Merge branch 'master' into update_HumanLogger

robotology · Oct 30, 2023 · 1f4cb8b · 1f4cb8b
2 parents 4c07913 + 77c7a02
commit 1f4cb8b
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diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -13,7 +13,6 @@ on:
     - cron: '0 2 * * *'
 
 env:
-    vcpkg_robotology_TAG: v0.10.1
     YCM_TAG: v0.15.3
     YARP_TAG: v3.8.1
     iDynTree_TAG: v9.0.0 
@@ -23,8 +22,6 @@ env:
     OsqpEigen_TAG: v0.8.1
     matioCpp_TAG: v0.2.2
     robometry_TAG: v1.2.1
-    # Overwrite the VCPKG_INSTALLATION_ROOT env variable defined by Github Actions to point to our vcpkg
-    VCPKG_INSTALLATION_ROOT: C:\robotology\vcpkg
 
 jobs:
     build:
@@ -40,38 +37,22 @@ jobs:
         # Clone the repository in $GITHUB_WORKSPACE
         - uses: actions/checkout@master  
 
-        # Use conda for Windows dependencies
-        - uses: conda-incubator/setup-miniconda@v2
-          if: contains(matrix.os, 'windows')
+        # Use mamba for Windows dependencies
+        - uses: mamba-org/setup-micromamba@v1
+          if: matrix.os == 'windows-latest' || matrix.os == 'macOS-latest'
           with:
-            mamba-version: "*"
-            channels: conda-forge,robotology,defaults
+            environment-file: ci_env.yml
             channel-priority: true
-            environment: human-dynamics-estimation
-            python-version: 3.8
 
         # Print the environment variables to simplify development and debugging
         - name: Environment Variables
-        # Use bash  in order to have same basic commands in all OSs
+          if: matrix.os == 'ubuntu-latest'
           shell: bash
           run: env
-
-        # Remove apt repos on Ubuntu that are known to break from time to time 
-        # See https://github.com/actions/virtual-environments/issues/323 
-        - name: Remove broken apt repos [Ubuntu]
-          if: matrix.os == 'ubuntu-latest'
-          run: |
-            for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done
 
         # ============
         # DEPENDENCIES
         # ============
-
-
-        - name: Dependencies [macOS]
-          if: matrix.os == 'macOS-latest'
-          run: |
-            brew install ccache eigen ace tinyxml gsl irrlicht libmatio boost glfw sdl2
 
         - name: Dependencies [Ubuntu]
           if: matrix.os == 'ubuntu-latest'
@@ -80,27 +61,9 @@ jobs:
             sudo apt install git build-essential cmake libace-dev coinor-libipopt-dev  libboost-system-dev libboost-filesystem-dev \
                              libboost-thread-dev liborocos-kdl-dev libeigen3-dev swig qtbase5-dev qtdeclarative5-dev qtmultimedia5-dev libqt5charts5-dev \
                              libxml2-dev liburdfdom-dev libtinyxml-dev liburdfdom-dev liboctave-dev python3-dev valgrind libassimp-dev libirrlicht-dev libmatio-dev libglfw3-dev
-                             
-        - name: Cache Source-based dependencies  [Ubuntu/macOS]
-          if: steps.cache-source-deps.outputs.cache-hit != 'true' && (contains(matrix.os, 'ubuntu') || contains(matrix.os, 'macOS'))
-          id: cache-source-deps
-          uses: actions/cache@v1
-          with:
-            path: ${{ github.workspace }}/install/deps
-            # Including ${{ runner.temp }} is a workaround for https://github.com/robotology/whole-body-estimators/issues/60
-            key: source-deps-${{runner.os}}-${{runner.temp}}-vcpkg-robotology-${{env.vcpkg_robotology_TAG}}-ycm-${{env.YCM_TAG}}-yarp-${{env.YARP_TAG}}-iDynTree-${{env.iDynTree_TAG}}-wearables-${{env.wearables_TAG}}-icub_main-${{env.icub_main_TAG}}-OsqpEigen-${{env.OsqpEigen_TAG}}-matioCpp-${{env.matioCpp_TAG}}-robometry-${{env.robometry_TAG}}
 
