main.cpp

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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
/* 
 * Copyright (C) 2010 RobotCub Consortium, European Commission FP6 Project IST-004370
 * Author: Francesco Nori
 * email:  francesco.nori@iit.it
 * website: www.robotcub.org
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * http://www.robotcub.org/icub/license/gpl.txt
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
 * Public License for more details
*/
 
#include <yarp/os/ResourceFinder.h>
#include <yarp/os/RFModule.h>
#include <yarp/os/Log.h>
#include <yarp/os/LogStream.h>
 
#include "dumperThread.h"
#include <string>
 
#define NUMBER_OF_AVAILABLE_STANDARD_DATA_TO_DUMP 17
#define NUMBER_OF_AVAILABLE_DEBUG_DATA_TO_DUMP 3
 
 
//
void getRate(ResourceFinder &rf, int &r)
{
    if (!rf.check("rate"))
        r = 500;
    else
    {
        Value& rate = rf.find("rate");
        r = rate.asInt32();
    }
}
 
int getNumberUsedJoints(ResourceFinder &rf, int &n)
{
    if (!rf.check("joints"))
    {
        yError("Missing option 'joints' in given config file\n");
        return 0;
    }
    Value& joints =  rf.find("joints");
    Bottle *pJoints = joints.asList();
    if (pJoints == 0)
    {
         yError("Error in option 'joints'\n");
         return 0;
    }
    n = pJoints->size();
 
    return 1;
}
 
int getUsedJointsMap(ResourceFinder &rf, int n, int* thetaMap)
{
    if (!rf.check("joints"))
    {
        yError("Missing option 'joints' in given config file\n");
        return 0;
    }
 
    Value& joints =  rf.find("joints");
    Bottle *pJoints = joints.asList();
    if (pJoints == 0)
    {
        yError("Error in option 'joints'\n");
        return 0;
    }
    if (pJoints->size()!=n)
    {
        yError("The 'nJoints' and 'joints' params are incompatible");
        return 0;
    }
 
    for (int i = 0; i < n; i++)
    {
        thetaMap[i] = pJoints->get(i).asInt32();
    }
    return 1;
}
 
int getNumberConstraints(ResourceFinder &rf, int &n)
{
    if (!rf.check("nConstr"))
    {
        yError("Missing option 'nConstr' in given config file\n");
        return 0;
    }
    Value& nJoints = rf.find("nConstr");
    n = nJoints.asInt32();
    return 1;
}
 
int getNumberDataToDump(ResourceFinder &rf, int &n)
{
    if (rf.check("dataToDumpAll"))
    {
        n=NUMBER_OF_AVAILABLE_STANDARD_DATA_TO_DUMP;
        return 1;
    }
 
    if (!rf.check("dataToDump"))
    {
        yError("Missing option 'dataToDump' in given config file\n");
        return 0;
    }
 
    Value& list = rf.find("dataToDump");
    Bottle *pList = list.asList();
    if (pList == 0)
    {
        yError("Error in option 'dataToDump'\n");
        return 0;
    }
    n = pList->size();
    return 1;
}
 
int getDataToDump(ResourceFinder &rf, std::string *listOfData, int n, bool *needDebug)
{
    std::string availableDataToDump[NUMBER_OF_AVAILABLE_STANDARD_DATA_TO_DUMP];
    std::string availableDebugDataToDump[NUMBER_OF_AVAILABLE_DEBUG_DATA_TO_DUMP];
 
    int j;
 
    // standard
    availableDataToDump[0]  = "getEncoders";
    availableDataToDump[1]  = "getEncoderSpeeds";
    availableDataToDump[2]  = "getEncoderAccelerations";
    availableDataToDump[3]  = "getPositionErrors";
    availableDataToDump[4]  = "getOutputs";
    availableDataToDump[5]  = "getCurrents";
    availableDataToDump[6]  = "getTorques";
    availableDataToDump[7]  = "getTorqueErrors";
    availableDataToDump[8]  = "getPosPidReferences";
    availableDataToDump[9]  = "getTrqPidReferences";
    availableDataToDump[10] = "getControlModes";
    availableDataToDump[11] = "getInteractionModes";
    availableDataToDump[12] = "getMotorEncoders";
    availableDataToDump[13] = "getMotorSpeeds";
    availableDataToDump[14] = "getMotorAccelerations";
    availableDataToDump[15] = "getTemperatures";
    availableDataToDump[16] = "getMotorsPwm";
    // debug
    availableDebugDataToDump[0] = "getRotorPositions";
    availableDebugDataToDump[1] = "getRotorSpeeds";
    availableDebugDataToDump[2] = "getRotorAccelerations";
 
    if (rf.check("dataToDumpAll"))
    {
        for (int i = 0; i < n; i++)
            listOfData[i] = availableDataToDump[i];
 
        return 1;
    }
 
    if (!rf.check("dataToDump"))
    {
        yError("Missing option 'dataToDump' in given config file\n");
        return 0;
    }
 
