pitasc_library - scripts/logging.xml
Model definitions
line 25: script_measurement_publisher
line 62: script_measurement_logger
line 118: script_error_logger
File contents
1<?xml version="1.0" encoding="UTF-8"?>
2
3<pitasc>
4
5 <models>
6
7 <type id="script_residual_publisher" prototype="script">
8 <meta>
9 <member id="description">Publishes residual values (control error).</member>
10 <member id="categories">publisher</member>
11 <member id="implementation">
12 </member>
13 </meta>
14 <data>
15 <type id="topic" prototype="string_parameter">
16 <meta>
17 <member id="description">Topic name on which to publish.</member>
18 <member id="visibility">basic</member>
19 </meta>
20 <data>residuals</data>
21 </type>
22 </data>
23 </type>
24
25 <type id="script_measurement_publisher" prototype="script">
26 <meta>
27 <member id="description">Publishes measurement values.</member>
28 <member id="categories">publisher</member>
29 <member id="implementation">
30 <clone prototype="orocos">
31 <member id="package">pitasc_ros_scripts</member>
32 <member id="component">MeasurementPublisher</member>
33 <member id="arguments">scene, provider, topic, coordinates</member>
34 </clone>
35 </member>
36 </meta>
37 <data>
38 <type id="provider" data_type="parameter:data_source" prototype="base">
39 <meta>
40 <member id="description">Data source that provides the measurements to publish.</member>
41 <member id="visibility">required</member>
42 </meta>
43 </type>
44
45 <type id="topic" prototype="string_parameter">
46 <meta>
47 <member id="description">Topic name on which to publish.</member>
48 <member id="visibility">basic</member>
49 </meta>
50 <data>measurements</data>
51 </type>
52
53 <type id="coordinates" prototype="string_csv">
54 <meta>
55 <member id="description">Coordinates that should be published.</member>
56 <member id="visibility">required</member>
57 </meta>
58 </type>
59 </data>
60 </type>
61
62 <type id="script_measurement_logger" prototype="script">
63 <meta>
64 <member id="description">Logs internal measurements to a file.</member>
65 <member id="categories">logging</member>
66 <member id="implementation">
67 <clone prototype="orocos">
68 <member id="package">cppitasc_ros_components</member>
69 <member id="component">ScriptMeasurementLogger</member>
70 <member id="arguments">scene, controllers, provider, file_name, buffer_length, filter, use_simple_filter_keys</member>
71 </clone>
72 </member>
73 </meta>
74 <data>
75 <type id="provider" data_type="list:data_source" prototype="base">
76 <meta>
77 <member id="description">Data sources that provide the measurements for logging.</member>
78 <member id="visibility">required</member>
79 </meta>
80 </type>
81
82 <type id="file_name" prototype="string_parameter">
83 <meta>
84 <member id="description">Full path and name (incl. extension) of logging file.
85 Non-existing directories are created.
86 The following artifacts (enclosed by curly brackets) are dynamically resolved:
87 '{rospkg (..)]}': full path to rospackge (..) (cf. roscd);
88 '{time (..)}': current time with respective formating (..) (cf. std::strftime)</member>
89 <member id="visibility">required</member>
90 </meta>
91 </type>
92 <type id="buffer_length" prototype="int_parameter">
93 <meta>
94 <member id="description">Initial length of the preallocated buffer during logging.
95 buffer_length = #samples * (#logged_coordinates + 1).
96 May be extended on the fly.</member>
97 <member id="visibility">expert</member>
98 </meta>
99 <data>512</data>
100 </type>
101 <type id="filter" prototype="string_csv">
102 <meta>
103 <member id="description">Explicit names of the measurements to be logged.</member>
104 <member id="visibility">basic</member>
105 </meta>
106 <data></data>
107 </type>
108 <type id="use_simple_filter_keys" prototype="bool_parameter">
109 <meta>
110 <member id="description">Allows to use filter keys without chain (e.g. 'x' instead of 'target_to_tool/x')</member>
111 <member id="visibility">basic</member>
112 </meta>
113 <data>False</data>
114 </type>
115 </data>
116 </type>
117
118 <type id="script_error_logger" prototype="script_measurement_logger">
119 <meta>
120 <member id="description">Logs control_errors (desired vs. measured values)</member>
121 <member id="categories">logging</member>
122 <member id="implementation">
123 <clone prototype="orocos">
124 <member id="package">cppitasc_ros_components</member>
125 <member id="component">ScriptErrorLogger</member>
126 <member id="arguments">scene, controllers, coordinates, file_name, buffer_length, filter, use_simple_filter_keys</member>
127 </clone>
128 </member>
129 </meta>
130 <data>
131 <type id="controllers" data_type="list:controller" prototype="base">
132 <meta>
133 <member id="description">Controllers whose control errors are logged.</member>
134 <member id="visibility">required</member>
135 </meta>
136 </type>
137 </data>
138 </type>
139
140 <type id="script_status_publisher" prototype="script">
141 <meta>
142 <member id="description">Publishes the maximum residual scaled between 0 and 1.</member>
143 <member id="categories">publisher</member>
144 <member id="implementation">
145 </member>
146 </meta>
147 <data>
148 <type id="topic" prototype="string_parameter">
149 <meta>
150 <member id="description">Topic name on which the status is published.</member>
151 <member id="visibility">basic</member>
152 </meta>
153 <data>status</data>
154 </type>
155 <type id="coordinates" prototype="string_csv">
156 <meta>
157 <member id="description">Coordinates that will be published.</member>
158 <member id="visibility">required</member>
159 </meta>
160 </type>
161 </data>
162 </type>
163
164 </models>
165</pitasc>