Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add logger proc #544

Merged
merged 5 commits into from
Apr 6, 2015
Merged

Add logger proc #544

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
3ee3825
[hrpsys_config.py] running log process for receiving emergency signal
YoheiKakiuchi Mar 11, 2015
6c6205c
Merge remote-tracking branch 'origin/master' into add_logger_proc
YoheiKakiuchi Mar 17, 2015
9502797
Merge branch 'master' of https://github.com/fkanehiro/hrpsys-base int…
k-okada Mar 30, 2015
3013dff
Merge branch 'fix_for_travis' of https://github.com/k-okada/hrpsys-ba…
k-okada Apr 2, 2015
867a7da
[hrpsy_config.py] paralell running of log is not available if ExtTrig…
k-okada Apr 5, 2015
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 2 additions & 0 deletions launch/samplerobot.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@
<arg name="GUI" default="true" />
<arg name="CONTROLLER_PERIOD" default="500" />
<arg name="CONF_FILE" default="$(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).conf" />
<arg name="LOG_CONF_FILE" default="$(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).log.conf" />
<arg name="TORQUE_CONTROL" default="false"/>
<arg unless="$(arg TORQUE_CONTROL)" name="PROJECT_FILE" default="$(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).xml"/>
<arg if="$(arg TORQUE_CONTROL)" name="PROJECT_FILE" default="$(find hrpsys)/samples/SampleRobot/SampleRobot.$(arg CONTROLLER_PERIOD).torque.xml"/>
Expand All @@ -40,6 +41,7 @@
-o "example.ImpedanceController.config_file:$(arg CONF_FILE)"
-o "example.AutoBalancer.config_file:$(arg CONF_FILE)"
-o "example.StateHolder.config_file:$(arg CONF_FILE)"
-o "example.DataLogger.config_file:$(arg LOG_CONF_FILE)"
-o "example.TorqueFilter.config_file:$(arg CONF_FILE)"
-o "example.TorqueController.config_file:$(arg CONF_FILE)"
-o "example.ThermoEstimator.config_file:$(arg CONF_FILE)"
Expand Down
6 changes: 6 additions & 0 deletions python/hrpsys_config.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -232,6 +232,7 @@ class HrpsysConfigurator:
log = None
log_svc = None
log_version = None
log_use_owned_ec = False

# rtm manager
ms = None
Expand Down Expand Up @@ -776,6 +777,11 @@ def setupLogger(self):
for sen in filter(lambda x: x.type == "Force", self.sensors):
self.connectLoggerPort(self.rmfo, "off_"+sen.name)
self.log_svc.clear()
## parallel running log process (outside from rtcd) for saving logs by emergency signal
if self.log and (self.log_use_owned_ec or not isinstance(self.log.owned_ecs[0], OpenRTM._objref_ExtTrigExecutionContextService)):
print self.configurator_name, "\033[32mruning DataLogger with own Execution Context\033[0m"
self.log.owned_ecs[0].start()
self.log.start(self.log.owned_ecs[0])

def waitForRTCManager(self, managerhost=nshost):
'''!@brief
Expand Down
5 changes: 5 additions & 0 deletions sample/SampleRobot/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,9 @@ foreach(_idx 0 1)
configure_file(SampleRobot.xml.in ${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.${_tmp_controller_period}.xml)
configure_file(SampleRobot.torque.xml.in ${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.${_tmp_controller_period}.torque.xml)
configure_file(SampleRobot.conf.in ${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.${_tmp_controller_period}.conf)
configure_file(SampleRobot.conf.in ${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.${_tmp_controller_period}.log.conf)
file(APPEND ${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.${_tmp_controller_period}.log.conf "exec_cxt.periodic.type: PeriodicExecutionContext\n")
file(APPEND ${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.${_tmp_controller_period}.log.conf "exec_cxt.periodic.rate: ${_tmp_controller_period}\n")
endforeach()

# for virtual force sensor testing
Expand Down Expand Up @@ -64,11 +67,13 @@ install(PROGRAMS
install(FILES
# files for 500[Hz] = 0.002[s]
${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.500.conf
${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.500.log.conf
${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.500.xml
${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.500.torque.xml
${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.RobotHardware.500.conf
# files for 200[Hz] = 0.005[s]
${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.200.conf
${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.200.log.conf
${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.200.xml
${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.200.torque.xml
${CMAKE_CURRENT_BINARY_DIR}/SampleRobot.RobotHardware.200.conf
Expand Down
1 change: 1 addition & 0 deletions sample/SampleRobot/samplerobot_data_logger.py.in
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@ def init ():
global hcf
hcf = HrpsysConfigurator()
hcf.getRTCList = hcf.getRTCListUnstable
hcf.log_use_own_ec = True ### use own ec for simulation
hcf.init ("SampleRobot(Robot)0", "@OPENHRP_DIR@/share/OpenHRP-3.1/sample/model/sample1.wrl")

def demo ():
Expand Down