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Fix period management in HapticGlove #173

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Oct 3, 2022
Merged

Fix period management in HapticGlove #173

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cdb3771
Fix period management in HapticGlove
RiccardoGrieco Sep 30, 2022
04d6323
Update CHANGELOG
RiccardoGrieco Sep 30, 2022
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3 changes: 3 additions & 0 deletions CHANGELOG.md
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Expand Up @@ -6,6 +6,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0

## [Unreleased]

### Fixed
- Fixed management of the `period` parameter in `HapticGlove` device (https://github.com/robotology/wearables/pull/173).

## [1.7.0] - 2022-09-28

### Changed
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12 changes: 6 additions & 6 deletions devices/HapticGlove/conf/HapticGlove.xml
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Expand Up @@ -5,7 +5,7 @@

<!--Left HapticGlove Device-->
<device type="hapticGlove" name="LeftHapticGloveWearableDevice">
<param name="period">0.01</param>
<param extern-name="period" name="period">0.01</param>
<param name="rightHand">false</param>
<param name="human_joint_list">( "l_thumb_oppose", "l_thumb_proximal", "l_thumb_middle", "l_thumb_distal",
"l_index_abduction", "l_index_proximal", "l_index_middle", "l_index_distal",
Expand All @@ -17,7 +17,7 @@
</device>

<device type="iwear_wrapper" name="LeftHapticGloveWearableDeviceWrapper">
<param name="period">0.01</param>
<param extern-name="period" name="period">0.01</param>
<param name="dataPortName">/WearableData/HapticGlove/LeftHand/data:o</param>
<param name="rpcPortName">/WearableData/HapticGlove/LeftHand/metadataRpc:o</param>
<action phase="startup" level="5" type="attach">
Expand All @@ -29,7 +29,7 @@
</device>

<device type="iwearactuators_wrapper" name="LeftHapticGloveWearableDeviceActuatorsWrapper">
<param name="period">0.01</param>
<param extern-name="period" name="period">0.01</param>
<param name="actuatorCommandInputPortName">/WearableData/HapticGlove/LeftHand/Actuators/input:i</param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
Expand All @@ -41,7 +41,7 @@

<!--Right HapticGlove Device-->
<device type="hapticGlove" name="RightHapticGloveWearableDevice">
<param name="period">0.01</param>
<param extern-name="period" name="period">0.01</param>
<param name="rightHand">true</param>
<param name="human_joint_list">( "r_thumb_oppose", "r_thumb_proximal", "r_thumb_middle", "r_thumb_distal",
"r_index_abduction", "r_index_proximal", "r_index_middle", "r_index_distal",
Expand All @@ -53,7 +53,7 @@
</device>

<device type="iwear_wrapper" name="RightHapticGloveWearableDeviceWrapper">
<param name="period">0.01</param>
<param extern-name="period" name="period">0.01</param>
<param name="dataPortName">/WearableData/HapticGlove/RightHand/data:o</param>
<param name="rpcPortName">/WearableData/HapticGlove/RightHand/metadataRpc:o</param>
<action phase="startup" level="5" type="attach">
Expand All @@ -65,7 +65,7 @@
</device>

<device type="iwearactuators_wrapper" name="RightHapticGloveWearableDeviceActuatorsWrapper">
<param name="period">0.01</param>
<param extern-name="period" name="period">0.01</param>
<param name="actuatorCommandInputPortName">/WearableData/HapticGlove/RightHand/Actuators/input:i</param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
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13 changes: 8 additions & 5 deletions devices/HapticGlove/src/HapticGlove.cpp
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Expand Up @@ -27,7 +27,6 @@

const std::string DeviceName = "HapticGlove";
const std::string LogPrefix = DeviceName + wearable::Separator;
double period = 0.01;
const size_t PoseSize = 7;

using namespace wearable;
Expand Down Expand Up @@ -69,6 +68,9 @@ class HapticGlove::SenseGloveImpl
{
public:
mutable std::mutex mutex;

double period = 0.01; //default 100Hz

SenseGloveIMUData gloveData;

WearableName wearableName;
Expand Down Expand Up @@ -241,7 +243,7 @@ bool HapticGlove::SenseGloveImpl::close()
return true;
}
HapticGlove::HapticGlove()
: PeriodicThread(period)
: PeriodicThread(0.01) //default 100Hz
, m_pImpl{std::make_unique<SenseGloveImpl>()}
{}

Expand All @@ -257,12 +259,13 @@ bool HapticGlove::open(yarp::os::Searchable& config)
// ==================================
// Period of the this device
if (!(config.check("period") && config.find("period").isFloat64())) {
yInfo() << LogPrefix << "Using default period: " << period << "s";
yInfo() << LogPrefix << "Using default period: " << m_pImpl->period << "s";
}
else {
period = config.find("period").asFloat64();
yInfo() << LogPrefix << "Using the period : " << period << "s";
m_pImpl->period = config.find("period").asFloat64();
yInfo() << LogPrefix << "Using the period : " << m_pImpl->period << "s";
}
setPeriod(m_pImpl->period);

if (!(config.check("wearableName") && config.find("wearableName").isString())) {
yInfo() << LogPrefix << "Using default wearable name SenseGlove";
Expand Down