Closed nunoguedelha closed 1 year ago
state
variable and the value associated to the YARP port and received samplesHere's the telemetry ID in the state
variable...
https://github.com/ami-iit/yarp-openmct/blob/b010f317433f66fc7775e1188b473f239580fc8c/iCubTelemVizServer/icubtelemetry.js#L117-L120
...versus the one associated to the YARP port and received samples https://github.com/ami-iit/yarp-openmct/blob/b010f317433f66fc7775e1188b473f239580fc8c/iCubTelemVizServer/iCubTelemVizServer.js#L68-L76
The FTs attached to the feet heels and toes have their data published on the same ports: left / right heel and toe FTs data published respectively on /<robotName>/left_foot_heel_tiptoe/measures:o
/ /<robotName>/right_foot_heel_tiptoe/measures:o
.
For having a common format for all the FTs transmitted data and dictionary metadata, we parse the YARP data and send the each FT chunk of data separately. For that purpose, we define a single telemetry ID for identifying each port, namely sens.leftFootHeelTiptoeFTs
and sens.rightFootHeelTiptoeFTs
...
https://github.com/ami-iit/yarp-openmct/blob/b010f317433f66fc7775e1188b473f239580fc8c/conf/servers.json#L318-L320
https://github.com/ami-iit/yarp-openmct/blob/b010f317433f66fc7775e1188b473f239580fc8c/conf/servers.json#L328-L330
...same IDs used here... https://github.com/ami-iit/yarp-openmct/blob/b010f317433f66fc7775e1188b473f239580fc8c/iCubTelemVizServer/iCubTelemVizServer.js#L71-L76
...and here... https://github.com/ami-iit/yarp-openmct/blob/b010f317433f66fc7775e1188b473f239580fc8c/iCubTelemVizServer/icubtelemetry.js#L245 https://github.com/ami-iit/yarp-openmct/blob/b010f317433f66fc7775e1188b473f239580fc8c/iCubTelemVizServer/icubtelemetry.js#L351 https://github.com/ami-iit/yarp-openmct/blob/b010f317433f66fc7775e1188b473f239580fc8c/iCubTelemVizServer/icubtelemetry.js#L356
...but separate IDs for the telemetry samples stored in icubtelemetry.state
, icubtelemetry.history
:
https://github.com/ami-iit/yarp-openmct/blob/b010f317433f66fc7775e1188b473f239580fc8c/iCubTelemVizServer/icubtelemetry.js#L351-L360
https://github.com/ami-iit/yarp-openmct/blob/b010f317433f66fc7775e1188b473f239580fc8c/iCubTelemVizServer/icubtelemetry.js#L246-L254
Separate IDs should also be used for sending the data to the client but instead we use the port related key
:
https://github.com/ami-iit/yarp-openmct/blob/b010f317433f66fc7775e1188b473f239580fc8c/iCubTelemVizServer/icubtelemetry.js#L161-L164
the reported error occurs in the code block above.
sens.leftFootHeelFT
, sens.leftFootToetipFT
, sens.rightFootToetipFT
and sens.rightFootToetipFT
from the parser ICubTelemetry.prototype.parseFromId
and use them in forwardOrSend
:
https://github.com/ami-iit/yarp-openmct/blob/2c3aa4b7bf9ea76b95afb0fa6a4ad31b6a2ffe54/iCubTelemVizServer/icubtelemetry.js#L165-L168
https://github.com/ami-iit/yarp-openmct/blob/2c3aa4b7bf9ea76b95afb0fa6a4ad31b6a2ffe54/iCubTelemVizServer/icubtelemetry.js#L148-L154Fixed in #148 .
Refer to [Issue 2] in issue recap below:
_Originally posted by @nunoguedelha in https://github.com/ami-iit/component_ANA-Avatar-XPRIZE/issues/760#issuecomment-1266616475_
Fixed in #148 .