Update Extern library to the latest XDA (2022.0.0) #38

HosameldinMohamed · 2023-03-07T11:39:03Z

Refer to #26 for more details.

The code is tested with MTi-680G, and the overall behavior seems to be the same as in v0.2.2.

The PR adds also a copy of the example code provided by Xsens. Renamed to exampleScanDevicesAndReceiveData.cpp. It installs an executable called xsensExample.

The API changed a lot from 4.8.2 to 2020.0.2 . The recommended API switched to callback based one, but for the time being we kept most of the original logic and just got the device to compile. The device has not been tested.

traversaro · 2023-03-07T11:43:42Z

extern/CMakeLists.txt

 # Authors: Silvio Traversaro <silvio.traversaro@iit.it>
 # CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LICENSE

 # The code contained in this directory is imported directly from the src_cpp example 
-# in the MT Software Suite, version 4.8.2, available from https://www.xsens.com/mt-software-suite/
+# in the MT Software Suite, version 2022.0.0, available from https://www.xsens.com/mt-software-suite/


The old URL is now broken, can you update it with the new URL from which you got the code?

Updated is 0a495b0

traversaro · 2023-03-07T11:44:25Z

xsensmt/XsensMT.h

@@ -288,7 +339,8 @@ class yarp::dev::XsensMT : public yarp::dev::IGenericSensor,
    bool m_isSensorMeasurementAvailable{false};

    // Interface exposed by the Xsens MT Software suite
-    DeviceClass m_xsensDevice;
+	XsControl* m_xsensControl;


Suggested change

XsControl* m_xsensControl;

XsControl* m_xsensControl;

Fixed in 0a495b0

traversaro · 2023-03-07T11:47:19Z

It would be great to actually test on an XSens MTi-300 sensor mounted on an iCub 2.7, do you know the state of iCubGenova04 to see if we can try there? Otherwise we can ask to @Nicogene if he has any idea of how to get one of those devices to test.

HosameldinMohamed · 2023-03-07T11:54:53Z

It would be great to actually test on an XSens MTi-300 sensor mounted on an iCub 2.7, do you know the state of iCubGenova04 to see if we can try there? Otherwise we can ask to @Nicogene if he has any idea of how to get one of those devices to test.

Yes, iCubGenova04 is actually available. I'll give it a test!.

HosameldinMohamed · 2023-03-07T12:13:48Z

I wanted to suggest removing the m_sensorThread and the sensorReadLoop, because the reading and buffering (Also the mutual exclusion) are handled by the user class CallbackHandler (inheriting XsCallback).

With this version of XDA, it seems the thread in the YARP device is redundant.

See the relevant information from the SDK documentation:

I wanted to have a separate PR for this, but if you think it's ok to propose it in this PR, no probs!

HosameldinMohamed · 2023-03-07T12:16:35Z

Also, how to handle the position data, in case the device has this capability, and if it's available.

The update seems straightforward when using mulitpleAnalogSensor interfaces, but with IGenericSensor, it will introduce a breaking change, because the structure of the YARP port may change.

traversaro · 2023-03-07T12:24:32Z

I wanted to have a separate PR for this, but if you think it's ok to propose it in this PR, no probs!

I would go for a separate PR!

traversaro · 2023-03-07T12:28:31Z

Also, how to handle the position data, in case the device has this capability, and if it's available.

The update seems straightforward when using mulitpleAnalogSensor interfaces, but with IGenericSensor, it will introduce a breaking change, because the structure of the YARP port may change.

In general, I would develop a custom Network Wrapper Server YARP devices that exposes the required information in the desired form in a YARP port that publishes yarp::sig::Vector-like. In this way, we can just re-use it across different devices, for example both here and for the realsense devices, see robotology/yarp-device-realsense2#7 . The alternative solution is to modify every hardware device to stream the data as you prefer, but as you imagine this is not scalable.

traversaro · 2023-03-07T12:30:53Z

Also, how to handle the position data, in case the device has this capability, and if it's available.
The update seems straightforward when using mulitpleAnalogSensor interfaces, but with IGenericSensor, it will introduce a breaking change, because the structure of the YARP port may change.

In general, I would develop a custom Network Wrapper Server YARP devices that exposes the required information in the desired form in a YARP port that publishes yarp::sig::Vector-like. In this way, we can just re-use it across different devices, for example both here and for the realsense devices, see robotology/yarp-device-realsense2#7 . The alternative solution is to modify every hardware device to stream the data as you prefer, but as you imagine this is not scalable.

As a starting point, you can copy the code of the multipleanalogsensorsserver YARP device ( https://github.com/robotology/yarp/tree/master/src/devices/multipleanalogsensorsserver ) and just modify the publishing logic to write the data as you prefer.

HosameldinMohamed · 2023-03-07T12:43:24Z

As a starting point, you can copy the code of the multipleanalogsensorsserver YARP device ( https://github.com/robotology/yarp/tree/master/src/devices/multipleanalogsensorsserver ) and just modify the publishing logic to write the data as you prefer.

