Description

To dump data from several yarp ports, it may be convenient to launch several yarpdatadumper instances using the yarpmanager.

If you have Python installed on your machine, you can use the yarpdatadumperAppGenerator utility script to generate a yarpmanager application that will launch and connect as many yarpdatadumper as you need.

If for example you need to read the ports /icub/left_leg/stateExt:o and /icub/left_leg/analog:o on the host icub15, you can run the generator with the following option:

yarpdatadumperAppGenerator --ports /icub/left_leg/analog:o /icub/left_leg/stateExt:o --host icub15 --name leftLegDumper

This will generate the following yarpmanager application in the leftLegDumper.xml file:

<application>
    <name>leftLegDumper</name>
    <dependencies>
        <port>/icub/left_leg/analog:o</port>
        <port>/icub/left_leg/stateExt:o</port>
    </dependencies>
    <module>
        <name>yarpdatadumper</name>
        <parameters>--name /dumper/icub/left_leg/analog:o --type bottle </parameters>
        <node>icub15</node>
        <tag>data-dumper-icub-left_leg-analog-o</tag>
    </module>
    <connection>
        <from>/icub/left_leg/analog:o</from>
        <to>/dumper/icub/left_leg/analog:o</to>
        <protocol>udp</protocol>
    </connection>
    <module>
        <name>yarpdatadumper</name>
        <parameters>--name /dumper/icub/left_leg/stateExt:o --type bottle </parameters>
        <node>icub15</node>
        <tag>data-dumper-icub-left_leg-stateExt-o</tag>
    </module>
    <connection>
        <from>/icub/left_leg/stateExt:o</from>
        <to>/dumper/icub/left_leg/stateExt:o</to>
        <protocol>udp</protocol>
    </connection>
</application>

Usage

usage: yarpdatadumperAppGenerator [-h] --ports PORTS [PORTS ...]
                                  [--imagePorts IMAGEPORTS [IMAGEPORTS ...]]
                                  --host HOST --name NAME [--rxTime]
                                  [--txTime] [--addVideo]
 
Tool for generating a YarpManager XML application for dumping a list of YARP
ports using the yarpdatadumper.
 
optional arguments:
 
  -h, --help            show this help message and exit
  --ports PORTS [PORTS ...]
                        list of ports (serializable to bottles) to dump
  --imagePorts IMAGEPORTS [IMAGEPORTS ...]
                        list of ports (of to dump
  --host HOST           host where to launch the dataDumpers
  --name NAME           name of the application, the file will be saved as
                        name.xml
  --rxTime              pass --rxTime flag to the yarpdatadumpers
  --txTime              pass --txTime flag to the yarpdatadumpers
  --addVideo            pass --addVideo flag to the yarpdatadumpers

See also: yarpdataplayer: replay recorded data; yarpmanager: edit, run and manage multiple programs on a set of machines

Table of Contents

Description

Usage