-        - name: Dependencies (using conda) [Windows]
-          if: steps.cache-source-deps.outputs.cache-hit != 'true' && contains(matrix.os, 'windows')
-          shell: bash -l {0}
-          run: |
-            # Compilation related dependencies 
-            mamba install cmake compilers make ninja pkg-config
-            # Actual dependencies
-            mamba install yarp icub-main wearables idyntree matio-cpp robometry osqp-eigen
-             
-        - name: Source-based Dependencies [Ubuntu/macOS]
-          if: steps.cache-source-deps.outputs.cache-hit != 'true' && (matrix.os == 'ubuntu-latest' || matrix.os == 'macOS-latest')
+        - name: Source-based Dependencies [Ubuntu]
+          if: steps.cache-source-deps.outputs.cache-hit != 'true' && matrix.os == 'ubuntu-latest'
           shell: bash
           run: |
             # YCM
@@ -216,7 +179,7 @@ jobs:
             
         - name: Configure [Ubuntu/macOS]
           if: matrix.os == 'ubuntu-latest' || matrix.os == 'macOS-latest'
-          shell: bash
+          shell: bash -l {0}
           run: |
             mkdir -p build
             cd build
@@ -231,9 +194,6 @@ jobs:
           shell: bash
           run: |
             cd build
-            # Attempt of fix for using YARP idl generators (that link ACE) in Windows 
-            # See https://github.com/robotology/idyntree/issues/569
-            export PATH=$PATH:${GITHUB_WORKSPACE}/install/bin:${VCPKG_INSTALLATION_ROOT}/install/x64-windows/bin:${VCPKG_INSTALLATION_ROOT}/installed/x64-windows/debug/bin
             cmake --build . --config ${{matrix.build_type}}
             
                     
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -7,11 +7,18 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ## [Unreleased]
 
 ### Changed
+- Naming convention from `wrapper`\ `server` to `nws`\ `nwc` (https://github.com/robotology/human-dynamics-estimation/pull/367).
 - HumanLogger device to be compatible with the `robot-log-visualizer` (https://github.com/robotology/human-dynamics-estimation/pull/372).
 
+## [2.9.0] - 2023-10-17
+
 ### Fixed
 - [`HumanControlBoard`] Fix attach method (https://github.com/robotology/human-dynamics-estimation/pull/365).
 
+### Added
+- Added `HumanWrenchWrapper` and `HumanWrenchRemapper` (https://github.com/robotology/human-dynamics-estimation/pull/362/files).
+- Added `IHumanWrench` to `HumanLogger` (https://github.com/robotology/human-dynamics-estimation/pull/363).
+
 ## [2.8.0] - 2023-09-06
 
 ### Added

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -4,7 +4,7 @@
 cmake_minimum_required(VERSION 3.5)
 project(HumanDynamicsEstimation
         LANGUAGES CXX
-        VERSION 2.8.0)
+        VERSION 2.9.0)
 
 # =====================
 # PROJECT CONFIGURATION
@@ -83,8 +83,8 @@ add_subdirectory(msgs)
 add_subdirectory(interfaces)
 add_subdirectory(devices)
 add_subdirectory(modules)
-add_subdirectory(wrappers)
-add_subdirectory(remappers)
+add_subdirectory(servers)
+add_subdirectory(clients)
 add_subdirectory(publishers)
 add_subdirectory(HumanDynamicsEstimationLibrary)
 

diff --git a/ci_env.yml b/ci_env.yml
@@ -0,0 +1,17 @@
+name: human-dynamics-estimation
+channels:
+  - conda-forge
+  - robotology
+dependencies:
+  - cmake 
+  - compilers
+  - make 
+  - ninja
+  - pkg-config 
+  - yarp
+  - icub-main 
+  - wearables 
+  - idyntree 
+  - libmatio-cpp 
+  - robometry 
+  - osqp-eigen
diff --git a/clients/CMakeLists.txt b/clients/CMakeLists.txt
@@ -0,0 +1,7 @@
+# SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
+# SPDX-License-Identifier: BSD-3-Clause
+
+add_subdirectory(HumanState_nwc_yarp)
+add_subdirectory(HumanDynamics_nwc_yarp)
+add_subdirectory(HumanWrench_nwc_yarp)
+add_subdirectory(WearableTargets_nwc_yarp)
diff --git a/...pers/HumanDynamicsRemapper/CMakeLists.txt → ...nts/HumanDynamics_nwc_yarp/CMakeLists.txt b/...pers/HumanDynamicsRemapper/CMakeLists.txt → ...nts/HumanDynamics_nwc_yarp/CMakeLists.txt
@@ -1,29 +1,29 @@
 # SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
 # SPDX-License-Identifier: BSD-3-Clause
 
