示例#1
0
文件: main.cpp 项目: Piijas/icub-main
    virtual bool open(Searchable &s)
    {

        Time::turboBoost();

        // get command line options
        options.fromString(s.toString());
        if (!options.check("robot") || !options.check("part")) 
        {
            printf("Missing either --robot or --part options. Quitting!\n");
            return false;
        }

        std::string dumpername; 
        // get dumepr name
        if (options.check("name"))
        {
            dumpername = options.find("name").asString();
            dumpername += "/";
        }
        else
        {
            dumpername = "/controlBoardDumper/";
        }

        Value& robot = options.find("robot");
        Value& part = options.find("part");
        configFileRobotPart = "config_";
        configFileRobotPart = configFileRobotPart + robot.asString();
        configFileRobotPart = configFileRobotPart + "_";
        configFileRobotPart = configFileRobotPart + part.asString();
        configFileRobotPart = configFileRobotPart + ".ini";

        //get the joints to be dumped
        getRate(options, rate);

        if (getNumberUsedJoints(options, nJoints) == 0)
            return false;

        thetaMap = new int[nJoints];
        if (getUsedJointsMap(options, nJoints, thetaMap) == 0)
            return false;

        //get the type of data to be dumped
        if (getNumberDataToDump(options, nData) == 0)
            return false;

        dataToDump = new std::string[nData];
        if (getDataToDump(options, dataToDump, nData, &useDebugClient) == 0)
            return false;        


        // Printing configuration to the user
        yInfo("Running with the following configuration:\n");
        yInfo("Selected rate is: %d\n", rate);
        yInfo("Data selected to be dumped are:\n");
        for (int i = 0; i < nData; i++)
            yInfo("\t%s \n", dataToDump[i].c_str());    

        //open remote control board
        ddBoardOptions.put("device", "remote_controlboard");
        ddDebugOptions.put("device", "debugInterfaceClient");
    
        ConstString localPortName = name;
        ConstString localDebugPortName = name;
        localPortName = localPortName + dumpername.c_str();
        localDebugPortName = localPortName + "debug/";
        //localPortName = localPortName + robot.asString();
        localPortName = localPortName + part.asString();
        localDebugPortName = localDebugPortName + part.asString();
        ddBoardOptions.put("local", localPortName.c_str());
        ddDebugOptions.put("local", localDebugPortName.c_str());

        ConstString remotePortName = "/";
        ConstString remoteDebugPortName;
        remotePortName = remotePortName + robot.asString();
        remotePortName = remotePortName + "/";
        remotePortName = remotePortName + part.asString();
        ddBoardOptions.put("remote", remotePortName.c_str());

        remoteDebugPortName = remotePortName + "/debug";
        ddDebugOptions.put("remote", remoteDebugPortName.c_str());
    
        // create a device 
        ddBoard.open(ddBoardOptions);
        if (!ddBoard.isValid()) {
            printf("Device not available.\n");
            Network::fini();
            return false;
        }

        if (useDebugClient )
        {
            ddDebug.open(ddDebugOptions);
            if (!ddDebug.isValid())
            {
                yError("\n-----------------------------------------\n");
                yError("Debug Interface is mandatory to run this module with the '--dataToDumpAll' option or to dump any of the getRotorxxx data.\n");
                yError("Please Verify the following 2 conditions are satisfied:\n\n");
                yError("1) Check 'debugInterfaceClient' is available using 'yarpdev --list' command\n");
//                yError("%s", Drivers::factory().toString().c_str());

                std::string deviceList, myDev;
                deviceList.clear();
                deviceList.append(Drivers::factory().toString().c_str());
                myDev = "debugInterfaceClient";
                if(deviceList.find(myDev) != std::string::npos)
                    yError("\t--> Seems OK\n");
                else
                    yError("\t--> Seems NOT OK. The device was not found, please activate the compilation using the corrisponding CMake flag.\n");