    Value& list = rf.find("dataToDump");
    Bottle *pList = list.asList();
 
    for (int i = 0; i < n; i++)
    {
        listOfData[i] = pList->get(i).toString();
        // check if the requested data is a standard one
        for (j = 0; j< NUMBER_OF_AVAILABLE_STANDARD_DATA_TO_DUMP; j++)
        {
            if (listOfData[i] == (availableDataToDump[j]))
                break;
        }
        // check if the requested data is a debug one
        for (j = 0; j< NUMBER_OF_AVAILABLE_DEBUG_DATA_TO_DUMP; j++)
        {
            if (listOfData[i] == (availableDebugDataToDump[j]))
            {
                *needDebug = true;
                break;
            }
        }
        // if not found
        if (j == (NUMBER_OF_AVAILABLE_STANDARD_DATA_TO_DUMP + NUMBER_OF_AVAILABLE_DEBUG_DATA_TO_DUMP))
        {
            yError("Illegal values for 'dataToDump': %s does not exist!\n",listOfData[i].c_str());
            return 0;
        }
    }
 
    return 1;
}
 
 
class DumpModule: public RFModule
{
private:
    Property fileOptions;
    Property ddBoardOptions;
    Property ddDebugOptions;
    std::string name;
    std::string configFileRobotPart;
    std::string portPrefix;
 
    PolyDriver ddBoard;
    PolyDriver ddDebug;
    bool useDebugClient;
 
    //get the joints to be dumped
    int rate;
    int nJoints;
    int* thetaMap;
    std::string *dataToDump;  
    int nData;
 
    boardDumperThread *myDumper;
 
    //time stamp
    IPreciselyTimed *istmp;
    //encoders
    IEncoders *ienc;
    GetSpeeds myGetSpeeds;
    GetAccs myGetAccs;
    GetEncs myGetEncs;
    //motor
    IMotor *imot;
    GetTemps myGetTemps;
    //motor encoders
    IMotorEncoders *imotenc;
    GetMotSpeeds myGetMotorSpeeds;
    GetMotAccs myGetMotorAccs;
    GetMotEncs myGetMotorEncs;
    //pid
    IPidControl *ipid;
    GetPosErrs myGetPosErrs;
    GetPidRefs myGetPidRefs;
    GetOuts myGetOuts;
    //amp
    IAmplifierControl *iamp;
    GetCurrs myGetCurrs;
    GetMotPwm myGetMotPwm;
    //torques
    ITorqueControl  *itrq;
    GetTrqs    myGetTrqs;
    GetTrqRefs myGetTrqRefs;
    GetTrqErrs myGetTrqErrs;
    //modes
    IControlMode        *icmod;
    IInteractionMode    *iimod;
    GetControlModes     myGetControlModes;
    GetInteractionModes myGetInteractionModes;
 
public:
    DumpModule() : useDebugClient(false)
    { 
        istmp=0;
        ienc=0;
        imotenc=0;
        ipid=0;
        iamp=0;
        itrq=0;
        icmod=0;
        iimod=0;
    }
 
    virtual bool configure(ResourceFinder &rf)
    {
        // get command line options
        if (!rf.check("robot") || !rf.check("part")) 
        {
            printf("Missing either --robot or --part options. Quitting!\n");
            return false;
        }
 
        std::string dumpername; 
        // get dumepr name
        if (rf.check("name"))
        {
            dumpername = rf.find("name").asString();
            dumpername += "/";
        }
        else
        {
            dumpername = "/controlBoardDumper/";
        }
 
        Value& robot = rf.find("robot");
        Value& part = rf.find("part");
        configFileRobotPart = "config_";
        configFileRobotPart = configFileRobotPart + robot.asString();
        configFileRobotPart = configFileRobotPart + "_";
        configFileRobotPart = configFileRobotPart + part.asString();
        configFileRobotPart = configFileRobotPart + ".ini";
 
        //get the joints to be dumped
        getRate(rf, rate);
 
        if (getNumberUsedJoints(rf, nJoints) == 0)
            return false;
 
        thetaMap = new int[nJoints];
        if (getUsedJointsMap(rf, nJoints, thetaMap) == 0)
            return false;
 