I moved the discussion to #39

HosameldinMohamed · 2023-03-07T14:09:37Z

It would be great to actually test on an XSens MTi-300 sensor mounted on an iCub 2.7, do you know the state of iCubGenova04 to see if we can try there? Otherwise we can ask to @Nicogene if he has any idea of how to get one of those devices to test.

Yes, iCubGenova04 is actually available. I'll give it a test!.

I tested this branch with the Xsens MTi-300 mounted on iCubGenova04, the PC runs Ubuntu 20.04 at the moment.

Compiling and running the device goes with no issues. Also checked the YARP port.

Terminal contents for reference

icub@icub-head:~$ yarpdev --device inertial --name /icub/xsens_inertial --period 0.0005 --subdevice xsensmt --serial /dev/ttyXsens --xsensmt_period 0.005
[DEBUG] |yarp.dev.PolyDriver|inertial| Parameters are (device inertial) (name "/icub/xsens_inertial") (period 0.000500000000000000010408) (serial "/dev/ttyXsens") (single_threaded 1) (subdevice xsensmt) (xsensmt_period 0.00500000000000000010408)
[WARNING] |yarp.devices.ServerInertial| The 'inertial' device is deprecated in favour of 'multipleanalogsensorsremapper' + 'multipleanalogsensorsserver' + 'IMURosPublisher'.
[WARNING] |yarp.devices.ServerInertial| The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4.
[WARNING] |yarp.devices.ServerInertial| Please update your scripts.
[DEBUG] |yarp.devices.ServerInertial| Subdevice xsensmt
[DEBUG] |yarp.dev.PolyDriver|xsensmt| Parameters are (device xsensmt) (name "/icub/xsens_inertial") (period 0.000500000000000000010408) (serial "/dev/ttyXsens") (single_threaded 1) (subdevice xsensmt) (xsensmt_period 0.00500000000000000010408)
[WARNING] xsensmt -  Parameter "sensor_name" not set. Using default value  " sensor_imu_xsensmt " for this parameter.
[WARNING] xsensmt -  Parameter "frame_name" not set. Using the same value as "sensor_name" for this parameter.
[INFO] xsensmt: Opening serial port /dev/ttyXsens with baud rate 115200 and output period 0.0050 seconds.
[DEBUG] Device:  MTi-300-2A8G4 , with ID:  03782070  opened.
[INFO] xsensmt: Putting device into configuration mode.
[INFO] xsensmt: Found a device with id:  03782070  @ port:  /dev/ttyXsens , baudrate:  4098  .
[INFO] xsensmt: Device:  MTi-300-2A8G4  opened.
[INFO] xsensmt: Configuring the device of type 03782070.
[INFO] xsensmt: Putting device into measurement mode.
[INFO] |yarp.dev.PolyDriver|xsensmt| Created device <xsensmt>. See C++ class yarp::dev::XsensMT for documentation.
[INFO] |yarp.devices.ServerInertial| No ROS group found in config file ... skipping ROS initialization.
[WARNING] xsensmt: Missing orientation message, skipping orientation update.
[INFO] |yarp.os.Port|/icub/xsens_inertial| Port /icub/xsens_inertial active at tcp://10.0.0.2:10002/
[INFO] |yarp.devices.ServerInertial| Server Inertial : no ROS initialization required
[INFO] |yarp.devices.ServerInertial| Starting server Inertial thread
[INFO] |yarp.dev.PolyDriver|inertial| Created wrapper <inertial>. See C++ class ServerInertial for documentation.
[DEBUG] |yarp.devices.ServerInertial| Writing an Inertial measurement.
[DEBUG] |yarp.dev.Drivers|inertial| ===============================================================
[DEBUG] |yarp.dev.Drivers|inertial| == Options checked by device:
[DEBUG] |yarp.dev.Drivers|inertial| ==
[DEBUG] |yarp.dev.Drivers|inertial| device=inertial
[DEBUG] |yarp.dev.Drivers|inertial| id [inertial]
[DEBUG] |yarp.dev.Drivers|inertial|     Id assigned to this device
[DEBUG] |yarp.dev.Drivers|inertial| ==
[DEBUG] |yarp.dev.Drivers|inertial| ===============================================================
[INFO] |yarp.os.Port|/icub/xsens_inertial/quit| Port /icub/xsens_inertial/quit active at tcp://10.0.0.2:10003/
[INFO] |yarp.dev.Drivers|inertial| device active in background...
[INFO] |yarp.dev.Drivers|inertial| device active in background...
[INFO] |yarp.dev.Drivers|inertial| device active in background...
[INFO] |yarp.dev.Drivers|inertial| device active in background...
[INFO] |yarp.dev.Drivers|inertial| device active in background...
[INFO] |yarp.dev.Drivers|inertial| device active in background...
[INFO] |yarp.dev.Drivers|inertial| device active in background...