                yError("\n2) Check if the robot has the 'debugInterfaceWrapper' device up and running. \n You should see from 'yarp name list' output, a port called\n");
                yError("\t/robotName/part_name/debug/rpc:i\n If not, fix the robot configuration files to instantiate the 'debugInterfaceWrapper' device.\n");
                yError("\nQuickFix: If you set the --dataToDumpAll and do not need the advanced debug feature (getRotorxxx) just remove this option. See help for more information.\n");
                yError("------------- END ERROR MESSAGE ---------------\n\n");
                Network::fini();
                return false;
            }
        }

        bool logToFile = false;
        if (options.check("logToFile")) logToFile = true;

        portPrefix= dumpername.c_str() + part.asString() + "/";
        //boardDumperThread *myDumper = new boardDumperThread(&dd, rate, portPrefix, dataToDump[0]);
        //myDumper->setThetaMap(thetaMap, nJoints);

        myDumper = new boardDumperThread[nData];

        for (int i = 0; i < nData; i++)
            {
                if (dataToDump[i] == "getEncoders" )
                {
                    if (ddBoard.view(ienc))
                        {
                            yInfo("Initializing a getEncs thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetEncs.setInterface(ienc);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getEncoders::The time stamp initalization interfaces was successfull! \n");
                                myGetEncs.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetEncs);
                        }
                }
                else if (dataToDump[i] == "getEncoderSpeeds")
                {
                    if (ddBoard.view(ienc))
                        {
                            yInfo("Initializing a getSpeeds thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetSpeeds.setInterface(ienc);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getEncodersSpeed::The time stamp initalization interfaces was successfull! \n");
                                myGetSpeeds.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetSpeeds);
                        }
                }
                else if (dataToDump[i] == "getEncoderAccelerations")
                {
                    if (ddBoard.view(ienc))
                        {
                            yInfo("Initializing a getAccs thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetAccs.setInterface(ienc);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getEncoderAccelerations::The time stamp initalization interfaces was successfull! \n");
                                myGetAccs.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetAccs);
                        }
                }
                else if (dataToDump[i] == "getPosPidReferences")
                {
                    if (ddBoard.view(ipid))
                        {
                            yInfo("Initializing a getErrs thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetPidRefs.setInterface(ipid);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getPosPidReferences::The time stamp initalization interfaces was successfull! \n");
                                myGetPidRefs.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetPidRefs);
                        }
                }
                 else if (dataToDump[i] == "getTrqPidReferences")
                 {
                     if (ddBoard.view(itrq))
                        {
                            yInfo("Initializing a getErrs thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetTrqRefs.setInterface(itrq);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getTrqPidReferences::The time stamp initalization interfaces was successfull! \n");
                                myGetTrqRefs.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetTrqRefs);
                        }
                }
                 else if (dataToDump[i] == "getControlModes")
                {
                    if (ddBoard.view(icmod))
                        {
                            yInfo("Initializing a getErrs thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetControlModes.setInterface(icmod, nJoints);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getControlModes::The time stamp initalization interfaces was successfull! \n");
                                myGetControlModes.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetControlModes);
                        }
                 }
                 else if (dataToDump[i] == "getInteractionModes")
                 {
                     if (ddBoard.view(iimod))
                        {
                            yInfo("Initializing a getErrs thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetInteractionModes.setInterface(iimod, nJoints);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getInteractionModes::The time stamp initalization interfaces was successfull! \n");
                                myGetInteractionModes.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetInteractionModes);
                        }
                 }
                else if (dataToDump[i] == "getPositionErrors")
                 {
                     if (ddBoard.view(ipid))
                        {
                            yInfo("Initializing a getErrs thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetPosErrs.setInterface(ipid);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getPositionErrors::The time stamp initalization interfaces was successfull! \n");
                                myGetPosErrs.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetPosErrs);
                        }
                 }
                else if (dataToDump[i] == "getOutputs")
                 {
                     if (ddBoard.view(ipid))
                        {
                            yInfo("Initializing a getOuts thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetOuts.setInterface(ipid);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getOutputs::The time stamp initalization interfaces was successfull! \n");
                                myGetOuts.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetOuts);
                        }
                }
                else if (dataToDump[i] == "getCurrents")
                {
                    if (ddBoard.view(iamp))
                        {
                            yInfo("Initializing a getCurrs thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetCurrs.setInterface(iamp);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getCurrents::The time stamp initalization interfaces was successfull! \n");
                                myGetCurrs.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                               
                            myDumper[i].setGetter(&myGetCurrs);
                        }
                }
                else if (dataToDump[i] == "getTorques")
                {
                    if (ddBoard.view(itrq))
                        {
