Migrate from YARP_telemetry to robometry

.github/workflows/ci.yml

@@ -1,6 +1,6 @@
 name: C++ CI Workflow
 
-# template derived from https://github.com/robotology/how-to-export-cpp-library/tree/master/.github/workflows 
+# template derived from https://github.com/robotology/how-to-export-cpp-library/tree/master/.github/workflows
 # and https://github.com/robotology/idyntree/blob/master/.github/workflows/ci.yml
 
 on:
@@ -18,7 +18,7 @@ env:
     YARP_TAG: v3.5.0
     iDynTree_TAG: v5.1.0
     matioCpp_TAG: v0.2.0
-    yarp_telemetry_TAG: v0.4.0
+    robometry_TAG: master # It will become v1.0.0 as soon as will be released
     # Overwrite the VCPKG_INSTALLATION_ROOT env variable defined by Github Actions to point to our vcpkg
     VCPKG_INSTALLATION_ROOT: C:\robotology\vcpkg
 
@@ -29,12 +29,12 @@ jobs:
         strategy:
             matrix:
                 build_type: [Release]
-                os: [ubuntu-latest, windows-latest, macOS-latest]  
+                os: [ubuntu-latest, windows-latest, macOS-latest]
             fail-fast: false
 
         steps:
         # Clone the repository in $GITHUB_WORKSPACE
-        - uses: actions/checkout@master  
+        - uses: actions/checkout@master
 
         - uses: conda-incubator/setup-miniconda@v2
           if: contains(matrix.os, 'windows')
@@ -51,8 +51,8 @@ jobs:
           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 
+        # 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: |
@@ -66,7 +66,7 @@ jobs:
           if: matrix.os == 'macOS-latest'
           run: |
             brew install ccache eigen ace tinyxml gsl boost libmatio
-             
+
         - name: Dependencies [Ubuntu]
           if: matrix.os == 'ubuntu-latest'
           run: |
@@ -82,7 +82,7 @@ jobs:
           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-${{env.iDynTree_TAG}}-matioCpp-${{env.matioCpp_TAG}}-yarp_telemetry-${{env.yarp_telemetry_TAG}}
+            key: source-deps-${{runner.os}}-${{runner.temp}}-vcpkg-robotology-${{env.vcpkg_robotology_TAG}}-ycm-${{env.YCM_TAG}}-yarp-${{env.YARP_TAG}}-iDynTree-${{env.iDynTree_TAG}}-matioCpp-${{env.matioCpp_TAG}}-robometry-${{env.robometry_TAG}}
 
 
         - name: Source-based Dependencies [Ubuntu/macOS]
@@ -131,11 +131,11 @@ jobs:
                   -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
             cmake --build . --config ${{matrix.build_type}} --target install
 
-            # yarp-telemetry
+            # robometry
             cd ${GITHUB_WORKSPACE}
-            git clone https://github.com/robotology/yarp-telemetry
-            cd yarp-telemetry
-            git checkout ${yarp_telemetry_TAG}
+            git clone https://github.com/robotology/robometry
+            cd robometry
+            git checkout ${robometry_TAG}
             mkdir -p build
             cd build
             cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
@@ -146,10 +146,10 @@ jobs:
           if: steps.cache-source-deps.outputs.cache-hit != 'true' && contains(matrix.os, 'windows')
           shell: bash -l {0}
           run: |
-            # Compilation related dependencies 
+            # Compilation related dependencies
             mamba install cmake compilers make ninja pkg-config
             # Actual dependencies
-            mamba install -c robotology yarp wearables idyntree matio-cpp yarp-telemetry
+            mamba install -c robotology yarp idyntree matio-cpp
 
         # ===================
         # CMAKE-BASED PROJECT
@@ -175,12 +175,12 @@ jobs:
             cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
                   -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
 
-        # Build step          
+        # Build step
         - name: Build
           shell: bash
           run: |
             cd build
-            # Attempt of fix for using YARP idl generators (that link ACE) in Windows 
+            # 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}}

CHANGELOG.md

@@ -8,6 +8,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Changed
 - Fix deprecated `YARP` functions in `YarpUtilities` component (https://github.com/robotology/wearables/pull/152)
+- Ported `iWearLogger` to the usage of `robometry` (new name of `YARP_telemetry`, https://github.com/robotology/wearables/pull/155)
 
 ### Added
 - Added the possibility to change the `carrier` for `IWearRemapper` connection. (https://github.com/robotology/wearables/pull/147)
@@ -27,8 +28,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Remove `rpc` port from `IWearWrapper` and `IWearRemapper`. (https://github.com/robotology/wearables/pull/131)
 
