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feat: Add auto-start logging feature and refactor device state management #1036

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9403d99
feat: Add auto-start logging feature and refactor device state manage…
GiulioRomualdi May 5, 2026
463cbd2
Revert to c++17
GiulioRomualdi May 5, 2026
c3c151d
Fix lambda function
GiulioRomualdi May 5, 2026
9ffb777
Fix start and stop
GiulioRomualdi May 5, 2026
dbd95b7
feat: Update robometry dependency version to 1.4.1 in CMake and pixi.…
GiulioRomualdi May 11, 2026
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6 changes: 3 additions & 3 deletions cmake/BipedalLocomotionFrameworkDependencies.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -97,9 +97,9 @@ blf_optional_find_package(tomlplusplus 3.0.1 QUIET)
checkandset_dependency(tomlplusplus MINIMUM_VERSION 3.0.1)
dependency_classifier(tomlplusplus MINIMUM_VERSION 3.0.1 IS_USED ${FRAMEWORK_USE_tomlplusplus} PUBLIC)

blf_optional_find_package(robometry 1.1.0 QUIET)
checkandset_dependency(robometry MINIMUM_VERSION 1.1.0)
dependency_classifier(robometry MINIMUM_VERSION 1.1.0 IS_USED ${FRAMEWORK_USE_robometry})
blf_optional_find_package(robometry 1.4.1 QUIET)
checkandset_dependency(robometry MINIMUM_VERSION 1.4.1)
dependency_classifier(robometry MINIMUM_VERSION 1.4.1 IS_USED ${FRAMEWORK_USE_robometry})

blf_optional_find_package(BayesFilters QUIET)
checkandset_dependency(BayesFilters)
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1 change: 1 addition & 0 deletions devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1/yarp-robot-logger.xml
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Expand Up @@ -15,6 +15,7 @@ BSD-3-Clause license. -->
<param name="log_cameras">true</param>
<param name="log_frames">false</param>
<param name="log_robot_data">true</param>
<param name="auto_start_logging">true</param>

<param name="enable_real_time_logging" extern-name="enable_real_time_logging">false</param>
<group name="REAL_TIME_STREAMING">
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1 change: 1 addition & 0 deletions devices/YarpRobotLoggerDevice/app/robots/ergoCubGazeboV1_1/yarp-robot-logger.xml
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Expand Up @@ -15,6 +15,7 @@ BSD-3-Clause license. -->
<param name="log_cameras">true</param>
<param name="log_frames">false</param>
<param name="log_robot_data">true</param>
<param name="auto_start_logging">true</param>

<param name="enable_real_time_logging" extern-name="enable_real_time_logging">false</param>
<group name="REAL_TIME_STREAMING">
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1 change: 1 addition & 0 deletions devices/YarpRobotLoggerDevice/app/robots/ergoCubSN000/yarp-robot-logger.xml
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Expand Up @@ -22,6 +22,7 @@ BSD-3-Clause license. -->
<param name="log_cameras">true</param>
<param name="log_frames">false</param>
<param name="log_robot_data">true</param>
<param name="auto_start_logging">true</param>

<param name="enable_real_time_logging" extern-name="enable_real_time_logging">false</param>
<group name="REAL_TIME_STREAMING">
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1 change: 1 addition & 0 deletions devices/YarpRobotLoggerDevice/app/robots/ergoCubSN001/yarp-robot-logger.xml
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Expand Up @@ -22,6 +22,7 @@ BSD-3-Clause license. -->
<param name="log_cameras">true</param>
<param name="log_frames">false</param>
<param name="log_robot_data">true</param>
<param name="auto_start_logging">true</param>

<param name="enable_real_time_logging" extern-name="enable_real_time_logging">false</param>
<group name="REAL_TIME_STREAMING">
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1 change: 1 addition & 0 deletions devices/YarpRobotLoggerDevice/app/robots/ergoCubSN002/yarp-robot-logger.xml
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Expand Up @@ -22,6 +22,7 @@ BSD-3-Clause license. -->
<param name="log_cameras">true</param>
<param name="log_frames">false</param>
<param name="log_robot_data">true</param>
<param name="auto_start_logging">true</param>