                            yInfo("Initializing a getTorques thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetTrqs.setInterface(itrq);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getTorques::The time stamp initalization interfaces was successfull! \n");
                                myGetTrqs.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                               
                            myDumper[i].setGetter(&myGetTrqs);
                        }
                }
                else if (dataToDump[i] == "getTorqueErrors")
                {
                    if (ddBoard.view(itrq))
                        {
                            yInfo("Initializing a getTorqueErrors thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetTrqErrs.setInterface(itrq);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getTorqueErrors::The time stamp initalization interfaces was successfull! \n");
                                myGetTrqErrs.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                               
                            myDumper[i].setGetter(&myGetTrqErrs);
                        }
                }
                else if (dataToDump[i] == "getRotorPositions")
                {
                    {
                        if (idbg==0 && ddDebug.isValid()) ddDebug.view(idbg);
                        if (idbg!=0)
                        {
                            yInfo("Initializing a getRotorPosition thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetRotorPoss.setInterface(idbg);
                            if (ddDebug.view(istmp))
                            {
                                yInfo("getRotorPositions::The time stamp initalization interfaces was successfull! \n");
                                myGetRotorPoss.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                               
                            myDumper[i].setGetter(&myGetRotorPoss);
                        }
                        else
                        {
                            yError("Debug Interface not available, cannot dump %s.\n", dataToDump[i].c_str());
                            Network::fini();
                            return false;
                        }
                    }
                }
                else if (dataToDump[i] == "getRotorSpeeds")
                    {
                        if (idbg==0 && ddDebug.isValid()) ddDebug.view(idbg);
                        if (idbg!=0)
                        {
                            yInfo("Initializing a getRotorSpeed thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetRotorVels.setInterface(idbg);
                            if (ddDebug.view(istmp))
                            {
                                yInfo("getRotorSpeeds::The time stamp initalization interfaces was successfull! \n");
                                myGetRotorVels.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                               
                            myDumper[i].setGetter(&myGetRotorVels);
                        }
                        else
                        {
                            printf("Debug Interface not available, cannot dump %s.\n", dataToDump[i].c_str());
                            Network::fini();
                            return false;
                        }
                    }
                else if (dataToDump[i] == "getRotorAccelerations")
                    {
                        if (idbg==0 && ddDebug.isValid()) ddDebug.view(idbg);
                        if (idbg!=0)
                        {
                            yInfo("Initializing a getRotorAcceleration thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetRotorAccs.setInterface(idbg);
                            if (ddDebug.view(istmp))
                            {
                                yInfo("getRotorAccelerations::The time stamp initalization interfaces was successfull! \n");
                                myGetRotorAccs.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                               
                            myDumper[i].setGetter(&myGetRotorAccs);
                        }
                        else
                        {
                            printf("Debug Interface not available, cannot dump %s.\n", dataToDump[i].c_str());
                            Network::fini();
                            return false;
                        }
                    }
                else if (dataToDump[i] == "getTemperatures")
                {
                    if (ddBoard.view(imotenc))
                        {
                            yInfo("Initializing a getTemps thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetTemps.setInterface(imot);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getEncoders::The time stamp initalization interfaces was successfull! \n");
                                myGetTemps.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetTemps);
                        }
                }
                else if (dataToDump[i] == "getMotorEncoders")
                {
                    if (ddBoard.view(imotenc))
                        {
                            yInfo("Initializing a getEncs thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetMotorEncs.setInterface(imotenc);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getEncoders::The time stamp initalization interfaces was successfull! \n");
                                myGetMotorEncs.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetMotorEncs);
                        }
                }
                else if (dataToDump[i] == "getMotorEncoderSpeeds")
                {
                    if (ddBoard.view(imotenc))
                        {
                            yInfo("Initializing a getSpeeds thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetMotorSpeeds.setInterface(imotenc);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getEncodersSpeed::The time stamp initalization interfaces was successfull! \n");
                                myGetMotorSpeeds.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetMotorSpeeds);
                        }
                }
                else if (dataToDump[i] == "getMotorEncoderAccelerations")
                {
                    if (ddBoard.view(imotenc))
                        {
                            yInfo("Initializing a getAccs thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetMotorAccs.setInterface(imotenc);
                            if (ddBoard.view(istmp))
                            {
                                yInfo("getEncoderAccelerations::The time stamp initalization interfaces was successfull! \n");
                                myGetMotorAccs.setStamp(istmp);
                            }
                            else
                                yError("Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetMotorAccs);
                        }
                }
            }
        Time::delay(1);
        for (int i = 0; i < nData; i++)
            myDumper[i].start();

