Implement VectorsCollectionServer and VectorsCollectionClient classes

This PR substitutes https://github.com/ami-iit/bipedal-locomotion-framework/pull/732.

This PR introduces metadata for the VectorsCollection, allowing each component of the vector saved by the logger to have a specific label. This enhancement simplifies data analysis, as it enables the display of associated labels in the robot-log-visualizer, as shown in the following image:

To ensure metadata consistency, I've implemented it using the client-server paradigm in YARP. I declared the VectorsCollectionMetadataService in VectorsCollection.thrift. This change enables asynchronous metadata requests for a specific VectorsCollection. This is done thanks to the VectorsCollectionServer and VectorsCollectionClient

In this context, the YarpRobotLoggerDevice functions as a client (VectorsCollectionClient), while the server must be implemented in the application sending the data.

Here's an example of how to use VectorsCollectionServer in your code:

#include <BipedalLocomotion/YarpUtilities/VectorsCollectionServer.h> 

class Module
{
    BipedalLocomotion::YarpUtilities::VectorsCollectionServer m_vectorsCollectionServer; /**< Logger server. */
public:
 // all the other functions you need
}

The m_vectorsCollectionServer helps you to handle the data you want to send and to populate the metadata. To use this functionality, call BipedalLocomotion::YarpUtilities::VectorsCollectionServer::populateMetadata during the configuration phase. Once you have finished populating the metadata you should call BipedalLocomotion::YarpUtilities::VectorsCollectionServer::finalizeMetadata

//This code should go into the configuration phase
auto loggerOption = std::make_shared<BipedalLocomotion::ParametersHandler::YarpImplementation>(rf);
if (!m_vectorsCollectionServer.initialize(loggerOption->getGroup("WALKING_LOGGER")))
{
    log()->error("[WalkingModule::configure] Unable to configure the server.");
    return false;
}

m_vectorsCollectionServer.populateMetadata("dcm::position::measured", {"x", "y"});
m_vectorsCollectionServer.populateMetadata("dcm::position::desired", {"x", "y"});

m_vectorsCollectionServer.finalizeMetadata();

In the main loop, add the following code to prepare and populate the data:

m_vectorsCollectionServer.clearData(); // optional see the documentation

// DCM
m_vectorsCollectionServer.populateData("dcm::position::measured", <signal>);
m_vectorsCollectionServer.populateData("dcm::position::desired", <signal>);

m_vectorsCollectionServer.sendData();

⚠️ This PR breaks all the code that uses the YarpRobotLoggerDevice for logging exogenous signals (cc @G-Cervettini @isorrentino) This is an example of updated application that allows you to correctly fill the metadata: https://github.com/robotology/walking-controllers/pull/158

ami-iit / bipedal-locomotion-framework

Implement VectorsCollectionServer and VectorsCollectionClient classes #767