It's worth noting that the sensor MTi-300 returns the following values:

isMti=  true
isGnss=  false
isImu=  false
isVru=  false
isAhrs=  true

While the MTi-680G returns:

isMti=  true
isGnss=  true
isImu=  false
isVru=  false
isAhrs=  false

HosameldinMohamed · 2023-03-07T14:12:30Z

When terminating the YARP dvice (ctrl-c) I get a segmentation fault though

HosameldinMohamed · 2023-03-07T14:14:54Z

xsensmt/XsensMT.cpp

+    // yDebug("xsensmt: Closing Xsens port %s.", m_portInfo.portName().toStdString().c_str());
+    // m_xsensControl->closePort(m_portInfo.portName().toStdString());
+    //
+    // yDebug("xsensmt: Freeing Xsens control object.");
+    // m_xsensControl->destruct();


These are cleanup lines after closing the device, but I noticed they are being executed at a very early stage. And I couldn't understand why!

Handled in dbd12e7 with @traversaro

Basically XsensMT::close() is called twice, once because it's called in the deconstructor of XsensMT and the second after sending a close signal to the YARP device.

The deconstructor is called as soon as XsensMT is constructed, probably even before open() is called.

We initialized XsControl* m_xsensControl{nullptr} to a nullptr, and called m_xsensControl.destruct() only if the m_xsensControl doesn't return nullptr. After destructing it, the pointer value is set to nullptr again.

traversaro · 2023-03-07T14:21:52Z

xsensmt/XsensMT.cpp

@@ -125,99 +123,130 @@ bool XsensMT::open(yarp::os::Searchable &config)

    m_portInfo = XsPortInfo(comPortString, XsBaud::numericToRate(baudRate));

+	m_xsensControl = XsControl::construct();


Pay attention to use 4-spaces and not tabs, thanks!

Yes, it was the code copied from Xsens!

Fixed in a24afea and dbd12e7

Sorry for jumping in 😅 Can we fetch directly the code online?

Hi @GiulioRomualdi!

Yes by following https://www.movella.com/support/software-documentation and downloading MT software suite.

You can extract it and follow the readme files to further extract and compile the SDK.

Let me know if you need more info!

See #26 (comment) for more details!

No, I was mentioned using the CMake. Instead of copy paste the library here is it possible to write a cmake machinery that fetches the code? (not related to the scope of this PR)

No, there is no (official) public URL from which the code can be downloaded, if you go in their website you need to fill a form.

HosameldinMohamed · 2023-03-08T12:10:07Z

@traversaro Ready for review! Thanks!

xsensmt/CMakeLists.txt

traversaro

Just a minor change.

Co-authored-by: Silvio Traversaro <silvio@traversaro.it>

traversaro · 2023-03-08T14:42:33Z

Thanks!

GiulioRomualdi · 2023-03-08T17:35:16Z

Thank you @HosameldinMohamed for the effort this will also help us with the new imu on ergocub

traversaro and others added 13 commits February 28, 2023 15:58

Update Xsens vendored files to 2020.0.2

933b041

Update device to 2020.0.2

64cbe73

The API changed a lot from 4.8.2 to 2020.0.2 . The recommended API switched to callback based one, but for the time being we kept most of the original logic and just got the device to compile. The device has not been tested.

Fix compilation and indentation

941f764

Debug CMakeLists.txt

4a56f94

Fix linking error

941a0f1

Fix linking error with qJournal

878a2d5

bump Xsens XDA to version 2022.0.0

4045ab6

add example code

cdd7eeb

update gitignore

6544920

upgrade device opening logic

ae6d920

forum fix bug in xsens threading file

a43369b

updating device logic

172f921

Working version with XDA v2022.0.0

a4003c3

HosameldinMohamed mentioned this pull request Mar 7, 2023

Update code in the extern directory #26

Closed

traversaro reviewed Mar 7, 2023

View reviewed changes

update MT software link

0a495b0

HosameldinMohamed mentioned this pull request Mar 7, 2023

Check how to stream position data if the device can provide it #39

Open

HosameldinMohamed commented Mar 7, 2023

View reviewed changes

traversaro reviewed Mar 7, 2023

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HosameldinMohamed added 4 commits March 7, 2023 17:52

replace tab indentation with spaces

a24afea

fix segfault

dbd12e7

improve initial info lines

803783a

update changelog

64fd05c

HosameldinMohamed requested a review from traversaro March 8, 2023 12:58

traversaro reviewed Mar 8, 2023

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traversaro requested changes Mar 8, 2023

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Change example executable name

992f210

Co-authored-by: Silvio Traversaro <silvio@traversaro.it>

traversaro approved these changes Mar 8, 2023

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traversaro merged commit 8a195bb into robotology:master Mar 8, 2023

HosameldinMohamed deleted the update/2022.0.0_latest branch March 8, 2023 14:46

HosameldinMohamed mentioned this pull request Oct 17, 2023

[windows-2019@Release@conda] CI failure #44

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Update Extern library to the latest XDA (2022.0.0) #38

Update Extern library to the latest XDA (2022.0.0) #38

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GiulioRomualdi commented Mar 8, 2023

		@@ -125,99 +123,130 @@ bool XsensMT::open(yarp::os::Searchable &config)

		m_portInfo = XsPortInfo(comPortString, XsBaud::numericToRate(baudRate));

		m_xsensControl = XsControl::construct();

Update Extern library to the latest XDA (2022.0.0) #38

Update Extern library to the latest XDA (2022.0.0) #38

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