set period in seconds + add small description

robotology · Sep 27, 2022 · 28bdd1b · 28bdd1b
1 parent 5fa0899
commit 28bdd1b
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Showing 2 changed files with 5 additions and 9 deletions.
diff --git a/xsensmt/XsensMT.cpp b/xsensmt/XsensMT.cpp
@@ -108,29 +108,24 @@ bool XsensMT::open(yarp::os::Searchable &config)
         yWarning() << "xsensmt -  Parameter \"frame_name\" not set. Using the same value as \"sensor_name\" for this parameter.";
     }
 
-    yDebug() << "xsensmt - test - xsensmt_period, check xsensmt_period: " << config.check("xsensmt_period");
-    yDebug() << "xsensmt - test - xsensmt_period, xsensmt_period is string: " << config.find("xsensmt_period").isString();
-    yDebug() << "xsensmt - test - xsensmt_period, xsensmt_period is int: " << config.find("xsensmt_period").isInt32();
-    yDebug() << "xsensmt - test - xsensmt_period, xsensmt_period is float: " << config.find("xsensmt_period").isFloat64();
-
     if (config.check("xsensmt_period") && ( config.find("xsensmt_period").isInt32() || config.find("xsensmt_period").isFloat64()))
     {
         m_outputPeriod = config.find("xsensmt_period").asFloat64();
     }
     else
     {
-        m_outputPeriod = 10; // 10ms
-        yWarning() << "xsensmt -  Parameter \"xsensmt_period\" not set. Using the value " << m_outputPeriod << " ms for this parameter.";
+        m_outputPeriod = 0.01; // 10ms
+        yWarning() << "xsensmt -  Parameter \"xsensmt_period\" not set. Using the default value " << m_outputPeriod << " seconds for this parameter.";
     }
-    m_outputFrequency = 1/m_outputPeriod * 1000;
+    m_outputFrequency = 1/m_outputPeriod;
 
     std::string comPortString = config.check("serial", yarp::os::Value("/dev/ttyUSB0"), "File of the serial device.").asString().c_str();
     int baudRate = config.check("baud", yarp::os::Value(115200), "Baud rate used by the serial communication.").asInt32();
     m_timeoutInSecond = config.check("timeout", yarp::os::Value(0.1), "Timeout of the driver").asFloat64();
 
     m_portInfo = XsPortInfo(comPortString, XsBaud::numericToRate(baudRate));
 
-    yInfo("xsensmt: Opening serial port %s with baud rate %d and output period %4.2f ms.", comPortString.c_str(), baudRate, m_outputPeriod);
+    yInfo("xsensmt: Opening serial port %s with baud rate %d and output period %4.4f seconds.", comPortString.c_str(), baudRate, m_outputPeriod);
     if (!m_xsensDevice.openPort(m_portInfo))
     {
         yError("xsensmt: Could not open serial port.");

diff --git a/xsensmt/XsensMT.h b/xsensmt/XsensMT.h
@@ -46,6 +46,7 @@ namespace dev
 * | timeout        | double  |seconds| 0.1           | No        | If the device is not receiving any sensor measure for timeout seconds, it will start reporting an error. | - |
 * | sensor_name    | string  |       | sensor_imu_xsensmt       | No        | Name of the inertial sensor device. | |
 * | frame_name     | string  |       | set same as `sensor_name` | No    | Sensor frame in which the measurements are expressed. |
+* | xsensmt_period     | double  |    seconds   | 0.01  | No    | Period of querying the Xsens MT* device | The frequency of publishing the information is determined by the device that attaches this one |
 **/
 class yarp::dev::XsensMT : public yarp::dev::IGenericSensor,
                            public yarp::dev::IPreciselyTimed,