Feature/icub device impl #16

yeshasvitirupachuri · 2018-12-04T13:07:22Z

This PR adds an initial IWear implementation of icub as ICub device. Currently, only the FTSensors from icub hands are exposed through wearable data as wrench sources.

@diegoferigo please check this PR

diegoferigo

This is the first round of review, I still have some doubts but let's start from here.

I changed the base branch to feature/cleanup in order to have only your commits in this PR @Yeshasvitvs.

devices/ICub/src/ICub.cpp

diegoferigo · 2019-01-03T18:08:49Z

devices/ICub/src/ICub.cpp

+        std::mutex mtx;
+
+        using yarp::os::BufferedPort<yarp::os::Bottle>::onRead;
+        virtual void onRead(yarp::os::Bottle& wrench) {


Are you sure you cannot use a callback on yarp::sig::Vector? The logic of the callback function would be easier than operating on a Bottle.

devices/ICub/src/ICub.cpp

diegoferigo · 2019-01-03T18:31:26Z

devices/ICub/src/ICub.cpp

+
+wearable::TimeStamp ICub::getTimeStamp() const
+{
+    // Stamp count should be always zero


I suspect that the access of this attribute should be protected by a mutex

I am not certain of it.
It is not protected by mutex in XSensSuitDevice https://github.com/robotology-playground/wearables/blob/039fb255fcdedafc1ff42660a197d8f01ad6cadf/devices/XsensSuit/src/XsensSuit.cpp#L1011

Do not trust blindly XsensSuit 😅 Here the two cases are different, XsensSuit gathers the timestamp from another class and there is no need to protect the read and the write. In this case, instead, the device populates the timeStamp struct, and they might collide. See the comment about the writing.

diegoferigo · 2019-01-03T18:31:44Z

devices/ICub/src/ICub.cpp

+// =========================
+yarp::os::Stamp ICub::getLastInputStamp()
+{
+    // Stamp count should be always zero


Same here (mutex)

I am not certain of it.
It is not protected by mutex in XSensSuitDevice https://github.com/robotology-playground/wearables/blob/039fb255fcdedafc1ff42660a197d8f01ad6cadf/devices/XsensSuit/src/XsensSuit.cpp#L880

Same as above, mutex is required

devices/ICub/src/ICub.cpp

diegoferigo · 2019-01-04T14:26:14Z

devices/ICub/src/ICub.cpp

+
+wearable::TimeStamp ICub::getTimeStamp() const
+{
+    // Stamp count should be always zero


Do not trust blindly XsensSuit 😅 Here the two cases are different, XsensSuit gathers the timestamp from another class and there is no need to protect the read and the write. In this case, instead, the device populates the timeStamp struct, and they might collide. See the comment about the writing.

diegoferigo · 2019-01-04T14:32:18Z

devices/ICub/src/ICub.cpp

+            }
+        }
+
+        std::vector<double> getWrench() {


Probably I didn't explain it well. You don't need to use methods to access public class attributes. All-public classes are equivalent to structs.

You can access the wrenchValues in the following way:

WrenchPort port; port.wrenchValues = std::vector<double>(10, 0);

diegoferigo · 2019-01-04T14:42:30Z

devices/ICub/src/ICub.cpp

+
+        // Reading wrench from WBD ports
+        if (this->m_name == icubImpl->wearableName + sensor::IForceTorque6DSensor::getPrefix() + "leftWBDFTSensor") {
+            icubImpl->leftHandFTPort.useCallback();


I think you should enable the callback only once, not every time you want to access data.

diegoferigo · 2019-01-04T14:45:07Z

devices/ICub/src/ICub.cpp

+            icubImpl->leftHandFTPort.useCallback();
+            wrench = icubImpl->leftHandFTPort.wrench();
+
+            icubImpl->timeStamp.time = yarp::os::Time::now();


This is the only place where the timestamp is updated. Maybe this is not the proper location. However, we should have a f2f talk on how to deal with timestamps, the support is present in wearables but we don't have yet any guideline.

devices/ICub/src/ICub.cpp

diegoferigo · 2019-01-04T14:56:01Z

devices/ICub/src/ICub.cpp

+         }
+         else {
+             while (pImpl->leftHandFTPort.firstRunFlag()) {
+                 pImpl->leftHandFTPort.useCallback();


As wrote above, useCallback() should be used only to enable the usage of the onRead() method, not for calling it explicitly when is needed (it would not be a callback by definition in this case)

This explicit call to useCallback() is to ensure that the data is read at least once and to set the firstRun flag.

Removing it is throwing an error from IWearWrapper

[ERROR]IWearWrapper : The status of the IWear interface is not Ok 0 )

diegoferigo · 2019-01-04T15:03:42Z

devices/ICub/src/ICub.cpp

+        if (!icubImpl->leftHandFTPort.firstRunFlag() || !icubImpl->rightHandFTPort.firstRunFlag()) {
+            auto nonConstThis = const_cast<ICubForceTorque6DSensor*>(this);
+            nonConstThis->setStatus(wearable::sensor::SensorStatus::Ok);
+        }


I don't understand this logic. I think this should not be here in the constructor. Let's talk f2f on how to improve the way the data is accessed from the wearable sensor and how to retrieve it using the buffered port.

My idea is that the sensors holds a reference to the wrenchValues buffer and (protected by a mutex) provides this data to the user. The onRead() callback writes new data into this buffer every time it arrives. The status should be initialized as WaitingForFirstRead in the constructor, and the onRead() callback updates it to Ok.

