Yarp: Unable to open devices that are dynamically compiled in windows

[mebbaid]

Describe the bug
When doing yarpdev --list the following is displayed

When verbose with yarp plugin --search-path, the following message appears

$ yarp plugin --search-path

gives the following output

Search path:
obotology-superbuildbuildinstalllibICUBcontribdegit
obotology-superbuildbuildinstalllibiCubmentscodegit
              hde:      C:/Users/icub/Documents/code/git/human-dynamics-estimation/build/lib/yarp
obotology-superbuildbuildinstalllibyarpmentscodegit

To Reproduce
Update the robotology superbuild, and then update and build yarp

Configuration (please complete the following information):

• OS: Windows 10
• yarp version: latest master
  
  
  
  • compiler: VS
  
  

@traversaro

[traversaro]

I think the output of yarp plugin --search-path is the most interesting thing.

On my Linux machine the output is:
~bash
straversaro@iiticublap103:~$ yarp plugin --search-path
Search path:
yarp: /home/straversaro/src/robotology-superbuild/build/install/lib/yarp
iCub: /home/straversaro/src/robotology-superbuild/build/install/lib/iCub
ICUBcontrib: /home/straversaro/src/robotology-superbuild/build/install/lib/ICUBcontrib
codyco: /home/straversaro/src/robotology-superbuild/build/install/lib/codyco
~

I think this could be related to https://github.com/robotology/yarp/pull/1841 or https://github.com/robotology/yarp/issues/1513 . Can you try to see if the issue is present also in the commit 4d82b1e70238d00d45b5504d2e393c36089564dd (the one before https://github.com/robotology/yarp/pull/1841)?

[traversaro]

It would be interesting also to understand why the hde search path is working fine.
Can you paste the content of the PATH and YARP_DATA_DIRS env variables?

[mebbaid]

Ok, checking out to a33f42e35786e59363bd7f9845833615c423dd9e didn't work.
As for the env variables, here are they:
path

YARP_DATA_DIRS

[traversaro]

What is that %_DIR%in thePATH` ?

[mebbaid]

Type while opening the variable, deleted it but nothing changed.

[mebbaid]

@traversaro reverting to my commit, in devel, or an older commit in master 06dd7f78da seems to partially fix the issue.
Partially in the sense that still some of the devices installed via ICub main are not seen by YARP in the same manner. namely;

still there is this output of yarp plugin --search-path

[traversaro]

It seems that there was another change in the setup: you installed https://github.com/robotology-playground/wearables I guess on branch feature/cleanup and that repo installed the plugins in the same location of YARP, and I guess this is the reason why everything is working.

[mebbaid]

But what about a pluging like ovrheadset or transformServer that are now working ?

[traversaro]

Those plugins are installed by yarp in robotology-superbuild/build/install/lib/yarp, exactly as the wearables ones.

[traversaro]

Just for reference, could you print the content of the following files:

• robotology-superbuild/build/install/share/yarp/plugins/yarp.ini
• robotology-superbuild/build/install/share/iCub/plugins/iCub.ini
• robotology-superbuild/build/install/share/ICUBcontrib/plugins/ICUBcontrib.ini
• robotology-superbuild/build/install/share/yarp/plugins/wearables.ini

On my Linux machine they are:
~~~
straversaro@iiticublap103:~/src$ cat

This file is automatically generated by CMake.

[search yarp]
path "/home/straversaro/src/robotology-superbuild/build/install/lib/yarp"
extension ".so"
type "shared"
straversaro@iiticublap103:~/src$ cat robotology-superbuild/build/install/share/iCub/plugins/iCub.ini

This file is automatically generated by CMake.

[search iCub]
path "/home/straversaro/src/robotology-superbuild/build/install/lib/iCub"
extension ".so"
type "shared"
straversaro@iiticublap103:~/src$ cat robotology-superbuild/build/install/share/ICUBcontrib/plugins/ICUBcontrib.ini

This file is automatically generated by CMake.

[search ICUBcontrib]
path "/home/straversaro/src/robotology-superbuild/build/install/lib/ICUBcontrib"
extension ".so"
type "shared"
~~~