-yarp_prepare_plugin(human_dynamics_remapper
-    TYPE hde::devices::HumanDynamicsRemapper
-    INCLUDE HumanDynamicsRemapper.h
+yarp_prepare_plugin(human_dynamics_nwc_yarp
+    TYPE hde::devices::HumanDynamics_nwc_yarp
+    INCLUDE HumanDynamics_nwc_yarp.h
     CATEGORY device
     ADVANCED
     DEFAULT ON)
 
-yarp_add_plugin(HumanDynamicsRemapper
-    HumanDynamicsRemapper.cpp
-    HumanDynamicsRemapper.h)
+yarp_add_plugin(HumanDynamics_nwc_yarp
+    HumanDynamics_nwc_yarp.cpp
+    HumanDynamics_nwc_yarp.h)
 
-target_include_directories(HumanDynamicsRemapper PUBLIC
+target_include_directories(HumanDynamics_nwc_yarp PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>)
 
-target_link_libraries(HumanDynamicsRemapper PUBLIC
+target_link_libraries(HumanDynamics_nwc_yarp PUBLIC
     IHumanDynamics
     HumanDynamicsMsg
     YARP::YARP_OS
     YARP::YARP_dev
     YARP::YARP_init)
 
 yarp_install(
-    TARGETS HumanDynamicsRemapper
+    TARGETS HumanDynamics_nwc_yarp
     COMPONENT runtime
     LIBRARY DESTINATION ${YARP_DYNAMIC_PLUGINS_INSTALL_DIR}
     ARCHIVE DESTINATION ${YARP_STATIC_PLUGINS_INSTALL_DIR}

diff --git a/...ynamicsRemapper/HumanDynamicsRemapper.cpp → ...amics_nwc_yarp/HumanDynamics_nwc_yarp.cpp b/...ynamicsRemapper/HumanDynamicsRemapper.cpp → ...amics_nwc_yarp/HumanDynamics_nwc_yarp.cpp
@@ -1,7 +1,7 @@
 // SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
 // SPDX-License-Identifier: BSD-3-Clause
 
-#include "HumanDynamicsRemapper.h"
+#include "HumanDynamics_nwc_yarp.h"
 
 #include <hde/msgs/HumanDynamics.h>
 
@@ -11,16 +11,16 @@
 #include <iostream>
 #include <mutex>
 
-const std::string RemapperName = "HumanDynamicsRemapper";
-const std::string LogPrefix = RemapperName + " :";
+const std::string ClientName = "HumanDynamics_nwc_yarp";
+const std::string LogPrefix = ClientName + " :";
 
 using namespace hde::devices;
 
 // ==============
 // IMPL AND UTILS
 // ==============
 
-class HumanDynamicsRemapper::impl
+class HumanDynamics_nwc_yarp::impl
 {
 public:
     std::mutex mtx;
@@ -34,18 +34,18 @@ class HumanDynamicsRemapper::impl
 };
 
 // =======================
-// IHUMANDYNAMICS REMAPPER
+// IHUMANDYNAMICS CLIENT
 // =======================
 
-HumanDynamicsRemapper::HumanDynamicsRemapper()
+HumanDynamics_nwc_yarp::HumanDynamics_nwc_yarp()
     : PeriodicThread(1)
     , pImpl{new impl()}
 {}
 
-HumanDynamicsRemapper::~HumanDynamicsRemapper() = default;
+HumanDynamics_nwc_yarp::~HumanDynamics_nwc_yarp() = default;
 
 // parsing the configuration file and connect ports
-bool HumanDynamicsRemapper::open(yarp::os::Searchable& config)
+bool HumanDynamics_nwc_yarp::open(yarp::os::Searchable& config)
 {
     // ===============================
     // CHECK THE CONFIGURATION OPTIONS
@@ -103,10 +103,10 @@ bool HumanDynamicsRemapper::open(yarp::os::Searchable& config)
     return true;
 }
 
-void HumanDynamicsRemapper::threadRelease()
+void HumanDynamics_nwc_yarp::threadRelease()
 {}
 
-bool HumanDynamicsRemapper::close()
+bool HumanDynamics_nwc_yarp::close()
 {
     pImpl->terminationCall = true;
 