        //get the type of data to be dumped
        if (getNumberDataToDump(rf, nData) == 0)
            return false;
 
        dataToDump = new std::string[nData];
        if (getDataToDump(rf, dataToDump, nData, &useDebugClient) == 0)
            return false;
 
        // Printing configuration to the user
        yInfo("Running with the following configuration:\n");
        yInfo("Selected rate is: %d\n", rate);
        yInfo("Data selected to be dumped are:\n");
        for (int i = 0; i < nData; i++)
            yInfo("\t%s \n", dataToDump[i].c_str());    
 
        //open remote control board
        ddBoardOptions.put("device", "remote_controlboard");
        ddDebugOptions.put("device", "debugInterfaceClient");
    
        std::string localPortName = name;
        std::string localDebugPortName = name;
        localPortName = localPortName + dumpername;
        localDebugPortName = localPortName + "debug/";
        //localPortName = localPortName + robot.asString();
        localPortName = localPortName + part.asString();
        localDebugPortName = localDebugPortName + part.asString();
        ddBoardOptions.put("local", localPortName);
        ddDebugOptions.put("local", localDebugPortName);
 
        std::string remotePortName = "/";
        std::string remoteDebugPortName;
        remotePortName = remotePortName + robot.asString();
        remotePortName = remotePortName + "/";
        remotePortName = remotePortName + part.asString();
        ddBoardOptions.put("remote", remotePortName);
 
        remoteDebugPortName = remotePortName + "/debug";
        ddDebugOptions.put("remote", remoteDebugPortName);
    
        // create a device 
        ddBoard.open(ddBoardOptions);
        if (!ddBoard.isValid()) {
            printf("Device not available.\n");
            return false;
        }
 
        if (useDebugClient )
        {
            ddDebug.open(ddDebugOptions);
            if (!ddDebug.isValid())
            {
                yError("\n-----------------------------------------\n");
                yError("Debug Interface is mandatory to run this module with the '--dataToDumpAll' option or to dump any of the getRotorxxx data.\n");
                yError("Please Verify the following 2 conditions are satisfied:\n\n");
                yError("1) Check 'debugInterfaceClient' is available using 'yarpdev --list' command\n");
//                yError("%s", Drivers::factory().toString().c_str());
 
                std::string deviceList, myDev;
                deviceList.clear();
                deviceList.append(Drivers::factory().toString());
                myDev = "debugInterfaceClient";
                if(deviceList.find(myDev) != std::string::npos)
                    yError("\t--> Seems OK\n");
                else
                    yError("\t--> Seems NOT OK. The device was not found, please activate the compilation using the corrisponding CMake flag.\n");
 
                yError("\n2) Check if the robot has the 'debugInterfaceWrapper' device up and running. \n You should see from 'yarp name list' output, a port called\n");
                yError("\t/robotName/part_name/debug/rpc:i\n If not, fix the robot configuration files to instantiate the 'debugInterfaceWrapper' device.\n");
                yError("\nQuickFix: If you set the --dataToDumpAll and do not need the advanced debug feature (getRotorxxx) just remove this option. See help for more information.\n");
                yError("------------- END ERROR MESSAGE ---------------\n\n");
                return false;
            }
        }
 
        bool logToFile = false;
        if (rf.check("logToFile")) logToFile = true;
 
        portPrefix= dumpername + part.asString() + "/";
        //boardDumperThread *myDumper = new boardDumperThread(&dd, rate, portPrefix, dataToDump[0]);
        //myDumper->setThetaMap(thetaMap, nJoints);
 
        myDumper = new boardDumperThread[nData];
 
