Connect Yarp port /icubSim/inertial to Yarp.JS and OpenMCT plotting

[nunoguedelha]

This PR implements the integration of a telemetry server on YarpJS for serving Open MCT telemetry visualizer.

We connect the robot interface Yarp ports to the Open MCT via the yarp.js Yarp-to-websocket server are listed below as follows:

• [x] Retrieve Yarp data: the yarp.js server reads the Yarp output ports, like for instance /icubSim/inertial. => DONE (server created and working on http or https.)
• [x] History and Realtime servers (listen to OpenMCT): for extending the server with these services, yarp.js has two additional sockets http://localhost:<port>/history and http://localhost:<port>/realtime where it listens to requests coming from OpenMCT, asking for new telemetry data. => DONE
• [x] History and Realtime servers (reply to OpenMCT):yarp.js replies sending the buffered data within a range depending on the requested time boundaries. => DONE
  • [x] Realtime data request by Open MCT was failing. => This was due to wrong request address from the Realtime Telemetry plugin (in Open MCT) => now set to ws://localhost:/realtime (https://github.com/dic-iit/element_software-engineering/issues/50#issuecomment-863877317 and https://github.com/dic-iit/element_software-engineering/issues/50#issuecomment-864163884)
  • [x] "Cross-Origin Request Blocked" issue. => Open MCT server configuration has the "Same Origin resource" constraint when fetching data from resources. => solved by properly setting the CORS settings in the response header from the Yarp.js server (https://github.com/dic-iit/element_software-engineering/issues/50#issuecomment-864163884 and https://github.com/dic-iit/element_software-engineering/issues/50#issuecomment-864724209)
• [x] Bufferize data: the data read from the YARP port should then be pushed to the History server buffer. Scalar and vector data should be supported. => DONE (https://github.com/dic-iit/element_software-engineering/issues/50#issuecomment-865529850)
• [x] Limit History server buffer depth. => DONE

[nunoguedelha]

Ciao @traversaro , I couldn't move https://github.com/dic-iit/element_software-engineering/issues/50 to this repo using "Move issue", neither with "Transfer issue". I still have no idea why it works for some repos and not others.

[traversaro]

Hi @nunoguedelha ! All this openmct related material is great, but I wonder if the yarp.js repo is the best place were to host it? Perhaps we can create a yarp-openmct repo, and add it there, so that we can continue to use that repo as an entrypoint for YARP-OpenMCT integration in general, even if in the future perhaps the integration will not use yarp.js at all?

[nunoguedelha]

Hi @traversaro , it makes sense. This means creating a repo with typically all the new files from .../yarp.js/iCubTelemetryVisualizerServer/ and YarpJS module as a dependency. I can do that. Where do we create the repo, robotology?

[traversaro]

Hi @traversaro , it makes sense. This means creating a repo with typically all the new files from .../yarp.js/iCubTelemetryVisualizerServer/ and YarpJS module as a dependency. I can do that. Where do we create the repo, robotology?

I created it in https://github.com/dic-iit/yarp-openmct, you have full admin access.

[nunoguedelha]

Thanks @traversaro !

As soon as I move the code there and open a PR, I'll close this one.

[nunoguedelha]

PR changes moved to https://github.com/dic-iit/yarp-openmct/pull/1.