[Rock-dev] [rock] #398: Frequent timeouts in imu_xsens driver

[rock]

#398: Frequent timeouts in imu_xsens driver
--------------------+-----------------------------------
 Reporter:  lech01  |      Owner:  rock-dev-mailing-list
     Type:  defect  |     Status:  new
 Priority:  minor   |  Milestone:
Component:  base    |   Keywords:
--------------------+-----------------------------------
 The imu_xsens driver is showing frequent timeout errors, even when timeout
 is set very high (e.g. 5 seconds). Timeouts are reported by the underlying
 mtsdk driver, although data is coming through:

 [20131211-16:44:35:094] [ERROR] - ""::Could not process data: Timeout
 occurred, no data was received
 (/home/leifole/dev/rock/smallrock/drivers/orogen/imu_xsens/tasks/Task.cpp:132
 - virtual void imu_xsens::Task::updateHook())

 In the update hook, it's the processBufferedDate call:

   if( (rv = mt_device->processBufferedData(data, msgs)) != XRV_OK )
   {
       LOG_ERROR( "Could not process data: %s", XsResultValue_toString( rv
 ) );
       new_state = EMPTY_BUFFER;
   }

 Looking at processBufferedData, it seems XRV_TIMEOUTNODATA is returned
 even if there hasn't been a timeout, but just an invalid packet was read:

 XsResultValue DeviceClass::processBufferedData(XsByteArray& rawIn,
 XsMessageArray& messages)
 {
         ProtocolHandler protocol;

         if (rawIn.size())
                 m_dataBuffer.append(rawIn);

         int popped = 0;
         messages.clear();

         for(;;)
         {
                 XsByteArray raw(m_dataBuffer.data()+popped,
 m_dataBuffer.size()-popped);
                 XsMessage message;
                 MessageLocation location = protocol.findMessage(message,
 raw);

                 if (location.isValid())
                 {
                         // message is valid, remove data from cache
                         popped += location.m_size + location.m_startPos;
                         messages.push_back(message);
                 }
                 else
                 {
                         if (popped)
                                 m_dataBuffer.pop_front(popped);

                         if (messages.empty())
                                 return XRV_TIMEOUTNODATA;

                         return XRV_OK;
                 }
         }
 }


 Don't want to fiddle around too much with the xsens sdk, so not sure how
 to handle this...

-- 
Ticket URL: <http://rock.opendfki.de/ticket/398>
rock <http://rock.opendfki.de>
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