Ejemplo n.º 1
0
    virtual void testAcquire() {
        report(0, "checking acquire/release...");

        BufferedPort<Bottle> in;
        BufferedPort<Bottle> out;
        in.setStrict();
        out.setStrict();
        in.open("/in");
        out.open("/out");
        Network::connect("/out","/in");

        out.prepare().fromString("1");
        out.write(true);
        
        Bottle *bot = in.read();
        checkTrue(bot!=NULL,"Inserted message received");
        if (bot!=NULL) {
            checkEqual(bot->size(),1,"right length");
        }

        out.prepare().fromString("1 2");
        out.write(true);

        void *key = in.acquire();
        Bottle *bot2 = in.read();
        checkTrue(bot2!=NULL,"Inserted message received");
        if (bot2!=NULL) {
            checkEqual(bot2->size(),2,"right length");
        }

        out.prepare().fromString("1 2 3");
        out.write(true);
        
        void *key2 = in.acquire();
        Bottle *bot3 = in.read();
        checkTrue(bot3!=NULL,"Inserted message received");
        if (bot3!=NULL) {
            checkEqual(bot3->size(),3,"right length");
        }
        if (bot2!=NULL) {
            checkEqual(bot2->size(),2,"original (2) still ok");
        }
        if (bot!=NULL) {
            checkEqual(bot->size(),1,"original (1) still ok");
        }

        in.release(key);
        in.release(key2);
    }
Ejemplo n.º 2
0
    bool open(Searchable& p) {
        bool dev = true;
        if (p.check("nodevice")) {
            dev = false;
        }
        if (dev) {
            poly.open(p);
            if (!poly.isValid()) {
                printf("cannot open driver\n");
                return false;
            }
            
            if (!p.check("mute")) {
                // Make sure we can write sound
                poly.view(put);
                if (put==NULL) {
                    printf("cannot open interface\n");
                    return false;
                }
            }
        }
            
        port.setStrict(true);
        if (!port.open(p.check("name",Value("/yarphear")).asString())) {
            printf("Communication problem\n");
            return false;
        }
        
        if (p.check("remote")) {
            Network::connect(p.check("remote",Value("/remote")).asString(),
                             port.getName());
        }

        return true;
    }
Ejemplo n.º 3
0
    virtual void testRecentReader() {
        report(0,"check recent reader...");
        BufferedPort<Bottle> in;
        BufferedPort<Bottle> out;
        in.setStrict(false);
        in.open("/in");
        out.open("/out");
        
        Network::connect("/out","/in");
        
        Bottle& outBot1 = out.prepare();
        outBot1.fromString("hello world");
        printf("Writing bottle 1: %s\n", outBot1.toString().c_str());
        out.write(true);
        
        Bottle& outBot2 = out.prepare();
        outBot2.fromString("2 3 5 7 11");
        printf("Writing bottle 2: %s\n", outBot2.toString().c_str());
        out.write(true);

        Time::delay(0.25);

        Bottle *inBot2 = in.read();
        checkTrue(inBot2!=NULL,"got 2 of 2 items");
        if (inBot2!=NULL) {
            printf("Bottle 2 is: %s\n", inBot2->toString().c_str());
            checkEqual(inBot2->size(),5,"match for item 1");
        }
    }
Ejemplo n.º 4
0
    void testPublisherToBufferedPort() {
        report(0,"Publisher to BufferedPort test");

        Node n("/node");
        Publisher<Bottle> p("/very_interesting_topic");

        {
            Node n2("/node2");
            BufferedPort<Bottle> pin;
            pin.setReadOnly();
            pin.setStrict();
            pin.open("very_interesting_topic");

            waitForOutput(p,10);

            Bottle& b = p.prepare();
            b.clear();
            b.addInt(42);
            p.write();
            p.waitForWrite();

            Bottle *bin = pin.read();
            checkTrue(bin!=NULL,"message arrived");
            if (!bin) return;
            checkEqual(bin->get(0).asInt(),42,"message is correct");
        }
    }
Ejemplo n.º 5
0
 Echo() : mutex(1) {
     put = NULL;
     port.useCallback(*this);
     port.setStrict();
     muted = false;
     saving = false;
     samples = 0;
     channels = 0;
     put = NULL;
 }
Ejemplo n.º 6
0
int main() {
    // Initialize YARP - some OSes need network and time service initialization
    Network yarp;

