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Update Paexo wearable device with motor control through yarp #124

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merged 13 commits into from
Jul 12, 2021
Merged

Update Paexo wearable device with motor control through yarp #124

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d7d2d1c
Update Paexo wearable device with left and right motor actuators and …
yeshasvitirupachuri Jun 25, 2021
8108c5d
Add yarp port for motor control
yeshasvitirupachuri Jun 25, 2021
0419a9e
Correct control cmd eol
yeshasvitirupachuri Jun 28, 2021
fbcc188
Update test application using yarp bufferedports control
yeshasvitirupachuri Jun 28, 2021
f7b5e29
Initial testing of Paexo
yeshasvitirupachuri Jun 30, 2021
47851b1
PR Changes
yeshasvitirupachuri Jul 8, 2021
faefcae
Clean up
yeshasvitirupachuri Jul 8, 2021
53dd172
Rename LoggerLevel to LoggerType
yeshasvitirupachuri Jul 8, 2021
a7f49d2
Update yarp network check
yeshasvitirupachuri Jul 8, 2021
034fbea
Update motor control port error handling
yeshasvitirupachuri Jul 12, 2021
894ad73
Update change log
yeshasvitirupachuri Jul 12, 2021
e77e202
Correct LoggerType parameter handling
yeshasvitirupachuri Jul 12, 2021
24ed9be
Update yarp network handling
yeshasvitirupachuri Jul 12, 2021
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10 changes: 7 additions & 3 deletions devices/Paexo/src/Paexo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,6 +47,9 @@ struct PaexoData
class Paexo::PaexoImpl
{
public:

yarp::os::Network network;

mutable std::mutex mutex;
yarp::dev::ISerialDevice* iSerialDevice = nullptr;

Expand Down Expand Up @@ -439,9 +442,10 @@ bool Paexo::open(yarp::os::Searchable& config)
// Initialize yarp control ports

// Check yarp network initialization
if (!yarp::os::Network::isNetworkInitialized()) {
yInfo() << LogPrefix << "Initializing yarp network";
yarp::os::Network();
pImpl->network = yarp::os::Network();
if (!yarp::os::Network::initialized() || !yarp::os::Network::checkNetwork(5.0)) {
yError() << LogPrefix << "YARP server wasn't found active.";
return false;
}

yInfo() << LogPrefix << "Initiailizing PaexoMotorControlPort for " << leftActuatorName;
Expand Down