YARP telemetry

⚠️ LIBRARY UNDER DEVELOPMENT ⚠️

This is the telemetry component for YARP.

Installation

Dependencies

The depencies are:

• CMake (minimum version 3.12)
• Boost
• YARP (minimum version 3.4.0)
• matio-cpp

Linux/macOS

git clone https://github.com/robotology-playground/yarp-telemetry
cd yarp-telemetry
mkdir build && cd build
cmake ../
make
[sudo] make install

Notice: sudo is not necessary if you specify the CMAKE_INSTALL_PREFIX. In this case it is necessary to add in the .bashrc or .bash_profile the following lines:

export YARP_telemetry_DIR=/path/where/you/installed/

Windows

With IDE build tool facilities, such as Visual Studio:

git clone https://github.com/robotology-playground/yarp-telemetry
cd yarp-telemetry
mkdir build && cd build
cmake ..
cmake --build . --target ALL_BUILD --config Release
cmake --build . --target INSTALL --config Release

In order to allow CMake finding yarp-telemetry, you have to specify the path where you installed in the CMAKE_PREFIX_PATH or exporting the YARP_telemetry_DIR env variable pointing to the same path.

Usage

In order to use this library in your own appliction add this lines in your CMakeLists.txt

find_package(YARP COMPONENTS telemetry)

add_executable(myApp)
target_link_libraries(myApp YARP::YARP_telemetry)

Example scalar variable

Here is the code snippet for dumping in a .mat file 3 samples of the scalar varibles "one" and "two".

    yarp::telemetry::BufferManager<int32_t> bm(n_samples);
    bm.setFileName("buffer_manager_test.mat");
    yarp::telemetry::ChannelInfo var_one{ "one", {1,1} };
    yarp::telemetry::ChannelInfo var_two{ "two", {1,1} };

    auto ok = bm.addChannel(var_one);
    ok = ok && bm.addChannel(var_two);
    if (!ok) {
        std::cout << "Problem adding variables...."<<std::endl;
        return 1;
    }

    for (int i = 0; i < 10; i++) {
        bm.push_back({ i }, "one");
        yarp::os::Time::delay(0.2);
        bm.push_back({ i + 1 }, "two");
    }

    if (bm.saveToFile())
        std::cout << "File saved correctly!" << std::endl;
    else
        std::cout << "Something went wrong..." << std::endl;

And here is the resulting .mat file:

buffer_manager_test = 

  struct with fields:

    one: [1×1 struct]
    two: [1×1 struct]


buffer_manager_test.one

ans = 

  struct with fields:

          data: [1×1×3 int32]
    dimensions: [1 1 3]
          name: 'one'
    timestamps: [523132.9969457 523133.1979436 523133.3988861]

Example vector variable

It is possible to save and dump also vector variables. Here is the code snippet for dumping in a .mat file 3 samples of the 4x1 vector variables "one" and "two".

    yarp::telemetry::BufferManager<double> bm_v({ {"one",{4,1}},
                                                  {"two",{4,1}} }, 3);

    for (int i = 0; i < 10; i++) {
        bm_v.push_back({ i+1.0, i+2.0, i+3.0, i+4.0  }, "one");
        yarp::os::Time::delay(0.2);
        bm_v.push_back({ (double)i, i*2.0, i*3.0, i*4.0 }, "two");
    }

    if (bm_v.saveToFile("buffer_manager_test_vector.mat"))
        std::cout << "File saved correctly!" << std::endl;
    else
        std::cout << "Something went wrong..." << std::endl;

buffer_manager_test_vector = 

  struct with fields:

    one: [1×1 struct]
    two: [1×1 struct]

>> buffer_manager_test_vector.one

ans = 

  struct with fields:

          data: [4×1×3 double]
    dimensions: [4 1 3]
          name: 'one'
    timestamps: [523135.0186688 523135.219639 523135.4203739]

Example matrix variable

Here is the code snippet for dumping in a .mat file 3 samples of the 2x3 matrix variable"one" and of the 3x2 matrix variable "two".

    yarp::telemetry::BufferManager<int32_t> bm_m(n_samples, true);
    bm_m.setFileName("buffer_manager_test_matrix.mat");
    std::vector<yarp::telemetry::ChannelInfo> vars{ { "one",{2,3} },
                                   { "two",{3,2} } };

    ok = bm_m.addChannels(vars);
    if (!ok) {
        std::cout << "Problem adding variables...."<<std::endl;
        return 1;
    }

    for (int i = 0; i < 10; i++) {
        bm_m.push_back({ i + 1, i + 2, i + 3, i + 4, i + 5, i + 6 }, "one");
        yarp::os::Time::delay(0.2);
        bm_m.push_back({ i * 1, i * 2, i * 3, i * 4, i * 5, i * 6 }, "two");
    }

>> buffer_manager_test_matrix.one

ans = 

  struct with fields:

          data: [2×3×3 int32]
    dimensions: [2 3 3]
          name: 'one'
    timestamps: [112104.7605783 112104.9608881 112105.1611651]
    

Contributing

Pull requests are welcome. For major changes, please open an issue first to discuss what you would like to change.

License

See License