Add the possibility to easily disable/enable the rt logging in YarpRo…

…botLoggerDevice (#932)
ami-iit · Feb 6, 2025 · 4eed865 · 4eed865
1 parent f4d03f5
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Showing 10 changed files with 62 additions and 13 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -7,6 +7,7 @@ All notable changes to this project are documented in this file.
 - Add `VariableFeasibleRegionTaskVariableFeasibleRegionTask` in the TSID controller (https://github.com/ami-iit/bipedal-locomotion-framework/pull/922)
 - Add `setFeetTransform` in the `UnicycleTrajectoryGenerator` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/927)
 - Add `getCurrentTime` to the `FixedFootDetector` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/928)
+- Add the possibility to easily disable/enable the rt logging in `YarpRobotLoggerDevice` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/932)
 
 ### Changed
 - Some improvements on the YarpRobotLoggerDevice (https://github.com/ami-iit/bipedal-locomotion-framework/pull/910)

diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1/yarp-robot-logger.xml
@@ -13,6 +13,11 @@ BSD-3-Clause license. -->
   <param name="text_logging_subnames">("ergoCubGazeboV1/yarprobotinterface")</param>
   <param name="maximum_admissible_time_step">1.0</param>
 
+  <param name="enable_real_time_logging" extern-name="enable_real_time_logging">false</param>
+  <group name="REAL_TIME_STREAMING">
+    <param name="remote">"/yarp-robot-logger/rt_logging"</param>
+  </group>
+
   <group name="Telemetry">
     <param name="save_period">600.0</param>
   </group>

diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/yarp-robot-logger.xml
@@ -13,6 +13,11 @@ BSD-3-Clause license. -->
   <param name="text_logging_subnames">("ergoCubGazeboV1/yarprobotinterface")</param>
   <param name="maximum_admissible_time_step">1.0</param>
 
+  <param name="enable_real_time_logging" extern-name="enable_real_time_logging">false</param>
+  <group name="REAL_TIME_STREAMING">
+    <param name="remote">"/yarp-robot-logger/rt_logging"</param>
+  </group>
+
   <group name="Telemetry">
     <param name="save_period">600.0</param>
   </group>

diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/yarp-robot-logger.xml
@@ -21,6 +21,11 @@ BSD-3-Clause license. -->
   <param name="text_logging_subnames">("ergocub-torso/yarprobotinterface")</param>
   <param name="code_status_cmd_prefixes">("ssh [email protected]" "ssh [email protected]")</param>
 
+  <param name="enable_real_time_logging" extern-name="enable_real_time_logging">false</param>
+  <group name="REAL_TIME_STREAMING">
+    <param name="remote">"/yarp-robot-logger/rt_logging"</param>
+  </group>
+
   <group name="Telemetry">
     <param name="save_period">1800.0</param>
   </group>

diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml
@@ -21,10 +21,10 @@ BSD-3-Clause license. -->
   <param name="text_logging_subnames">("ergoCubSN001/yarprobotinterface")</param>
   <param name="code_status_cmd_prefixes">("ssh [email protected]" "ssh [email protected]")</param>
 
-  <!-- <group name="REAL_TIME_STREAMING">
-    <param name="remote">"/rtLoggingVectorCollections"</param>
-  </group> -->
-
+  <param name="enable_real_time_logging" extern-name="enable_real_time_logging">false</param>
+  <group name="REAL_TIME_STREAMING">
+    <param name="remote">"/yarp-robot-logger/rt_logging"</param>
+  </group>
 
   <group name="Telemetry">
     <param name="save_period">1800.0</param>

diff --git a/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN002/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/ergoCubSN002/yarp-robot-logger.xml
@@ -21,6 +21,11 @@ BSD-3-Clause license. -->
   <param name="text_logging_subnames">("ergocub-torso/yarprobotinterface")</param>
   <param name="code_status_cmd_prefixes">("ssh [email protected]" "ssh [email protected]")</param>
 
+  <param name="enable_real_time_logging" extern-name="enable_real_time_logging">false</param>
+  <group name="REAL_TIME_STREAMING">
+    <param name="remote">"/yarp-robot-logger/rt_logging"</param>
+  </group>
+
   <group name="Telemetry">
     <param name="save_period">1800.0</param>
   </group>

diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/yarp-robot-logger.xml
@@ -10,6 +10,11 @@ BSD-3-Clause license. -->
   <param name="maximum_admissible_time_step">1.0</param>
   <param name="log_text">true</param>
 
+  <param name="enable_real_time_logging" extern-name="enable_real_time_logging">false</param>
+  <group name="REAL_TIME_STREAMING">
+    <param name="remote">"/yarp-robot-logger/rt_logging"</param>
+  </group>
+
   <group name="Telemetry">
     <param name="save_period">600.0</param>
   </group>

diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/yarp-robot-logger.xml
@@ -13,6 +13,11 @@ BSD-3-Clause license. -->
   <param name="text_logging_subnames">("icub-head/yarprobotinterface")</param>
   <param name="code_status_cmd_prefixes">("ssh [email protected]" "ssh [email protected]")</param>
 