        return true;
    }
示例#2
0
文件: main.cpp 项目: elen4/icub-main
    virtual bool open(Searchable &s)
    {

        Time::turboBoost();

        // get command line options
        options.fromString(s.toString());
        if (!options.check("robot") || !options.check("part")) 
            {
                printf("Missing either --robot or --part options. Quitting!\n");
                return false;
            }

        // get command file options

        Value& robot = options.find("robot");
        Value& part = options.find("part");
        configFileRobotPart = "config_";
        configFileRobotPart = configFileRobotPart + robot.asString();
        configFileRobotPart = configFileRobotPart + "_";
        configFileRobotPart = configFileRobotPart + part.asString();
        configFileRobotPart = configFileRobotPart + ".ini";

        //get the joints to be dumped
        getRate(options, rate);
        fprintf(stderr, "Selected rate is: %d\n", rate);

        if (getNumberUsedJoints(options, nJoints) == 0)
            return false;

        thetaMap = new int[nJoints];
        if (getUsedJointsMap(options, nJoints, thetaMap) == 0)
            return false;

        //get the type of data to be dumped
        if (getNumberDataToDump(options, nData) == 0)
            return false;

        dataToDump = new ConstString[nData];
        if (getDataToDump(options, dataToDump, nData) == 0)
            return false;        

        for (int i = 0; i < nData; i++)
            fprintf(stderr, "%s \n", dataToDump[i].c_str());
            
        //if (!fileOptions.check("d"))
        //    {
        //        fprintf(stderr, "Missing option 'd' in given config file\n");
        //        return 1;
        //    }
        //Value& d =  fileOptions.find("d");


        //open remote control board
        ddBoardOptions.put("device", "remote_controlboard");
        ddDebugOptions.put("device", "debugInterfaceClient");
    
        ConstString localPortName = name;
        ConstString localDebugPortName = name;
        localPortName = localPortName + "/controlBoardDumper/";
        localDebugPortName = localPortName + "debug/";
        //localPortName = localPortName + robot.asString();
        localPortName = localPortName + part.asString();
        localDebugPortName = localDebugPortName + part.asString();
        ddBoardOptions.put("local", localPortName.c_str());
        ddDebugOptions.put("local", localDebugPortName.c_str());

        ConstString remotePortName = "/";
        remotePortName = remotePortName + robot.asString();
        remotePortName = remotePortName + "/";
        remotePortName = remotePortName + part.asString();
        ddBoardOptions.put("remote", remotePortName.c_str());
        ddDebugOptions.put("remote", remotePortName.c_str());
    
        fprintf(stderr, "%s", ddBoardOptions.toString().c_str());    
        // create a device 
        ddBoard.open(ddBoardOptions);
        if (!ddBoard.isValid()) {
            printf("Device not available.  Here are the known devices:\n");
            printf("%s", Drivers::factory().toString().c_str());
            Network::fini();
            return false;
        }

        ddDebug.open(ddDebugOptions);
        if (!ddDebug.isValid()) {
            printf("Debug Interface is mandatary to run this module.  Here are the known devices:\n");
            printf("%s", Drivers::factory().toString().c_str());
            Network::fini();
            return false;
        }

        bool logToFile = false;
        if (options.check("logToFile")) logToFile = true;