<param name="enable_real_time_logging" extern-name="enable_real_time_logging">false</param>
<group name="REAL_TIME_STREAMING">
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1 change: 1 addition & 0 deletions devices/YarpRobotLoggerDevice/app/robots/ergoCubSN003/yarp-robot-logger.xml
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Expand Up @@ -20,6 +20,7 @@ BSD-3-Clause license. -->
<param name="log_text">true</param>
<param name="text_logging_subnames">("ergocub-torso/yarprobotinterface")</param>
<param name="code_status_cmds">("ssh [email protected] 'bash ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/scripts/robotologyGitStatus.sh' > {filename}_robotology_10_0_0_2.txt" "ssh [email protected] 'apt list --installed' > {filename}_apt_10_0_0_2.txt" "ssh [email protected] 'bash ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/scripts/robotologyGitStatus.sh' > {filename}_robotology_10_0_0_3.txt" "ssh [email protected] 'apt list --installed' > {filename}_apt_10_0_0_3.txt")</param>
<param name="auto_start_logging">true</param>

<param name="enable_real_time_logging" extern-name="enable_real_time_logging">false</param>
<group name="REAL_TIME_STREAMING">
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1 change: 1 addition & 0 deletions devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/yarp-robot-logger.xml
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Expand Up @@ -12,6 +12,7 @@ BSD-3-Clause license. -->
<param name="log_cameras">true</param>
<param name="log_frames">false</param>
<param name="log_robot_data">true</param>
<param name="auto_start_logging">true</param>

<param name="enable_real_time_logging" extern-name="enable_real_time_logging">false</param>
<group name="REAL_TIME_STREAMING">
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1 change: 1 addition & 0 deletions devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/yarp-robot-logger.xml
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Expand Up @@ -14,6 +14,7 @@ BSD-3-Clause license. -->
<param name="log_cameras">true</param>
<param name="log_frames">false</param>
<param name="log_robot_data">true</param>
<param name="auto_start_logging">true</param>

<param name="enable_real_time_logging" extern-name="enable_real_time_logging">false</param>
<group name="REAL_TIME_STREAMING">
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40 changes: 39 additions & 1 deletion devices/YarpRobotLoggerDevice/include/BipedalLocomotion/YarpRobotLoggerDevice.h
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Expand Up @@ -51,6 +51,13 @@ class YarpRobotLoggerDevice : public yarp::dev::DeviceDriver,
public YarpRobotLoggerDeviceCommands
{
public:
enum class DeviceState
{
Idle,
Recording,
Saving
};

YarpRobotLoggerDevice(double period,
yarp::os::ShouldUseSystemClock useSystemClock
= yarp::os::ShouldUseSystemClock::No);
Expand All @@ -64,6 +71,9 @@ class YarpRobotLoggerDevice : public yarp::dev::DeviceDriver,
virtual void run() final;

private:
std::atomic<DeviceState> m_state{DeviceState::Idle};
bool m_autoStartLogging{true};

std::chrono::nanoseconds m_previousTimestamp;
std::chrono::nanoseconds m_acceptableStep{std::chrono::nanoseconds::max()};
bool m_firstRun{true};
Expand Down Expand Up @@ -277,6 +287,29 @@ class YarpRobotLoggerDevice : public yarp::dev::DeviceDriver,
bool prepareExogenousImageLogging();
bool prepareRTStreaming();

// State machine transitions
bool transitionToRecording();
bool transitionToIdle(bool save, const std::string& tag = "");

// Helpers for state transitions
void disconnectAllExogenousSignals();
void stopAllThreads();
void resetBufferManager();
void discardVideoFiles();

// Tag validation/sanitization - returns empty string on invalid input
bool sanitizeTag(const std::string& tag, std::string& outputFileName) const;

// Unified data logging helper (pushes to buffer manager + RT server)
template <typename T>
void logData(const std::string& name, const T& data, double time);

// Refactored run() sub-methods
void logRobotData(double time);
void logExogenousSignals(double time);
void logTextMessages(double time);
void logFrameTransforms(double time);

const std::string defaultFilePrefix = "robot_logger_device";

const std::string robotRtRootName = "robot_realtime";
Expand Down Expand Up @@ -332,7 +365,12 @@ class YarpRobotLoggerDevice : public yarp::dev::DeviceDriver,

void resumeAcquisitionThreads();

virtual bool saveData(const std::string& tag = "") override;
// RPC command implementations
virtual bool startRecording() override;
virtual bool saveRecording(const std::string& tag = "") override;
virtual bool saveAndStopRecording(const std::string& tag = "") override;
virtual bool discardRecording() override;
virtual std::string getState() override;
};

} // namespace BipedalLocomotion
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