    // Work locally - don't rely on name server (just for this example).
    // If you have a YARP name server running, you can remove this line.
    Network::setLocalMode(true);

    // Create two ports that we'll be using to transmit "Bottle" objects.
    // The ports are buffered, so that sending and receiving can happen
    // in the background.
    BufferedPort<Bottle> in;
    BufferedPort<Bottle> out;

    // we will want to read every message, with no skipping of "old" messages
    // when new ones come in
    in.setStrict();

    // Name the ports
    in.open("/in");
    out.open("/out");

    // Connect the ports so that anything written from /out arrives to /in
    Network::connect("/out","/in");

    // Send one "Bottle" object.  The port is responsible for creating
    // and reusing/destroying that object, since it needs to be sure
    // it exists until communication to all recipients (just one in
    // this case) is complete.
    Bottle& outBot1 = out.prepare();   // Get the object
    outBot1.fromString("hello world"); // Set it up the way we want
    printf("Writing bottle 1 (%s)\n", outBot1.toString().c_str());
    out.write();                       // Now send it on its way

    // Send another "Bottle" object
    Bottle& outBot2 = out.prepare();
    outBot2.fromString("2 3 5 7 11");
    printf("Writing bottle 2 (%s)\n", outBot2.toString().c_str());
    out.writeStrict();                 // writeStrict() will wait for any
                                       // previous communication to finish;
                                       // write() would skip sending if
                                       // there was something being sent

    // Read the first object
    Bottle *inBot1 = in.read();
    printf("Bottle 1 is: %s\n", inBot1->toString().c_str());

    // Read the second object
    Bottle *inBot2 = in.read();
    printf("Bottle 2 is: %s\n", inBot2->toString().c_str());

    return 0;
}
Ejemplo n.º 7
0
	void SamInit(void)
	{
	iVoltage=0;
	task="";
	bCharging=true;
	RecognisePort("PIn");
	RecognisePort("PhoneOut");
	StartModule("/Phidget");
	bRead.open("/Phidget_PIn");
	bPhone.open("/Phidget_PhoneOut");

	bRead.setStrict(true);
	bPhone.setStrict(true);
	bRead.setReporter(myPortStatus);
	bPhone.setReporter(myPortStatus);

	//relay switch: on mobile base and start modules
	CPhidgetInterfaceKit_setOutputState (ifKit, 6, 1);
	yarp::os::Time::delay(2);
	system("start.bat");

	}
Ejemplo n.º 8
0
	void SamInit(void)
	{
	RecognisePort("StarIn");
	RecognisePort("GoalIn");
	//RecognisePort("PwrOut");
	//RecognisePort("LaserIn");
	StartModule("/GotoNav");
	StarIn.open("/GotoNav_StarIn");
	GoalIn.open("/GotoNav_GoalIn");
	//PwrOut.open("/GotoNav_PwrOut");
	
	//LaserIn.open("/GotoNav_LaserIn");

	StarIn.setStrict(true);
	GoalIn.setStrict(true);
	//PwrOut.setStrict(true);
	//LaserIn.setStrict(true);

	StarIn.setReporter(myPortStatus);
	GoalIn.setReporter(myPortStatus);
	//PwrOut.setReporter(myPortStatus);
	//LaserIn.setReporter(myPortStatus);

	
	//myfile.open ("motion.txt");
	//if (myfile.is_open())
	//{
	//	myfile << 0 << "|" << 0 << "\n";
	//	myfile.close();
	//}

	//system("move.exe");
	yarp::os::Time::delay(0.5);


	puts("started nav go to");
	}
Ejemplo n.º 9
0
 virtual void testReaderHandler2() {
     report(0,"check reader handler, bufferedport style...");
     BufferedPort<Bottle> in;
     Port out;
     DelegatedCallback callback;
     in.setStrict();
     out.open("/out");
     in.open("/in");
     Network::connect("/out","/in");
     in.useCallback(callback);
     Bottle src("10 10 20");
     out.write(src);
     callback.produce.wait();
     checkEqual(callback.saved.size(),3,"object came through");
     in.disableCallback();
 }