Description

This is an interface developed for reading and streaming whatever type of data ones needs. It has been thought to be as generic as possible and agnostic to the data streamed. In this manner one can use it for streaming and reading raw data coming from the low level of the sensorboards. As a matter of fact, its first implementation is aimed at reading the raw values of the joint encoders, thus to understand their behavior.

Parameters

–name: This is configured for the network wrapper server. Name of the prefix of the port needed by the server and the client for streaming the raw data and the metadata. In case of the data, it will be followed by rawdata. In case of the metadata it will be follows by rpc
–period: This is configured by the network wrapper server. It is the period, in ms, used by the device for streaming on the port the rawdata

Input Ports

Output Ports

/portName/rawdata:o [yarp::os::BufferedPort] [default carrier:tcp]: Streams out the raw data coming from whatever device we are gonna debugging on, such as the encoder position. Data are stored to a yarp::os::BufferedPort whose elements have the datatype rawValuesDataVectorsMap, which is a map where the keys are std::string and the values are vectors of std::int32_t. The vector elements can contain whatever data one desires, as an example the raw data of the joint encoders. There exists a corresponding input port /portName/rawdata:i used by the related network wrapper client for reading the data streamed by the server.
/portName/rpc:o [yarp::os::Port] [default carrier:rcp]: This is usually open by a network wrapper server and stream out to the corresponding input port /portName/rpc:i opened by the network wrapper client the metadata needed for correctly parsing the raw data. The metadata have type rawValuesKeyMetadataMap, which is basically a map where the keys are std::string and the values are of type rawValuesKeyMetadata, which is made of 2 elements. One is a vector of std::string containing the names of the raw values for that key and the other is the size of the vector as std::int32_t .

Services

/RawValuesPublisherMetadata/rpc [rpc-server]:

   This service implements the <b>getMetadata()</b> method necessary
   for reading from the <b>embObjMOtionControl</b> the metadata used for configuring 
   the client and the plugin that exploits it, i.e. the <i>TelemetryDeviceDumper</i>

. This service is described in ()