[yarpdatadumper] Add small python helper script to yarpdatadumper

Script to automatically generate yarpmanager applications.
It is installed only if python is found in the OS.
It should run fine also on Windows, but I did not test it.
Documentation of yarpdatadumper was also updated.

doc/yarpdatadumper.dox

@@ -102,7 +102,7 @@ by the \ref yarpdatadumper.
   provided.
 
 --connect \e portname
-- The parameter \e portname specifies the name of the port to 
+- The parameter \e portname specifies the name of the port to
   connect the dumper to at launch time (\e tcp is used).
 
 --dir \e dirname
@@ -215,6 +215,57 @@ By pressing CTRL+C the acquisition is terminated.
 
 So, now, have a look inside the directory ./log
 
+\section application_sec Generate a yarpmanager application
+
+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.py 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:
+
+\code
+yarpdatadumperAppGenerator.py  --ports /icub/left_leg/analog:o /icub/left_leg/stateExt:o  --host icub15 --name leftLegDumper
+\endcode
+
+This will generate the following yarpmanager application in the leftLegDumper.xml file:
+
+\code
+<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>
+\endcode
+
 \author Ugo Pattacini
 
 \sa yarpdataplayer

src/yarpdatadumper/CMakeLists.txt

@@ -35,4 +35,15 @@ if(CREATE_YARPDATADUMPER)
   install(TARGETS yarpdatadumper
           COMPONENT utilities
           DESTINATION ${CMAKE_INSTALL_BINDIR})
+
+   # install also the yarpdatadumperAppGenerator.py helper script
+   # if python is installed
+   find_package(PythonInterp)
+
+   if(PYTHONINTERP_FOUND)
+      yarp_install(PROGRAMS yarpdatadumperAppGenerator.py
+                   COMPONENT utilities
+                   DESTINATION ${CMAKE_INSTALL_BINDIR})
+   endif()
+
 endif()

src/yarpdatadumper/yarpdatadumperAppGenerator.py

@@ -0,0 +1,60 @@
+#!/usr/bin/python
+
+import argparse
+
+def printPortTags(out_file, ports, port_type, host, additional_flags):
+    for port in ports:
+        # print datadumper launch
+        out_file.write("\t<module>\n");
+        out_file.write("\t\t<name>yarpdatadumper</name>\n");
+        out_file.write("\t\t<parameters>--name /dumper"+port+" --type "+port_type+" "+additional_flags+"</parameters>\n");
+        out_file.write("\t\t<node>"+host+"</node>\n");
+        out_file.write("\t\t<tag>data-dumper"+port.replace('/','-').replace(':','-')+"</tag>\n");
+        out_file.write("\t</module>\n");
+
+        # print connection between datadumper and port
+        out_file.write("\t<connection>\n");
+        out_file.write("\t\t<from>"+port+"</from>\n");
+        out_file.write("\t\t<to>/dumper"+port+"</to>\n");
+        out_file.write("\t\t<protocol>udp</protocol>\n");
+        out_file.write("\t</connection>\n");
+
+def main():
+    parser = argparse.ArgumentParser(description='Tool for generating a YarpManager XML application for dumping a list of YARP ports using the yarpdatadumper.')
+    parser.add_argument('--ports', nargs='+', dest="ports", action='store', required=True, help='list of ports (serializable to bottles) to dump')
+    parser.add_argument('--imagePorts', nargs='+', dest="imagePorts", action='store', help='list of ports (of to dump')
+    parser.add_argument('--host', nargs=1,  dest="host", action='store', required=True, help='host where to launch the dataDumpers')
+    parser.add_argument('--name', nargs=1,  dest="name", action='store', required=True, help='name of the application, the file will be saved as name.xml')
+    parser.add_argument('--rxTime', action='store_true',help='pass --rxTime flag to the yarpdatadumpers')
+    parser.add_argument('--txTime', action='store_true',help='pass --txTime flag to the yarpdatadumpers')
+    parser.add_argument('--addVideo', action='store_true',help='pass --addVideo flag to the yarpdatadumpers')
+    args = parser.parse_args()
+
+    # open output file
+    filename = args.name[0] + ".xml";
+    out_file = open(filename,"w")
+
+    out_file.write("<application>\n");
+    out_file.write("\t<name>"+args.name[0]+"</name>\n");
+    out_file.write("\t<dependencies>\n");
+    for port in args.ports:
+        out_file.write("\t\t<port>"+port+"</port>\n");
+    out_file.write("\t</dependencies>\n");
+
+    additional_flags = "";
+    if(args.rxTime):
+        additional_flags += " --rxTime";
+    if(args.txTime):
+        additional_flags += " --txTime";
+    if(args.addVideo):
+        additional_flags += " --addVideo";
+
+    if( args.ports is not None):
+        printPortTags(out_file,args.ports,"bottle",args.host[0],additional_flags);
+    if( args.imagePorts is not None):
+        printPortTags(out_file,args.imagePorts,"image",args.host[0],additional_flags);
+
+    out_file.write("</application>\n");
+
+if __name__ == "__main__":
+    main()