Fix Xsens Calibrator device #21
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lrapetti
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diegoferigo
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I found out what seems to be the problem with the
XsensMVNCalibratordevice when trying to discard the old calibration and recalibrate.After discarding the old calibration there is a while loop waiting for discard operation to be completed (see https://github.com/robotology-playground/wearables/blob/feature/cleanup/XSensMVN/src/XSensMVNCalibrator.cpp#L171).
The termination of the waiting loop is determined by
m_operationCompletedflag which is set totrueby xsens callbacksonCalibrationAborted,onCalibrationComplete, andonCalibrationProcessed. However it seems none of those callbacks is called afterm_suitsConnector.clearCalibration()(or at least not in a reasonable time).So, the
m_operationCompletedflag is replaced bym_suitsConnector.isCalibrationPerformed(calibrationType)that checks whether the calibration is empty.Moreover the 5-to-0 counter at
https://github.com/robotology-playground/wearables/blob/master/XSensMVN/src/XSensMVNCalibrator.cpp#L273 seems to be completely unuseful since it is done once the calibration is already performed (the subject has to hold the position in the previous while loop) and nothing is going on at that point. I am then removing it