceTorqueSensorsNames;
yarp::os::Bottle& sixAxisForceTorqueSensorsList = sixAxisForceTorqueSensorsNames.addList();
sixAxisForceTorqueSensorsList.addString("l_foot_rear_ft_sensor");
sixAxisForceTorqueSensorsList.addString("l_foot_front_ft_sensor");
sixAxisForceTorqueSensorsList.addString("r_foot_rear_ft_sensor");
sixAxisForceTorqueSensorsList.addString("r_foot_front_ft_sensor");
options.put("SixAxisForceTorqueSensorsNames",sixAxisForceTorqueSensorsNames.get(0));

yarp::os::Bottle multipleAnalogSensorsClients;
yarp::os::Bottle& multipleAnalogSensorsClientsList = multipleAnalogSensorsClients.addList();
multipleAnalogSensorsClientsList.addString("/" + robotPortPrefix + "/left_leg/FT");
multipleAnalogSensorsClientsList.addString("/" + robotPortPrefix + "/right_leg/FT");
options.put("multipleAnalogSensorsClients", multipleAnalogSensorsClients.get(0));
options.put("localPortPrefix",localPortPrefix);

yarp::os::PolyDriver device;
ok = device.open(options);


// At this point, you can read FT sensors
yarp::dev::ISixAxisForceTorqueSensors* isixaxis=nullptr;
ok = device.view(isixaxis);
// Handle if ok is not true <..>

yarp::sig::Vector measure(6).
for(int ftIdx=0; ftIdx < isixaxis->getNrOfSixAxisForceTorqueSensors(); ftIdx++)
{
    std::string sensorName;
    isixaxis->getSixAxisForceTorqueSensorName(ftIdx, sensorName);
    isixaxis->getSixAxisForceTorqueSensorMeasure(ftIdx, measure);
    std::string << "The measure of FT sensor " << sensorName << " is " << measure.toString() << std::endl;
}

[GiulioRomualdi]

Thank you @traversaro for better clarifying the rationale behind the PR

[randaz81]

@GiulioRomualdi can you add a test for this device?
It's pretty easy since you can use another device as a template. (You'll notice that every device has a subfolder called tests with the relevant code)

[randaz81]

Missing tests subfolder

[traversaro]

A relevant test is https://github.com/robotology/yarp/blob/a454a3b2781a6761c23d0c1c8460d73cd6924e66/src/devices/controlBoardRemapper/tests/controlBoardRemapper_t1_test.cpp, that is testing the remotecontrolboardremapper, that is basically the same device for controlBoard devices.

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[randaz81]

@GiulioRomualdi any update? Otherwise, I'm going to move this PR to the next release...

[GiulioRomualdi]

Hi @randaz81, if it's fine with you, I can provide the test within the beginning of next week. If it's too late, we can postpone this feature in the next release