Fix HumanLogger not working when logging just one quantity (#338)

robotology · Feb 16, 2023 · 3c036dd · 3c036dd
1 parent d3a2f54
commit 3c036dd
Show file tree

Hide file tree

Showing 2 changed files with 20 additions and 20 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -14,6 +14,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Fixed
 - Fixed a typo in `DynamicalInverseKinematics` that caused a wrong calculation of the rotation mean error. (https://github.com/robotology/human-dynamics-estimation/pull/330)
+- Fixed `HumanLogger` when logging just one kind of data (https://github.com/robotology/human-dynamics-estimation/pull/338)
 
 ## [2.7.0] - 2020-10-20
 

diff --git a/devices/HumanLogger/HumanLogger.cpp b/devices/HumanLogger/HumanLogger.cpp
@@ -47,8 +47,6 @@ struct hde::devices::HumanLoggerSettings
 
 using namespace hde::devices;
 
-using MatlabChannelName = std::string;
-
 class HumanLogger::impl
 {
 public:
@@ -61,7 +59,6 @@ class HumanLogger::impl
                                    bool& option);
     bool configureBufferManager();
 
-    bool firstRun = true;
     size_t waitingFirstReadCounter = 1;
 
     interfaces::IHumanState* iHumanState = nullptr;
@@ -321,7 +318,7 @@ bool HumanLogger::attach(yarp::dev::PolyDriver* poly)
     std::cerr << "attaching " << deviceName << std::endl;
     if (deviceName == "human_state_provider" || deviceName == "human_state_remapper") {
         // Attach IHumanState interface
-        if (pImpl->iHumanState || !poly->view(pImpl->iHumanState) || !pImpl->iHumanState) {
+        if (!poly->view(pImpl->iHumanState) || !pImpl->iHumanState) {
             yError() << logPrefix << "Failed to view IHumanState interface from the polydriver";
             return false;
         }
@@ -338,7 +335,7 @@ bool HumanLogger::attach(yarp::dev::PolyDriver* poly)
 
     if (deviceName == "human_dynamics_estimator" || deviceName == "human_dynamics_remapper") {
         // Attach IHumanDynamics interface
-        if (pImpl->iHumanDynamics || !poly->view(pImpl->iHumanDynamics) || !pImpl->iHumanDynamics) {
+        if (!poly->view(pImpl->iHumanDynamics) || !pImpl->iHumanDynamics) {
             yError() << logPrefix << "Failed to view IHumanDynamics interface from the polydriver";
             return false;
         }
@@ -353,6 +350,22 @@ bool HumanLogger::attach(yarp::dev::PolyDriver* poly)
         yInfo() << logPrefix << deviceName << "attach() successful";
     }
 
+    // If only one type of data is used, attachAll will not be called
+    // so we have to start the periodic thread from here
+    if ((!pImpl->settings.logHumanState || pImpl->iHumanState) && 
+        (!pImpl->settings.logHumanDynamics || pImpl->iHumanDynamics))
+    {
+        if (!pImpl->configureBufferManager()) {
+            yError() << logPrefix << "Failed to configure buffer manager for the logger.";
+            return false;
+        }
+
+        if(!start()) {
+            yError() << logPrefix << "Failed to start the loop.";
+            return false;
+        }
+    }
+
     return true;
 }
 
@@ -427,25 +440,11 @@ bool HumanLogger::attachAll(const yarp::dev::PolyDriverList& driverList)
 
         attachStatus = attachStatus && attach(driver->poly);
     }
-
-    if (!pImpl->configureBufferManager()) {
-        yError() << logPrefix << "Failed to configure buffer manager for the logger.";
-    }
-
+
     if (attachStatus) {
         yDebug() << logPrefix << "attach() successful";
     }
 
-    // ====
-    // MISC
-    // ====
-
-    // Start the PeriodicThread loop
-    if (attachStatus && !start()) {
-        yError() << logPrefix << "Failed to start the loop.";
-        return false;
-    }
-
     return attachStatus;
 }