@@ -117,13 +117,13 @@ bool HumanDynamicsRemapper::close()
     return true;
 }
 
-void HumanDynamicsRemapper::run()
+void HumanDynamics_nwc_yarp::run()
 {
     return;
 }
 
 // data are read from the port and saved in buffer variables
-void HumanDynamicsRemapper::onRead(hde::msgs::HumanDynamics& humanDynamicsData)
+void HumanDynamics_nwc_yarp::onRead(hde::msgs::HumanDynamics& humanDynamicsData)
 {
     std::lock_guard<std::mutex> lock(pImpl->mtx);
     if(!pImpl->terminationCall) {
@@ -134,19 +134,19 @@ void HumanDynamicsRemapper::onRead(hde::msgs::HumanDynamics& humanDynamicsData)
 }
 
 // method of IHumanDynamics interface expose the buffer variables data
-std::vector<std::string> HumanDynamicsRemapper::getJointNames() const
+std::vector<std::string> HumanDynamics_nwc_yarp::getJointNames() const
 {
     std::lock_guard<std::mutex> lock(pImpl->mtx);
     return pImpl->jointNames;
 }
 
-size_t HumanDynamicsRemapper::getNumberOfJoints() const
+size_t HumanDynamics_nwc_yarp::getNumberOfJoints() const
 {
     std::lock_guard<std::mutex> lock(pImpl->mtx);
     return pImpl->jointTorques.size();
 }
 
-std::vector<double> HumanDynamicsRemapper::getJointTorques() const
+std::vector<double> HumanDynamics_nwc_yarp::getJointTorques() const
 {
     std::lock_guard<std::mutex> lock(pImpl->mtx);
     return pImpl->jointTorques;

diff --git a/...nDynamicsRemapper/HumanDynamicsRemapper.h → ...ynamics_nwc_yarp/HumanDynamics_nwc_yarp.h b/...nDynamicsRemapper/HumanDynamicsRemapper.h → ...ynamics_nwc_yarp/HumanDynamics_nwc_yarp.h
@@ -1,8 +1,8 @@
 // SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
 // SPDX-License-Identifier: BSD-3-Clause
 
-#ifndef HDE_DEVICES_HUMANDYNAMICSREMAPPER
-#define HDE_DEVICES_HUMANDYNAMICSREMAPPER
+#ifndef HDE_DEVICES_HUMANDYNAMICS_NEC_YARP
+#define HDE_DEVICES_HUMANDYNAMICS_NEC_YARP
 
 #include <hde/interfaces/IHumanDynamics.h> 
 
@@ -17,10 +17,10 @@ namespace hde::msgs {
     class HumanDynamics;
 } // namespace hde::msgs
 namespace hde::devices {
-    class HumanDynamicsRemapper;
+    class HumanDynamics_nwc_yarp;
 } // namespace hde::devices
 
-class hde::devices::HumanDynamicsRemapper final
+class hde::devices::HumanDynamics_nwc_yarp final
     : public yarp::dev::DeviceDriver
     // inherite from the interface to be exposed
     , public hde::interfaces::IHumanDynamics
@@ -34,8 +34,8 @@ class hde::devices::HumanDynamicsRemapper final
     std::unique_ptr<impl> pImpl;
 
 public:
-    HumanDynamicsRemapper();
-    ~HumanDynamicsRemapper() override;
+    HumanDynamics_nwc_yarp();
+    ~HumanDynamics_nwc_yarp() override;
 
 
 
@@ -58,5 +58,5 @@ class hde::devices::HumanDynamicsRemapper final
     std::vector<double> getJointTorques() const override;
 };
 
-#endif // HDE_DEVICES_HUMANDYNAMICSREMAPPER
+#endif // HDE_DEVICES_HUMANDYNAMICS_NEC_YARP
 
diff --git a/clients/HumanDynamics_nwc_yarp/conf/HumanDynamics_nwc_yarpExample.xml b/clients/HumanDynamics_nwc_yarp/conf/HumanDynamics_nwc_yarpExample.xml
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+<robot name="Human-Dynamics-Client" build=0 portprefix="">
+
+
+    <device type="human_dynamics_nwc_yarp" name="HumanDynamics_nwc_yarp">
+       <param name="humanDynamicsDataPort">/HDE/HumanDynamics_nws_yarp/torques:o</param>
+    </device>
+
+
+
+</robot>