        portPrefix = "/";
        portPrefix= portPrefix + "controlBoardDumper/" + part.asString() + "/";
        //boardDumperThread *myDumper = new boardDumperThread(&dd, rate, portPrefix, dataToDump[0]);
        //myDumper->setThetaMap(thetaMap, nJoints);

        myDumper = new boardDumperThread[nData];

        for (int i = 0; i < nData; i++)
            {
                if (dataToDump[i] == "getEncoders")
                    if (ddBoard.view(ienc))
                        {
                            fprintf(stderr, "Initializing a getEncs thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetEncs.setInterface(ienc);
                            if (ddBoard.view(istmp))
                                {
                                    fprintf(stderr, "getEncoders::The time stamp initalization interfaces was successfull! \n");
                                    myGetEncs.setStamp(istmp);
                                }
                            else
                                fprintf(stderr, "Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetEncs);
                        }
   
                if (dataToDump[i] == "getEncoderSpeeds")
                    if (ddBoard.view(ienc))
                        {
                            fprintf(stderr, "Initializing a getSpeeds thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetSpeeds.setInterface(ienc);
                            if (ddBoard.view(istmp))
                                {
                                    fprintf(stderr, "getEncodersSpeed::The time stamp initalization interfaces was successfull! \n");
                                    myGetSpeeds.setStamp(istmp);
                                }
                            else
                                fprintf(stderr, "Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetSpeeds);
                        }
                if (dataToDump[i] == "getEncoderAccelerations")
                    if (ddBoard.view(ienc))
                        {
                            fprintf(stderr, "Initializing a getAccs thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetAccs.setInterface(ienc);
                            if (ddBoard.view(istmp))
                                {
                                    fprintf(stderr, "getEncoderAccelerations::The time stamp initalization interfaces was successfull! \n");
                                    myGetAccs.setStamp(istmp);
                                }
                            else
                                fprintf(stderr, "Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetAccs);
                        }
				if (dataToDump[i] == "getPidReferences")
                    if (ddBoard.view(ipid))
                        {
                            fprintf(stderr, "Initializing a getErrs thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetPidRefs.setInterface(ipid);
                            if (ddBoard.view(istmp))
                                {
                                    fprintf(stderr, "getPidReferences::The time stamp initalization interfaces was successfull! \n");
                                    myGetPidRefs.setStamp(istmp);
                                }
                            else
                                fprintf(stderr, "Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetPidRefs);
                        }
                if (dataToDump[i] == "getPositionErrors")
                    if (ddBoard.view(ipid))
                        {
                            fprintf(stderr, "Initializing a getErrs thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetPosErrs.setInterface(ipid);
                            if (ddBoard.view(istmp))
                                {
                                    fprintf(stderr, "getPositionErrors::The time stamp initalization interfaces was successfull! \n");
                                    myGetPosErrs.setStamp(istmp);
                                }
                            else
                                fprintf(stderr, "Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetPosErrs);
                        }
                if (dataToDump[i] == "getOutputs")
                    if (ddBoard.view(ipid))
                        {
                            fprintf(stderr, "Initializing a getOuts thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetOuts.setInterface(ipid);
                            if (ddBoard.view(istmp))
                                {
                                    fprintf(stderr, "getOutputs::The time stamp initalization interfaces was successfull! \n");
                                    myGetOuts.setStamp(istmp);
                                }
                            else
                                fprintf(stderr, "Problems getting the time stamp interfaces \n");
                            myDumper[i].setGetter(&myGetOuts);
                        }
                if (dataToDump[i] == "getCurrents")
                    if (ddBoard.view(iamp))
                        {
                            fprintf(stderr, "Initializing a getCurrs thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetCurrs.setInterface(iamp);
                            if (ddBoard.view(istmp))
                                {
                                    fprintf(stderr, "getCurrents::The time stamp initalization interfaces was successfull! \n");
                                    myGetCurrs.setStamp(istmp);
                                }
                            else
                                fprintf(stderr, "Problems getting the time stamp interfaces \n");
                               
