1,4,11: Minor fixes on the ports configuration

[nunoguedelha]

• [x] 1: The force visualization connects to the legs' ports, instead of the ones of the feet
• [x] 4: The Yarp port names in the script configuration have the hardcoded prefix icubSim
• [x] 11: Telemetry and Visualization Servers log "localhost" instead of the raw IP address on the output stream.
• [x] Update README.md.

[nunoguedelha]

1: The force visualization connects to the legs' ports, instead of the ones of the feet

Replaced visualization of EE wrench on Hip by the one on the foot:

• Replaced the selected port yarpName in the portInConfig table.
• Renamed the telemetry signal in the ICubTelemetry.state definition, update, and respective ICubTelemetry.generateTelemetry and OpenMct dictionary entries.

[nunoguedelha]

4: The Yarp port names in the script configuration have the hardcoded prefix icubSim

• Move the whole port configuration to a separate configuration file default.json in a new configuration folder config.
• default.json holds: the ports configuration portInConfig; the servers configurations telemVizServer, consoleServer and openmctStaticServer, with the 'host' and 'port' fields; the Yarp ports prefix robotYarpPortPrefix (/icub, /icubSim).
• default.json has a JSON format but its format was extended to support the use of variables in the JSON literals:

  {
    "robotYarpPortPrefix": "/icubSim",
    ...
    "portInConfig": {
        "sens.imu": {
            "yarpName": "${this.robotYarpPortPrefix}/inertial",
            ...
        },
        ...
    }
  }

• The config file is processed in ./config/processedDefault.js, by using string interpolation in Template literals [1], and the eval function [2]. A traversal function applies this processing to each in the nested pairs of the "config" JSON object.

Note

Importing a Javascript (JSON syntax) object from a JSON file can be done through the usual require primitive but doesn't require exporting the object in the JSON file using module.exports.

Additional references

• Adding documentation to the code: https://jsdoc.app/about-getting-started.html
• Importing a JSON object in Javascript: https://stackoverflow.com/questions/7163061/is-there-a-require-for-json-in-node-js

Configuration Files

• node-config: https://github.com/lorenwest/node-config, https://blog.logrocket.com/creating-configuration-files-node-js-using-node-config/

  Node-config organizes hierarchical configurations for your app deployments. => default configuration, development configuration, etc. :warning: Requires Node.js ≥ v10.0.0.

• Jsonnet, a DSL for JSON available on npm as a wrapper for Node.js: https://jsonnet.org/,https://github.com/yosuke-furukawa/node-jsonnet => Allows to use variables within the JSON format.

  Jsonnet	Generated JSON
  ```js { person1: { name: "Alice", welcome: "Hello " + self.name + "!", }, person2: self.person1 { name: "Bob" }, } ```	```json { "person1": { "name": "Alice", "welcome": "Hello Alice!" }, "person2": { "name": "Bob", "welcome": "Hello Bob!" } } ```

  But for the following reasons, I preferred to stick to the raw JSON format:

  • this requires an additional file format,
  • it is a priori not supported by node-config, which would be interesting to deploy later on our module.
  • with a bit more code I've impelmented a similar solution which uses the string interpolation syntax ${<variable-name>}.

[nunoguedelha]

11: Telemetry and Visualization Servers log "localhost" instead of the raw IP address on the output stream

This was fixed by using directly the address and port bound to the net.Server class object returned by the server creation and launch:

const telemServer = app.listen(<port>, <host>, function () {...});

References

https://nodejs.org/api/net.html#class-netserver https://nodejs.org/api/net.html#serveraddress

[nunoguedelha]

Updated the README. Work completed.

Implemented in #74 .

[nunoguedelha]

CC @traversaro @S-Dafarra @RiccardoGrieco