[mebbaid]

First file: yarp.ini

###### This file is automatically generated by CMake.
[search yarp]
path "C:\Users\icub\Documents\code\git\robotology-superbuild\build\install\lib\yarp"
extension ".dll"
type "shared"

Second file: iCub.ini

###### This file is automatically generated by CMake.
[search iCub]
path "C:\Users\icub\Documents\code\git\robotology-superbuild\build\install\lib\iCub"
extension ".dll"
type "shared"

Third File: ICUBcontrib.ini

###### This file is automatically generated by CMake.
[search ICUBcontrib]
path "C:\Users\icub\Documents\code\git\robotology-superbuild\build\install\lib\ICUBcontrib"
extension ".dll"
type "shared"

wearable.ini

###### This file is automatically generated by CMake.
[search wearable]
path "C:\Users\icub\Documents\code\git\robotology-superbuild\build\install\lib\yarp"
extension ".dll"
type "shared"

[mebbaid]

Maybe this is why it finds all the plugins except those of icub, since the correct folder is like in the picture:

https://github.com/robotology/yarp/issues/1866#issuecomment-422745458

[traversaro]

Cool, nice catch.

[traversaro]

I checked on my system, and there should be both ICUB (for CMake config files) and iCub (for YARP plugin). Are you sure that the iCub project is actually installing those plugins, i.e. the required CMake options are enabled?

[mebbaid]

yes, however both the cmakeconfig and the plugins are in the same ICUB as in:

[mebbaid]

Indeed editing the plugin .ini files path variables manually fixes the corresponding search path returned by yarp plugin --search-path

[traversaro]

How did you fixed the files? By a first inspection the yarp.ini and werables.ini in https://github.com/robotology/yarp/issues/1866#issuecomment-422808776 seem to be identical.

[mebbaid]

yarp.ini after modifying manually:

###### This file is automatically generated by CMake.
[search yarp]
path "C:/Users/icub/Documents/code/git/robotology-superbuild/build/install/lib/yarp"
extension ".dll"
type "shared"

[Yeshasvitvs]

@traversaro I ran into this issue today while trying to access the ftShoes. It seems like this problem is fixed in https://github.com/robotology/yarp/pull/1841 but the changes are not reflected yet. Any suggestions on how to proceed to fix it?

[traversaro]

Hi @Yeshasvitvs , can you provide the output of your yarpdev --list, the exact YARP checkout you are using and the content of the following files (before/after) your local fixes:

• robotology-superbuild/build/install/share/yarp/plugins/yarp.ini
• robotology-superbuild/build/install/share/iCub/plugins/iCub.ini
• robotology-superbuild/build/install/share/ICUBcontrib/plugins/ICUBcontrib.ini
• robotology-superbuild/build/install/share/yarp/plugins/wearables.ini

[Yeshasvitvs]

@traversaro I am using the following YARP master branch with HEAD at

commit d1a2effb61bd8888e7b19701d2b6bd24e4f30dd4 (HEAD -> master, origin/master, origin/HEAD)
Merge: 1c95e98c8 4624e7c1e
Author: Daniele E. Domenichelli <[email protected]>
Date:   Thu Oct 11 11:08:21 2018 +0200

    Merge pull request #1891 from drdanz/fix_VAS_status

    Fix -Wattributes warning for yarp::dev::VAS_status

Before local fixes

After local fixes

NOTE: I am not using wearables yet

[traversaro]

Ok, that seems to be super clear. I am surprised because I would expect @claudiofantacci , @pattacini or other regular Windows users to be affected as well.

[traversaro]

We experienced the same issue with @AngeloRendiniello with latest YARP master branch.

[traversaro]

I think I understood what is going on: @pattacini and (I guess) @claudiofantacci use devices from the build tree, not the install tree, and indeed if you check in:
https://github.com/robotology/yarp/pull/1841/files#diff-cd0eb3dc7250fb8863489a632361de81R92
the directory separator are not changed in the _path of the yarp.ini copied in the build tree, but it is just modified for the installed one. Fix provided in https://github.com/robotology/yarp/pull/1911 .