Issues on wrapper

[francesco-romano]

There are (at least) two issues on the driver, specifically on the wrapper part:

• close method of the wrapper is not called on shutdown
• sometimes the wrapper fails to attach even if it seems that the xsens driver starts correctly

[traversaro]

close method of the wrapper is not called on shutdown

This seems to be a yarprobotinterface issue.

[francesco-romano]

@traversaro intended behaviour/feature/bug?

[traversaro]

If open was called successfully and yarprobotinterface is being closed in a "clean" way, I think it is definitely a bug.

[barbalberto]

Hi guys,

you are doing a great job creating a YARP interface for this device!!
I see you created both device and wrapper which is very good YARP-ish approach.

I'd like to enhances the future usage of this code and its interoperability with existing YARP modules as much as possible.
I have a few ideas in mind: some of them may have sense, others maybe not, but I'd like to share them with you and see if we can get out some value.

Can I suggest a short meeting to share the latest development in YARP code and planned future work, so that we get the most out of this cool work and we do not duplicate the efforts?

@francesco-romano @traversaro @lornat75 @aerydna

[francesco-romano]

Regarding the first issue (i.e. wrapper close not called) this seems to be related to the fact that the yarprobotinterface hangs when deleting the xsens device.
Probably related to xsens .dlls, but this must be verified

[francesco-romano]

The first issue seems related to #5

The second issue has not happened again