This approach allows to remove the hack in the wearable sensor implementation where it uses the sensor name for picking up the right data.

devices/ICub/src/ICub.cpp

diegoferigo · 2019-01-05T10:13:29Z

devices/ICub/src/ICub.cpp

+     }
+
+     while (pImpl->rightHandFTPort.firstRunFlag()) {
+         pImpl->rightHandFTPort.useCallback();


As wrote in another comment, this is not the way useCallback should be used. This method only enables the callback to be called on the event of data received.

devices/ICub/src/ICub.cpp

devices/ICub/conf/ICub.xml

devices/ICub/src/ICub.cpp

remove Yarp Init check in ICub

…Ports param

Rpc port optional

…eaction Add ground reaction FT flag handling

Implement skin sensors wearable device

fix backcompatibility with YARP master

Add use RPC parameter

lrapetti · 2019-02-07T12:39:08Z

Given that this PR has grown and it is no longer limited to iCub-device, as discussed with @diegoferigo, we are planning to close this issue and open separate PRs for the different features.

In particular I have detected 7 possible PRs which group commits relative to single features (most likely independent one from the other, and touching different files):

iCub device implementation
- from 4018710 to 310766a
- f7035a6
- from 1c243c8 to b4d49b7
- 2a5e4fb
- 1f510d4
- 4ad9c08
Shoes configuration files update
- from 0b78858 to ffcf276
- d4153a2
FIX Cmake
- 5b643b3
Implement Skin sensor wearable interface
- c1da269
- 8aa47b8
RPC made optional for IWearRemapper
Yarpmanager
- 20e6244

As suggested by @diegoferigo, it would be also good to clean the commits in the PR.

cc @Yeshasvitvs

Fix Xsens Calibrator device

lrapetti · 2019-02-07T17:06:22Z

Accordingly to the previous comment, new PRs opened:

Concerning the Yarpmanager PR, it is touching files created in other PRs so I would open it in a second instance.

yeshasvitirupachuri added 20 commits October 5, 2018 14:56

Icub device initial commit

4018710

Implement sensor methods

862d72e

Implement getTimeStamp method

f35fc91

Update CMakeLists.txt

0965fc3

Update timestamp implementation

8e0fe6c

Update CMakeLists and add config file

144b2e8

Implement getLastInputStamp method

47334b4

Implement getStatus method

23c5bb5

Fix sensor type

d5a3166

Update wrapper details in config

42b2142

Update status handling

9ce2cbe

Implement bufferport callback

b776173

Improve status update logic

c8a58eb

Remode debug code

6de5a1c

Update wrench handling

15f975e

Add mutex to wrench handling

310766a

Add IAnalogToIWear device config files for FTShoes

0b78858

Update IWearWrapper port names

b29785e

Update IWearWrapper rpcPortName

ffcf276

Add ICub config file

f7035a6

yeshasvitirupachuri requested review from diegoferigo and lucaTagliapietra as code owners December 4, 2018 13:07

yeshasvitirupachuri changed the title ~~Feature/i cub device impl~~ Feature/icub device impl Dec 5, 2018

diegoferigo changed the base branch from master to feature/cleanup January 3, 2019 17:41

diegoferigo requested changes Jan 3, 2019

View reviewed changes

yeshasvitirupachuri added 2 commits January 4, 2019 00:59

Update PR changes

1c243c8

Cleanup open configuration

c58e258

diegoferigo requested changes Jan 4, 2019

View reviewed changes

yeshasvitirupachuri added 2 commits January 4, 2019 23:49

Update port connection

b051044

Update separator usage

b4d49b7

diegoferigo requested changes Jan 5, 2019

View reviewed changes

lrapetti and others added 16 commits January 15, 2019 14:36

remove Yarp Init check in ICub

2a5e4fb

Add ground reaction FT flag handling

d4153a2

Merge pull request #1 from lrapetti/feature/ICub-device-impl

285456f

remove Yarp Init check in ICub

Update PR changes

1f510d4

Beautify using wearables clang format file

4ad9c08

Fix CMakeLists with YARP_FORCE_DYNAMIC_PLUGINS

5b643b3

Implement skin sensor and add config file

c1da269

rpc port can be enabled or disabled in IWearRemapper with wearableRPC…

f3aedf1

…Ports param

Add PreciselyTimed interface to IWearRemapper

27b5364

Merge pull request #2 from lrapetti/rpc-port-optional

0bf5f0b

Rpc port optional

Merge pull request #3 from Yeshasvitvs/feature/iAnalogToIWear_groundR…

eb3a0fe

…eaction Add ground reaction FT flag handling

Merge pull request #4 from Yeshasvitvs/feature/Skin-device

af8a567

Implement skin sensors wearable device

update config file names and add yarpmanager files

20e6244

Add use RPC parameter

3386f3c

fix backcompatibility with YARP master

8aa47b8

Merge pull request #1 from lrapetti/fix-compatibility-YARP-master

147fdf0

fix backcompatibility with YARP master

lrapetti added this to the Iteration 18 milestone Feb 6, 2019

Merge pull request #5 from lrapetti/add-useRPC-parameter

4bc67c8

Add use RPC parameter

lrapetti mentioned this pull request Feb 7, 2019

Fix CMakeLists with YARP_FORCE_DYNAMIC_PLUGINS #17

Closed

Fix Xsens Calibrator device

6d99590

Merge pull request #6 from lrapetti/fix-xsens-calibrator

d5fc81d

Fix Xsens Calibrator device

lrapetti closed this Feb 7, 2019

lrapetti mentioned this pull request Feb 7, 2019

Implementation of ICub device #25

Merged

diegoferigo added the pr:resolution:rejected label Feb 8, 2019

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Feature/icub device impl #16

Feature/icub device impl #16

yeshasvitirupachuri commented Dec 4, 2018

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Feature/icub device impl #16

Feature/icub device impl #16

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yeshasvitirupachuri commented Dec 4, 2018

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