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ami-iit / yarp-openmct

Repo for YARP and OpenMCT integration.
BSD 3-Clause "New" or "Revised" License
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Visualise the temperature from the FT sensors #141

Closed nunoguedelha closed 2 years ago

nunoguedelha commented 2 years ago

Visualise the temperature data from all the FTs available on iCubGenova09. We had missed this in

Same configuration files and Yarp port as for the FT sensors. Refer to #126 .

Device Type Parts Data Format (tentative)
multipleanalogsensorsserver arm () () () () ( ((Temperature in 1/10˚C) timestamp) ) () () () () ()
multipleanalogsensorsserver leg_hip () () () () ( ((Temperature in 1/10˚C) timestamp) ) () () () () ()
multipleanalogsensorsserver foot_heel_toe () () () () ( ((Heel temp in 1/10˚C) timestamp) ((Toe temp in 1/10˚C) timestamp) ) () () () () ()
nunoguedelha commented 2 years ago

All the logged FTs are strain2, thus, equipped with a temperature sensor, so we will just add a "value" element in the FT telemetry entry, as range 7: https://github.com/ami-iit/yarp-openmct/blob/63ec06ef158f174df4f9478329d8e9b34023cca5/openmctStaticServer/plugins/conf/dictionaryIcubTelemetry.json#L340-L405 Temperature values received from Yarp port are expressed in 1/10˚C, and we chose to display them in ˚C in the visualiser.

nunoguedelha commented 2 years ago

As confirmed in the log taken by @S-Dafarra , the temperature measurement is still an array of a single value. the temperature block is at position index 4, right before the FT measurements.

whenever you can, until tomorrow noon, if you could drop here a sample of the Yarp data from one of the ports in the description (e.g. /icub/left_foot_heel_tiptoe/measures:o), it would be great.

Here you go:

() () () () (((264.0) 1662118197.98573541641) ((264.0) 1662118197.98173546791)) (((-57.952880859375 -101.806640625 8.23974609375 -1.666259765625 0.4852294921875 0.2471923828125) 157041978.0) ((-78.55224609375 -60.05859375 -54.74853515625 -0.30670166015625 1.190185546875 -0.01373291015625) 157037978.0)) () () () ()
() () () () (((264.0) 1662118197.99573731422) ((264.0) 1662118197.99173736572)) (((-57.037353515625 -101.25732421875 6.77490234375 -1.666259765625 0.47607421875 0.2471923828125) 157051980.0) ((-78.55224609375 -59.6923828125 -55.11474609375 -0.2838134765625 1.190185546875 -0.00457763671875) 157047980.0)) () () () ()
() () () () (((264.0) 1662118198.00573444366) ((264.0) 1662118198.00173449516)) (((-57.403564453125 -101.98974609375 7.50732421875 -1.68914794921875 0.47149658203125 0.2471923828125) 157061977.0) ((-78.460693359375 -60.150146484375 -53.8330078125 -0.3021240234375 1.1993408203125 -0.0091552734375) 157057977.0)) () () () ()
() () () () (((264.0) 1662118198.00573444366) ((264.0) 1662118198.01173734665)) (((-57.403564453125 -101.98974609375 7.50732421875 -1.68914794921875 0.47149658203125 0.2471923828125) 157061977.0) ((-78.55224609375 -59.50927734375 -55.2978515625 -0.28839111328125 1.1993408203125 -0.02288818359375) 157067980.0)) () () () ()
() () () () (((264.0) 1662118198.02574038506) ((264.0) 1662118198.02174139023)) (((-57.403564453125 -100.982666015625 7.32421875 -1.67083740234375 0.494384765625 0.25177001953125) 157081983.0) ((-78.643798828125 -59.234619140625 -54.5654296875 -0.28839111328125 1.20849609375 -0.00457763671875) 157077984.0)) () () () ()

Originally posted by @S-Dafarra in https://github.com/ami-iit/yarp-openmct/issues/126#issuecomment-1235387317