Create the iCub Telemetry Visualizer based on Open MCT (web interface static server)

[nunoguedelha]

This actually consists in moving the Open MCT static server, initially implemented in a fork of https://github.com/nasa/openmct-tutorial.git (the fork actually), into this repository.

[nunoguedelha]

Existing Design (from tutorial)

Installer script package.json

This script specifies, among other things:

• the dependency packages
• the main script running the server (iCubTelemVisServer.js)
• the binding of that script to the command npm start

Web Server: scripts server.js and static-server.js

server.js runs the web server (static server) on a default port 8080 if not set through the environment variable PORT. The web server:

• Sets up the access to static folders (the one containing all the server definition specific files).
• Sends to the browser the web client (implemented in index.html).

Notes: index.html is directly accessed via the address http://<server-machine-ip>:8080 as it is included in the static folders which have been made remotely accessible to the client. A telemetry source server provided fake telemetry data and was integrated with the YarpJS server.

Web Client

The web client installs the dictionary, historical and realtime telemetry plugins.

• The dictionary plugin defines the domain objects whih will be the access points of the iCub telemetry sources. In our framework implementation, the first created telemetry source was the iCub IMU measurements telemetry point.
• The historical telemetry plugin requests telemetry data over a range from one minute in the past up to the current time.
• The realtime telemetry subscribes to periodic realtime telemetry data updates from the server.

Implemented fixes and changes for iCub telemetry

• openmct.css theme was missing. used espressoTheme.css instead.
• Function DictionaryPlugin prototype declaration (used function name instead of function expression assigning an anonymous function to a variable name). The second option seems to be more useful for limiting the scope of that function with the declarative keywords let or const inside a block or another function.
• Fuse the telemetry source server (historical, realtime) with YARPJS server.
• Align the telemetry dictionary with the IMU measurements format used by the telemetry source server, i.e. the "sens.imu" entry in the state property object of the ICubTelemetry(). In the ICubTelemetry(), we defined a "sens.imu" telemetry sample as:

      "sens.imu": {
        "ori": {"roll": 0, "pitch": 0, "yaw": 0},
        "acc": {"x": 0, "y": 0, "z": 0},
        "gyr": {"x": 0, "y": 0, "z": 0},
        "mag": {"x": 0, "y": 0, "z": 0}
      }

  which, flattened and set to "value" field in the telemetry sample object gives: "value.ori.roll", "value.ori.pitch", ... This matches the "IMU sensor measurements" (key: "sens.imu") "values":

      {
    "name": "IMU sensor measurements",
    "key": "sens.imu",
    "values": [
      {
        "key": "value.ori.roll",
        "name": "Roll",
        "units": "degrees",
        "format": "float",
        "hints": {
          "range": 1
        }
      },
      {
        "key": "value.ori.pitch",
        "name": "Pitch",
        "units": "degrees",
        "format": "float",
        "hints": {
          "range": 2
        }
      },
  ...

• Set the historical time range from one minute in the past to the current time:

  const ONE_MINUTE = 60 * 1000;
  openmct.time.clock('local', {start: -ONE_MINUTE, end: 0});

• The historical and realtime source servers are running in a process different from the one running the Open MCT wweb server (historical and realtime request schedulers), and so, cannot use the same port number: the telemetry server shall use the 8081 and the Open MCT web server shall use the 8080. Hardcode those addresses in the historical and realtime telemetry plugins.
• Move the Open MCT web server and client files to the yarp-openmct repository and do some compilation fixes in order to let the server build and run next to the YarpJS server.

Note: package-lock.json file is required for a fast compilation.

[nunoguedelha]

Hi @traversaro , would you need any additional information for reviewing this PR?