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Add rawValuesPublisherInterface and related nws and nwc to stream and save raw values #983

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merged 3 commits into from
Oct 28, 2024
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Add rawValuesPublisherInterface and related nws and nwc to stream and save raw values #983

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54a0125
Introduced feature interface rawValuesPublisher and related module
valegagge Jun 25, 2024
054ebb5
Update CMakeLists.txt in iCubDev to re-roder files and dirs tree and …
MSECode Oct 10, 2024
9d82e00
Update iCubDev CMakeLists.txt and update icub-main to v2.7.0
MSECode Oct 28, 2024
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@ cmake_minimum_required(VERSION 3.12...3.28)

set(ROOT_PROJECT_NAME ICUB)
project(${ROOT_PROJECT_NAME} LANGUAGES C CXX
VERSION 2.6.3)
VERSION 2.7.0)

set(CMAKE_CXX_EXTENSIONS OFF)
set(CMAKE_CXX_STANDARD 14)
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7 changes: 7 additions & 0 deletions app/fakeRawDataPublisherTester/CMakeLists.txt
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@@ -0,0 +1,7 @@
# Copyright: (C) 2024 iCub Facility - Istituto Italiano di Tecnologia
# Authors: Jacopo Losi
# CopyPolicy: Released under the terms of the GNU GPL v2.0.

set(appname fakeRawDataPublisherTester)
file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini)
yarp_install(FILES ${conf} DESTINATION ${ICUB_CONTEXTS_INSTALL_DIR}/${appname})
4 changes: 4 additions & 0 deletions app/fakeRawDataPublisherTester/conf/config.ini
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@@ -0,0 +1,4 @@
[GENERAL]
robotname fakedevicetest
period 1.0
portprefix /raw_data
36 changes: 36 additions & 0 deletions app/fakeRawDataPublisherTester/plotRawDataUpperArm.xml
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@@ -0,0 +1,36 @@
<?xml version="1.0" encoding="UTF-8" ?>
<portscope rows="1" columns="1" carrier="mcast">
<plot gridx="0"
gridy="0"
hspan="1"
vspan="1"
minval="-20"
maxval="256"
title="Raw Valeus Test Plot"
bgcolor="LightSlateGrey">
<graph remote="/fakedevicetest/raw_data/rawdata:o"
index="1"
color="purple"
title="raw value 1"
type="lines"
size="3" />
<graph remote="/fakedevicetest/raw_data/rawdata:o"
index="2"
color="pink"
title="raw value 2"
type="lines"
size="3" />
<graph remote="/fakedevicetest/raw_data/rawdata:o"
index="3"
color="green"
title="raw value 3"
type="lines"
size="3" />
<graph remote="/fakedevicetest/raw_data/rawdata:o"
index="4"
color="orange"
title="raw value 4"
type="lines"
size="3" />
</plot>
</portscope>
13 changes: 11 additions & 2 deletions src/libraries/iCubDev/CMakeLists.txt
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Expand Up @@ -4,10 +4,17 @@

project(iCubDev)

# Add IDL files generation from thrift
set(idl_files include/iCub/rawValuesPublisher.thrift)
set(doc_files include/iCub/rawValuesPublisher.xml)

yarp_idl_to_dir(INPUT_FILES ${idl_files} OUTPUT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/autogenerated PLACEMENT MERGED)

# Find .cpp and .h files automatically. This is a bit lazy,
# and in principle it would be better to list these files manually.
FILE(GLOB folder_source src/*.cpp)
FILE(GLOB folder_header include/iCub/*.h)
FILE(GLOB folder_idlgen autogenerated/iCub/*)

# Declare groups of source and header files -- makes things pretty in MSVC.
SOURCE_GROUP("Source Files" FILES ${folder_source})
Expand All @@ -17,10 +24,11 @@ SOURCE_GROUP("Header Files" FILES ${folder_header})
include_directories(${PROJECT_SOURCE_DIR}/include)

