robometry::TelemetryDeviceDumper class
#include </home/runner/work/robometry/robometry/src/telemetryDeviceDumper/TelemetryDeviceDumper.h>

The telemetryDeviceDumper is a yarp device that has to be launched through the yarprobotinterface for dumping quantities from your robot(for example encoders, velocities etc) in base of what specified in the configuration.

Parameters

Parameter name	Type	Units	Default	Required	Description
`axesNames`	List of strings	-	-	Yes	The axes contained in the axesNames parameter are then mapped to the wrapped controlboard in the attachAll method, using controlBoardRemapper class.
`logIEncoders`	bool	-	true	No	Enable the log of `joints_state::positions`, `joints_state::velocities` and `joints_state::accelerations` (http://yarp.it/git-master/classyarp_1_1dev_1_1IEncoders.html)
`logITorqueControl`	bool	-	false	No	Enable the log of `joints_state::torques`(http://yarp.it/git-master/classyarp_1_1dev_1_1ITorqueControl.html).
`logIMotorEncoders`	bool	-	false	No	Enable the log of `motors_state::positions`, `motors_state::velocities` and `motors_state::accelerations` (http://yarp.it/git-master/classyarp_1_1dev_1_1IMotorEncoders.html).
`logIControlMode`	bool	-	false	No	Enable the log of `joints_state::control_mode` (http://yarp.it/git-master/classyarp_1_1dev_1_1IControlMode.html.
`logIInteractionMode`	bool	-	false	No	Enable the log of `joints_state::interaction_mode` (http://yarp.it/git-master/classyarp_1_1dev_1_1IInteractionMode.html.
`logIPidControl`	bool	-	false	No	Enable the log of `PIDs::position_error`, `PIDs::position_reference`, `PIDs::torque_error`, `PIDs::torque_reference`(http://yarp.it/git-master/classyarp_1_1dev_1_1IPidControl.html).
`logIAmplifierControl`	bool	-	false	No	Enable the log of `motors_state::pwm` and `motors_state::currents` (http://yarp.it/git-master/classyarp_1_1dev_1_1IAmplifierControl.html).
`logControlBoardQuantities`	bool	-	false	No	Enable the log of all the quantities that requires the attach to a control board (`logIEncoders`, `logITorqueControl`, `logIMotorEncoders`, `logIControlMode`, `logIInteractionMode`, `logIPidControl`, `logIAmplifierControl`).
`logILocalization2D`	bool	-	false	No	Enable the log of `odometry_data` (http://yarp.it/git-master/classyarp_1_1dev_1_1Nav2D_1_1ILocalization2D.html).
`saveBufferManagerConfiguration`	bool	-	false	No	Enable the save of the configuration of the BufferManager into `path`+ `"bufferConfig"` + `experimentName` + `".json"`
`json_file`	string	-	-	No	Configure the `robometry::BufferManager`s reading from a json file like in Example configuration file. Note that this configuration will overwrite the parameter-by-parameter configuration
`experimentName`	string	-	-	Yes	Prefix of the files that will be saved. The files will be named: `experimentName`+`timestamp`+ `".mat"`.
`path`	string	-	-	No	Path of the folder where the data will be saved.
`n_samples`	size_t	-	-	Yes	The max number of samples contained in the circular buffer/s
`save_periodically`	bool	-	false	No(but it has to be set to true if `auto_save` is set to false)	The flag for enabling the periodic save thread.
`save_period`	double	seconds	-	Yes(if `save_periodically` is set to true)	The period in seconds of the save thread
`log_period`	double	seconds	0.010	No	The period in seconds of the logging thread.
`data_threshold`	size_t	-	0	No	The save thread saves to a file if there are at least `data_threshold` samples
`auto_save`	bool	-	false	No(but it has to be set to true if `save_periodically` is set to false)	the flag for enabling the save in the destructor of the `robometry::BufferManager`
`yarp_robot_name`	string	-	""	No	Name of the robot used during the experiment.