                            myDumper[i].setGetter(&myGetCurrs);
                        }
                if (dataToDump[i] == "getTorques")
                    if (ddBoard.view(itrq))
                        {
                            fprintf(stderr, "Initializing a getTorques thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetTrqs.setInterface(itrq);
                            if (ddBoard.view(istmp))
                                {
                                    fprintf(stderr, "getTorques::The time stamp initalization interfaces was successfull! \n");
                                    myGetTrqs.setStamp(istmp);
                                }
                            else
                                fprintf(stderr, "Problems getting the time stamp interfaces \n");
                               
                            myDumper[i].setGetter(&myGetTrqs);
                        }
                if (dataToDump[i] == "getTorqueErrors")
                    if (ddBoard.view(itrq))
                        {
                            fprintf(stderr, "Initializing a getTorqueErrors thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetTrqErrs.setInterface(itrq);
                            if (ddBoard.view(istmp))
                                {
                                    fprintf(stderr, "getTorqueErrors::The time stamp initalization interfaces was successfull! \n");
                                    myGetTrqErrs.setStamp(istmp);
                                }
                            else
                                fprintf(stderr, "Problems getting the time stamp interfaces \n");
                               
                            myDumper[i].setGetter(&myGetTrqErrs);
                        }
                if (dataToDump[i] == "getRotorPositions")
                    {
                        if (idbg==0 && ddDebug.isValid()) ddDebug.view(idbg);
                        if (idbg!=0)
                        {
                            fprintf(stderr, "Initializing a getRotorPosition thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetRotorPoss.setInterface(idbg);
                            if (ddDebug.view(istmp))
                                {
                                    fprintf(stderr, "getRotorPositions::The time stamp initalization interfaces was successfull! \n");
                                    myGetRotorPoss.setStamp(istmp);
                                }
                            else
                                fprintf(stderr, "Problems getting the time stamp interfaces \n");
                               
                            myDumper[i].setGetter(&myGetRotorPoss);
                        }
                        else
                        {
                            printf("Debug Interface not available.  Here are the known devices:\n");
                            printf("%s", Drivers::factory().toString().c_str());
                            Network::fini();
                            return false;
                        }
                    }
                if (dataToDump[i] == "getRotorSpeeds")
                    {
                        if (idbg==0 && ddDebug.isValid()) ddDebug.view(idbg);
                        if (idbg!=0)
                        {
                            fprintf(stderr, "Initializing a getRotorSpeed thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetRotorVels.setInterface(idbg);
                            if (ddDebug.view(istmp))
                                {
                                    fprintf(stderr, "getRotorSpeeds::The time stamp initalization interfaces was successfull! \n");
                                    myGetRotorVels.setStamp(istmp);
                                }
                            else
                                fprintf(stderr, "Problems getting the time stamp interfaces \n");
                               
                            myDumper[i].setGetter(&myGetRotorVels);
                        }
                        else
                        {
                            printf("Debug Interface not available.  Here are the known devices:\n");
                            printf("%s", Drivers::factory().toString().c_str());
                            Network::fini();
                            return false;
                        }
                    }
                if (dataToDump[i] == "getRotorAccelerations")
                    {
                        if (idbg==0 && ddDebug.isValid()) ddDebug.view(idbg);
                        if (idbg!=0)
                        {
                            fprintf(stderr, "Initializing a getRotorAcceleration thread\n");
                            myDumper[i].setDevice(&ddBoard, &ddDebug, rate, portPrefix, dataToDump[i], logToFile);
                            myDumper[i].setThetaMap(thetaMap, nJoints);
                            myGetRotorAccs.setInterface(idbg);
                            if (ddDebug.view(istmp))
                                {
                                    fprintf(stderr, "getRotorAccelerations::The time stamp initalization interfaces was successfull! \n");
                                    myGetRotorAccs.setStamp(istmp);
                                }
                            else
                                fprintf(stderr, "Problems getting the time stamp interfaces \n");
                               
                            myDumper[i].setGetter(&myGetRotorAccs);
                        }
                        else
                        {
                            printf("Debug Interface not available.  Here are the known devices:\n");
                            printf("%s", Drivers::factory().toString().c_str());
                            Network::fini();
                            return false;
                        }
                    }
            }
        Time::delay(1);
        for (int i = 0; i < nData; i++)
            myDumper[i].start();

        return true;
    }