        for (int i = 0; i < nData; i++)
            {
                if (dataToDump[i] == "getEncoders" )
                {
                    if (ddBoard.view(ienc))
                        {
                            yInfo("Initializing a getEncs thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetEncs.setInterface(ienc);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getEncoders::The time stamp initalization interfaces was successfull! \n");
                                myGetEncs.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetEncs);
                        }
                }
                else if (dataToDump[i] == "getEncoderSpeeds")
                {
                    if (ddBoard.view(ienc))
                        {
                            yInfo("Initializing a getSpeeds thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetSpeeds.setInterface(ienc);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getEncodersSpeed::The time stamp initalization interfaces was successfull! \n");
                                myGetSpeeds.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetSpeeds);
                        }
                }
                else if (dataToDump[i] == "getEncoderAccelerations")
                {
                    if (ddBoard.view(ienc))
                        {
                            yInfo("Initializing a getAccs thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetAccs.setInterface(ienc);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getEncoderAccelerations::The time stamp initalization interfaces was successfull! \n");
                                myGetAccs.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetAccs);
                        }
                }
                else if (dataToDump[i] == "getPosPidReferences")
                {
                    if (ddBoard.view(ipid))
                        {
                            yInfo("Initializing a getErrs thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetPidRefs.setInterface(ipid);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getPosPidReferences::The time stamp initalization interfaces was successfull! \n");
                                myGetPidRefs.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetPidRefs);
                        }
                }
                 else if (dataToDump[i] == "getTrqPidReferences")
                 {
                     if (ddBoard.view(itrq))
                        {
                            yInfo("Initializing a getErrs thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetTrqRefs.setInterface(itrq);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getTrqPidReferences::The time stamp initalization interfaces was successfull! \n");
                                myGetTrqRefs.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetTrqRefs);
                        }
                }
                 else if (dataToDump[i] == "getControlModes")
                {
                    if (ddBoard.view(icmod))
                        {
                            yInfo("Initializing a getErrs thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetControlModes.setInterface(icmod, nJoints);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getControlModes::The time stamp initalization interfaces was successfull! \n");
                                myGetControlModes.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetControlModes);
                        }
                 }
                 else if (dataToDump[i] == "getInteractionModes")
                 {
                     if (ddBoard.view(iimod))
                        {
                            yInfo("Initializing a getErrs thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetInteractionModes.setInterface(iimod, nJoints);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getInteractionModes::The time stamp initalization interfaces was successfull! \n");
                                myGetInteractionModes.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetInteractionModes);
                        }
                 }
                else if (dataToDump[i] == "getPositionErrors")
                 {
                     if (ddBoard.view(ipid))
                        {
                            yInfo("Initializing a getErrs thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetPosErrs.setInterface(ipid);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getPositionErrors::The time stamp initalization interfaces was successfull! \n");
                                myGetPosErrs.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetPosErrs);
                        }
                 }
                else if (dataToDump[i] == "getOutputs")
                 {
                     if (ddBoard.view(ipid))
                        {
                            yInfo("Initializing a getOuts thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetOuts.setInterface(ipid);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getOutputs::The time stamp initalization interfaces was successfull! \n");
                                myGetOuts.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetOuts);
                        }
                }
                else if (dataToDump[i] == "getCurrents")
                {
                    if (ddBoard.view(iamp))
                        {
                            yInfo("Initializing a getCurrs thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetCurrs.setInterface(iamp);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getCurrents::The time stamp initalization interfaces was successfull! \n");
                                myGetCurrs.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                               
                            myDumper[i].setGetter(&myGetCurrs);
                        }
                }
                else if (dataToDump[i] == "getTorques")
                {
                    if (ddBoard.view(itrq))
                        {
                            yInfo("Initializing a getTorques thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetTrqs.setInterface(itrq);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getTorques::The time stamp initalization interfaces was successfull! \n");
                                myGetTrqs.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                               
                            myDumper[i].setGetter(&myGetTrqs);
                        }
                }
                else if (dataToDump[i] == "getTorqueErrors")
                {
                    if (ddBoard.view(ipid))
                        {
                            yInfo("Initializing a getTorqueErrors thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetTrqErrs.setInterface(ipid);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getTorqueErrors::The time stamp initalization interfaces was successfull! \n");
                                myGetTrqErrs.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                               
                            myDumper[i].setGetter(&myGetTrqErrs);
                        }
                }
                else if (dataToDump[i] == "getTemperatures")
                {
                    if (ddBoard.view(imotenc))
                        {
                            yInfo("Initializing a getTemps thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetTemps.setInterface(imot);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getEncoders::The time stamp initalization interfaces was successfull! \n");
                                myGetTemps.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetTemps);
                        }
                }
                else if (dataToDump[i] == "getMotorEncoders")
                {
                    if (ddBoard.view(imotenc))
                        {
                            yInfo("Initializing a getEncs thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetMotorEncs.setInterface(imotenc);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getEncoders::The time stamp initalization interfaces was successfull! \n");
                                myGetMotorEncs.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetMotorEncs);
                        }
                }
                else if (dataToDump[i] == "getMotorEncoderSpeeds")
                {
                    if (ddBoard.view(imotenc))
                        {
                            yInfo("Initializing a getSpeeds thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetMotorSpeeds.setInterface(imotenc);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getEncodersSpeed::The time stamp initalization interfaces was successfull! \n");
                                myGetMotorSpeeds.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetMotorSpeeds);
                        }
                }
                else if (dataToDump[i] == "getMotorEncoderAccelerations")
                {
                    if (ddBoard.view(imotenc))
                        {
                            yInfo("Initializing a getAccs thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetMotorAccs.setInterface(imotenc);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getEncoderAccelerations::The time stamp initalization interfaces was successfull! \n");
                                myGetMotorAccs.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetMotorAccs);
                        }
                }
                else if (dataToDump[i] == "getMotorsPwm")
                 {
                     if (ddBoard.view(iamp))
                        {
                            yInfo("Initializing a getMotPwm thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetMotPwm.setInterface(iamp);
                            if(ienc == 0)
                            {
                                if(!ddBoard.view(ienc))
                                    return false;
                            }
                            ienc->getAxes(&myGetMotPwm.n_joint_part);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getMotorsPwm::The time stamp initalization interfaces was successfull! \n");
                                myGetMotPwm.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetMotPwm);
                        }
                }
            }
        Time::delay(1);
        for (int i = 0; i < nData; i++)
            myDumper[i].start();
 