Mapping .mat variables -> YARP interfaces

Variable name	YARP interface
`joints_state::positions`	`yarp::dev::IEncoders::getEncoders`
`joints_state::velocities`	`yarp::dev::IEncoders::getEncoderSpeeds`
`joints_state::accelerations`	`yarp::dev::IEncoders::getEncoderAccelerations`
`joints_state::torques`	`yarp::dev::ITorqueControl`
`motors_state::positions`	`yarp::dev::IMotorEncoders::getMotorEncoders`
`motors_state::velocities`	`yarp::dev::IMotorEncoders::getMotorEncoderSpeeds`
`motors_state::accelerations`	`yarp::dev::IMotorEncoders::getMotorEncoderAccelerations`
`joints_state::control_mode`	`yarp::dev::IControlMode::getControlModes`
`joints_state::interaction_mode`	`yarp::dev::IInteractionMode::getInteractionModes`
`PIDs::position_error`	`yarp::dev::IPidControl::getPidErrors`
`PIDs::position_reference`	`yarp::dev::IPidControl::getPidReferences`
`PIDs::torque_error`	`yarp::dev::IPidControl::getPidErrors`
`PIDs::torque_reference`	`yarp::dev::IPidControl::getPidReferences`
`PIDs::odometry_data`	`yarp::dev::Nav2D::ILocalization2D::getEstimatedOdometry`

Example of xml

Example of xml file for using it on the iCub robot:

<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="telemetryDeviceDumper" type="telemetryDeviceDumper">
        <param name="axesNames">(torso_pitch,torso_roll,torso_yaw,neck_pitch, neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_prosup,l_wrist_pitch,l_wrist_yaw,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_prosup,r_wrist_pitch,r_wrist_yaw,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll)</param>
        <param name="logIEncoders">true</param>
        <param name="logITorqueControl">true</param>
        <param name="logIMotorEncoders">true</param>
        <param name="logIControlMode">true</param>
        <param name="logIInteractionMode">true</param>
        <param name="logIPidControl">false</param>
        <param name="logIAmplifierControl">true</param>
        <param name="saveBufferManagerConfiguration">true</param>
        <param name="experimentName">test_telemetry</param>
        <param name="path">/home/icub/test_telemetry/</param>
        <param name="n_samples">100000</param>
        <param name="save_periodically">true</param>
        <param name="save_period">120.0</param>
        <param name="log_period">0.010</param>
        <param name="data_threshold">300</param>
        <param name="auto_save">true</param>

        <action phase="startup" level="15" type="attach">
            <paramlist name="networks">
                <!-- motorcontrol and virtual torque sensors -->
                <elem name="left_lower_leg">left_leg-eb7-j4_5-mc</elem>
                <elem name="right_lower_leg">right_leg-eb9-j4_5-mc</elem>
                <elem name="left_upper_leg">left_leg-eb6-j0_3-mc</elem>
                <elem name="right_upper_leg">right_leg-eb8-j0_3-mc</elem>
                <elem name="torso">torso-eb5-j0_2-mc</elem>
                <elem name="right_lower_arm">right_arm-eb27-j4_7-mc</elem>
                <elem name="left_lower_arm">left_arm-eb24-j4_7-mc</elem>
                <elem name="right_upper_arm">right_arm-eb3-j0_3-mc</elem>
                <elem name="left_upper_arm">left_arm-eb1-j0_3-mc</elem>
                <elem name="head-j0">head-eb20-j0_1-mc</elem>
                <elem name="head-j2">head-eb21-j2_5-mc</elem>
                <!-- ft -->
            </paramlist>
        </action>

        <action phase="shutdown" level="2" type="detach" />

    </device>

Constructors, destructors, conversion operators

TelemetryDeviceDumper()
~TelemetryDeviceDumper() override

Public functions

auto close() -> bool override
auto open(yarp::os::Searchable& config) -> bool override: Configure with a set of options.
auto attachAll(const yarp::dev::PolyDriverList& device2attach) -> bool override
auto detachAll() -> bool override
void run() override

Public variables

yarp::dev::IEncoders* encs
yarp::dev::IMotorEncoders* imotenc
yarp::dev::IPidControl* pid
yarp::dev::IAmplifierControl* amp
yarp::dev::IControlMode* cmod
yarp::dev::IInteractionMode* imod
yarp::dev::ITorqueControl* itrq
yarp::dev::IMultipleWrapper* multwrap

Function documentation

bool robometry::TelemetryDeviceDumper::open(yarp::os::Searchable& config) override

Configure with a set of options.

Parameters
config	The options to use
Returns	true iff the object could be configured.

robometry::TelemetryDeviceDumper class #include </home/runner/work/robometry/robometry/src/telemetryDeviceDumper/TelemetryDeviceDumper.h>