# Create everything needed to build our executable.
add_library(${PROJECT_NAME} ${folder_source} ${folder_header})
add_library(${PROJECT_NAME} ${folder_source} ${folder_header} ${folder_idlgen})
add_library(ICUB::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>")
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/autogenerated>"
"$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>")
target_link_libraries(${PROJECT_NAME} YARP::YARP_os
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Let's see if @traversaro has a better solution for this one we found

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I think the problem is that the thrift classes do not have any namespace (that is true also for generated public classes that are just defined in the global namespace). Since robotology/yarp#2028, the include should be placed in include/<namespace>, so if we use the iCub namespace in thrift files we should be good to go and there will be no need to specifiy additional include directories as done here.

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See https://github.com/robotology/icub-main/pull/983/files#r1793662892 .

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If it's allowed by the automation, I'd like to segregate generated files in dedicated directories.

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Sure, in that case you just need to have two directories passed as BUILD_INTERFACE interface, and only one install (I am not a big fan of using thrift-generated files in public interfaces due to this), something like:

target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
                                                  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/autogenerated/include>"
                                                  "$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>"

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As per discussion w/ @valegagge and @Nicogene I'm gonna fix the CMakeLists.txt as proposed by @traversaro. Thus also the generated files should not be together with the hand-coded ones.

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Thanks heaps!

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@MSECode MSECode Oct 10, 2024 •
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Just one thing.
I tried to compile everything but without this line:
"$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}/autogenerated>" in src/libraries/iCubDev/CMakeLists.txt
robometry compilation keeps failing with errors in finding the include:

[ 88%] Building CXX object src/telemetryDeviceDumper/CMakeFiles/yarp_telemetryDeviceDumper.dir/TelemetryDeviceDumper.cpp.o
In file included from /home/iiticublap258/Workspace/robometry/src/telemetryDeviceDumper/TelemetryDeviceDumper.h:22,
                 from /home/iiticublap258/Workspace/robometry/build/src/telemetryDeviceDumper/yarp_plugin_telemetryDeviceDumper.cpp:10:
/home/iiticublap258/Workspace/robotology-superbuild/build/install/include/iCub/IRawValuesPublisher.h:9:10: fatal error: iCub/rawValuesDataVectorsMap.h: No such file or directory
    9 | #include <iCub/rawValuesDataVectorsMap.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
[ 96%] Built target CB_to_matfile_example
make[2]: *** [src/telemetryDeviceDumper/CMakeFiles/yarp_telemetryDeviceDumper.dir/build.make:76: src/telemetryDeviceDumper/CMakeFiles/yarp_telemetryDeviceDumper.dir/yarp_plugin_telemetryDeviceDumper.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from /home/iiticublap258/Workspace/robometry/src/telemetryDeviceDumper/TelemetryDeviceDumper.h:22,
                 from /home/iiticublap258/Workspace/robometry/src/telemetryDeviceDumper/TelemetryDeviceDumper.cpp:8:
/home/iiticublap258/Workspace/robotology-superbuild/build/install/include/iCub/IRawValuesPublisher.h:9:10: fatal error: iCub/rawValuesDataVectorsMap.h: No such file or directory
    9 | #include <iCub/rawValuesDataVectorsMap.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [src/telemetryDeviceDumper/CMakeFiles/yarp_telemetryDeviceDumper.dir/build.make:90: src/telemetryDeviceDumper/CMakeFiles/yarp_telemetryDeviceDumper.dir/TelemetryDeviceDumper.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:236: src/telemetryDeviceDumper/CMakeFiles/yarp_telemetryDeviceDumper.dir/all] Error 2
make: *** [Makefile:136: all] Error 2

YARP::YARP_dev)
set_target_properties(${PROJECT_NAME} PROPERTIES
Expand All @@ -37,6 +45,7 @@ install(TARGETS ${PROJECT_NAME}
PUBLIC_HEADER
DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/iCub")

install(FILES ${folder_idlgen} DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/iCub")

icub_install_basic_package_files(${PROJECT_NAME}
DEPENDENCIES YARP_os
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