+  <param name="enable_real_time_logging" extern-name="enable_real_time_logging">false</param>
+  <group name="REAL_TIME_STREAMING">
+    <param name="remote">"/yarp-robot-logger/rt_logging"</param>
+  </group>
+
   <group name="Telemetry">
     <param name="save_period">600.0</param>
   </group>

diff --git a/devices/YarpRobotLoggerDevice/src/YarpRobotLoggerDevice.cpp b/devices/YarpRobotLoggerDevice/src/YarpRobotLoggerDevice.cpp
@@ -129,10 +129,20 @@ bool YarpRobotLoggerDevice::open(yarp::os::Searchable& config)
 
     constexpr auto logPrefix = "[YarpRobotLoggerDevice::open]";
     auto params = std::make_shared<ParametersHandler::YarpImplementation>(config);
-    auto rtParameters = params->getGroup("REAL_TIME_STREAMING").lock();
-    m_sendDataRT = rtParameters != nullptr;
+
+    if (!params->getParameter("enable_real_time_logging", m_sendDataRT))
+    {
+        log()->error("{} Unable to get the 'enable_real_time_logging' parameter. The device will "
+                     "not "
+                     "be opened.",
+                     logPrefix);
+        return false;
+    }
+
     if (m_sendDataRT)
     {
+        auto rtParameters = params->getGroup("REAL_TIME_STREAMING").lock();
+
         if (!m_vectorCollectionRTDataServer.initialize(rtParameters))
         {
             log()->error("Failed to initalize the vectorsCollectionServer", logPrefix);
@@ -154,7 +164,8 @@ bool YarpRobotLoggerDevice::open(yarp::os::Searchable& config)
 
     if (!params->getParameter("log_text", m_logText))
     {
-        log()->info("{} Unable to get the 'log_text' parameter for the telemetry. Default value: {}.",
+        log()->info("{} Unable to get the 'log_text' parameter for the telemetry. Default value: "
+                    "{}.",
                     logPrefix,
                     m_logText);
     }
@@ -169,7 +180,6 @@ bool YarpRobotLoggerDevice::open(yarp::os::Searchable& config)
         }
     }
 
-
     if (!params->getParameter("code_status_cmd_prefixes", m_codeStatusCmdPrefixes))
     {
         log()->info("{} Unable to get the 'code_status_cmd_prefixes' parameter. No prefix will be "
@@ -684,7 +694,8 @@ bool YarpRobotLoggerDevice::addChannel(const std::string& nameKey,
     if (metadataNames.empty() || vectorSize != metadataNames.size())
     {
         log()->warn("The metadata names for channel {} are empty or the size of the metadata names "
-                    "is different from the vector size. The default metadata will be used.", nameKey);
+                    "is different from the vector size. The default metadata will be used.",
+                    nameKey);
         if (!m_bufferManager.addChannel({nameKey, {vectorSize, 1}}))
         {
             log()->error("Failed to add the channel in buffer manager named: {}", nameKey);
@@ -1224,22 +1235,24 @@ void YarpRobotLoggerDevice::lookForExogenousSignals()
                         continue;
                     }
 
-                    log()->info("[YarpRobotLoggerDevice::lookForExogenousSignals] Attempt to get the "
+                    log()->info("[YarpRobotLoggerDevice::lookForExogenousSignals] Attempt to get "
+                                "the "
                                 "metadata for the vectors collection signal named: {}",
                                 name);
 
                     if (!signal.client.getMetadata(signal.metadata))
                     {
-                        log()->warn("[YarpRobotLoggerDevice::lookForExogenousSignals] Unable to get "
-                                    "the metadata for the signal named: {}. The exogenous signal will "
+                        log()->warn("[YarpRobotLoggerDevice::lookForExogenousSignals] Unable to "
+                                    "get "
+                                    "the metadata for the signal named: {}. The exogenous signal "
+                                    "will "
                                     "not contain the metadata.",
                                     name);
                     }
                 }
             }
 
             signal.connected = connectionDone;
-
         }
     };
 

diff --git a/devices/YarpRobotLoggerDevice/tests/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/tests/yarp-robot-logger.xml
@@ -11,6 +11,11 @@ BSD-3-Clause license. -->
   <param name="text_logging_subnames">("ergocub-torso/yarprobotinterface")</param>
   <param name="maximum_admissible_time_step">1.0</param>
 
+  <param name="enable_real_time_logging" extern-name="enable_real_time_logging">false</param>
+  <group name="REAL_TIME_STREAMING">
+    <param name="remote">"/yarp-robot-logger/rt_logging"</param>
+  </group>
+
   <group name="Telemetry">
     <param name="save_period">20.0</param>
   </group>