 ### Added
-- Added `IWearFrameVisualizer` module to visualize any wearable device frames associated with the link sensors. (https://github.com/robotology/wearables/pull/121) 
-- Added `HapticGlove` device to stream sense glove data and provide haptic feedback to the user. (https://github.com/robotology/wearables/pull/121) 
+- Added `IWearFrameVisualizer` module to visualize any wearable device frames associated with the link sensors. (https://github.com/robotology/wearables/pull/121)
+- Added `HapticGlove` device to stream sense glove data and provide haptic feedback to the user. (https://github.com/robotology/wearables/pull/121)
 - Updated `Paexo` wearable device with yarp ports for motor control. (https://github.com/robotology/wearables/pull/124)
 - Updated 'iwear_logger' wrapper device with options to stream data through yarp ports. (https://github.com/robotology/wearables/pull/123)
 - Added `iwear_logger` wrapper device to log wearable sensors data using `yarp-telemetry`. (https://github.com/robotology/wearables/pull/113)

README.md

@@ -13,7 +13,7 @@ Here following there is a list of the required dependencies you need for using t
 It must be noted that `YARP`, together with a subset of the optional dependencies, can be installed together in one place using the [robotology-superbuild](https://github.com/robotology/robotology-superbuild) enabling its [`Human-Dynamics` profile](https://github.com/robotology/robotology-superbuild#human-dynamics).
 
 ### Optional
-* [YARP-telemetry](https://github.com/robotology/yarp-telemetry) device: if present, the `IWearLogger` is installed.
+* [robometry](https://github.com/robotology/robometry) device: if present, the `IWearLogger` is installed.
 
 ## Build the suite
 ### Linux/macOS

wrappers/IWearLogger/CMakeLists.txt

@@ -2,9 +2,9 @@
 # This software may be modified and distributed under the terms of the
 # GNU Lesser General Public License v2.1 or any later version.
 
-find_package(YARP COMPONENTS telemetry dev QUIET)
-
-if (${YARP_FOUND})
+find_package(YARP COMPONENTS dev QUIET)
+find_package(robometry QUIET)
+if (${YARP_FOUND} AND ${robometry_FOUND})
 
 yarp_prepare_plugin(iwear_logger
     TYPE wearable::wrappers::IWearLogger
@@ -21,7 +21,7 @@ target_include_directories(IWearLogger PRIVATE
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)
 
 target_link_libraries(IWearLogger PUBLIC
-    IWear WearableData YARP::YARP_dev YARP::YARP_init YARP::YARP_telemetry)
+    IWear WearableData YARP::YARP_dev YARP::YARP_init robometry::robometry)
 
 yarp_install(
     TARGETS IWearLogger
@@ -31,6 +31,6 @@ yarp_install(
     YARP_INI DESTINATION ${YARP_PLUGIN_MANIFESTS_INSTALL_DIR})
 
 else()
-    message(WARNING "YARP-telemetry is missing. IWearLogger will not be installed.")
+    message(WARNING "robometry is missing. IWearLogger will not be installed.")
 endif()
 

wrappers/IWearLogger/src/IWearLogger.cpp

@@ -19,7 +19,7 @@
 #include <yarp/os/Network.h>
 #include <yarp/sig/Vector.h>
 
-#include <yarp/telemetry/experimental/BufferManager.h>
+#include <robometry/BufferManager.h>
 
 const std::string WrapperName = "IWearLogger";
 const std::string logPrefix = WrapperName + " :";
@@ -160,8 +160,8 @@ class IWearLogger::impl
     yarp::dev::IPreciselyTimed* iPreciselyTimed = nullptr;
     std::mutex loggerMutex;
     IWearLoggerSettings settings;
-    yarp::telemetry::experimental::BufferConfig bufferConfig;
-    yarp::telemetry::experimental::BufferManager<double> bufferManager;
+    robometry::BufferConfig bufferConfig;
+    robometry::BufferManager bufferManager;
 
     wearable::VectorOfSensorPtr<const wearable::sensor::IAccelerometer> accelerometers;
     wearable::VectorOfSensorPtr<const wearable::sensor::IEmgSensor> emgSensors;
@@ -762,7 +762,7 @@ void IWearLogger::run()
         }
     }
 
-    if (pImpl->settings.logAllQuantities || pImpl->settings.logSkinSensors) 
+    if (pImpl->settings.logAllQuantities || pImpl->settings.logSkinSensors)
     {
         for (const auto& sensor : pImpl->skinSensors) {
             std::vector<double> pressureVector;