        return true;
    }
 
    virtual bool updateModule()
    {
        return true;
    }
 
    virtual bool close()
    {
        yInfo("Stopping dumper class\n");
        for(int i = 0; i < nData; i++)
            myDumper[i].stop();
 
        yInfo("Deleting dumper class\n");
        delete[] myDumper;
 
        //finally close the dd of the remote control board
        yInfo("Closing the device driver\n");
        if (ddBoard.isValid()) ddBoard.close();
        yInfo("Device driver closed\n");
 
        //finally close the dd of the debug interface clien
        yInfo("Closing the debug interface\n");
        if (ddDebug.isValid()) ddDebug.close();
        yInfo("Debug interface closed\n");
 
        delete[] thetaMap;
        delete[] dataToDump;
        return true;
    }
};
 
 
int main(int argc, char *argv[]) 
{
    Network yarp;
 
    ResourceFinder rf;
    rf.setDefaultContext("controlBoardDumper");
    rf.setDefaultConfigFile("controlBoardDumper.ini");
 
    rf.setDefault("part","head");
    rf.setDefault("robot","icub");
    rf.setDefault("rate","500");
    rf.setDefault("joints","(0)");
    rf.setDefault("dataToDump","(getEncoders getEncoderSpeeds getEncoderAccelerations getPositionErrors getOutputs getCurrents getTorques getTorqueErrors)");    
    rf.configure(argc,argv);
 
    if (rf.check("help"))
    {
        printf ("\ncontrolBoardDumper usage:\n");
        printf ("1) controlBoardDumper --robot icub --part left_arm --rate 10  --joints \"(0 1 2)\" \n");
        printf ("   All data from the controlBoarWrapper will be dumped, except for advanced debugInterface (default).\n");
        printf ("\n2) controlBoardDumper --robot icub --part left_arm --rate 10  --joints \"(0 1 2)\" --dataToDump \"(xxx xxx)\"\n");
        printf (" where xxx can be uset to select one (or more) from the following:\n");
        printf (" getEncoders             (joint position)\n");
        printf (" getEncoderSpeeds        (joint velocity)\n");
        printf (" getEncoderAccelerations (joint acceleration)\n");
        printf (" getPositionErrors       (difference between desired and actual position)\n");
        printf (" getTorqueErrors         (difference between desired and measured torque, if available)\n");
        printf (" getOutputs              (Position Pid output)\n");
        printf (" getCurrents             (current given to the motor)\n");
        printf (" getTorques              (joint torques, if available)\n");
        printf (" getPosPidReferences     (last position referenece)\n");
        printf (" getTrqPidReferences     (last torque reference)\n");
        printf (" getMotorEncoders              (motor encoder position)\n");
        printf (" getMotorEncoderSpeeds         (motor encoder velocity)\n");
        printf (" getMotorEncoderAccelerations  (motor encoder acceleration\n");
        printf (" getMotorsPwm             (voltage (PWM) given to the motor)\n");
        printf (" getControlModes         (joint control mode)\n");
        printf (" getInteractionModes     (joint interaction mode)\n");
        printf (" getTemperatures         (motor temperatures)\n");
        printf ("\n3) controlBoardDumper --robot icub --part left_arm --rate 10  --joints \"(0 1 2)\" --dataToDumpAll\n");
        printf ("   All data from the controlBoarWrapper will be dumped, including data from the debugInterface (getRotorxxx).\n");
        printf ("\n --logToFile can be used to create log files storing the data\n\n");
 
        return 0;
    }
 
    if (!yarp.checkNetwork())
    {
        yError()<<"YARP server not available!";
        return 1;
    }
 
    DumpModule mod;
    return mod.runModule(rf);
}