bool close()
{
save();
dispose();
rpcPort.close();
return true;
}
bool close()
{
rpcPort.close();
iPort.close();
oPort.close();
return true;
}
bool close()
{
imgInPort.close();
imgOutPort.close();
dataOutPort.close();
rpcPort.close();
return true;
}
bool close()
{
rpc.interrupt();
rpc.close();
speaker.stop();
return true;
}
bool close()
{
rpcPort.interrupt();
rpcPort.close();
dumpPort.interrupt();
dumpPort.close();
opc.interrupt();
opc.close();
return true;
}
bool close()
{
if(meas_given!=1)
{
portIn.close();
rpcOut.close();
}
rpcPort.close();
return true;
}
bool close()
{
portDispIn.close();
portDispOut.close();
portOutPoints.close();
portImgIn.close();
portContour.close();
portSFM.close();
portRpc.close();
return true;
}
bool close()
{
igaze->restoreContext(startup_context_gaze);
drvGaze.close();
iarm->restoreContext(startup_context_arm);
drvArm.close();
imgLPortIn.close();
imgRPortIn.close();
imgLPortOut.close();
imgRPortOut.close();
rpcPort.close();
return true;
}
bool interruptModule()
{
if(meas_given!=1)
{
portIn.interrupt();
rpcOut.interrupt();
}
rpcPort.close();
if(state==1)
delete loc5;
return true;
}
bool close()
{
// Terminate model
Controller_terminate(Controller_M);
imod->setControlMode(joint,VOCAB_CM_POSITION);
if (compliant)
iint->setInteractionMode(joint,VOCAB_IM_STIFF);
rpc.close();
dataOut.close();
dataIn.close();
drv.close();
return true;
}
void terminate()
{
imgInPort.close();
imgOutPort.close();
dataInPort.close(); // close prior to shutting down motor-interfaces
logPort.close();
rpcPort.close();
if (drvArmL.isValid())
drvArmL.close();
if (drvArmR.isValid())
drvArmR.close();
if (drvGaze.isValid())
drvGaze.close();
}
bool close()
{
handlerPort.close();
objectsPort.close();
igaze->stopControl();
igaze->restoreContext(startupGazeContextID);
igaze->deleteContext(startupGazeContextID);
igaze->deleteContext(currentGazeContextID);
if (clientGazeCtrl.isValid())
clientGazeCtrl.close();
icartLeft->stopControl();
icartLeft->restoreContext(startupArmLeftContextID);
icartLeft->deleteContext(startupArmLeftContextID);
icartLeft->deleteContext(currentArmLeftContextID);
if (clientArmLeft.isValid())
clientArmLeft.close();
icartRight->stopControl();
icartRight->restoreContext(startupArmRightContextID);
icartRight->deleteContext(startupArmRightContextID);
icartRight->deleteContext(currentArmRightContextID);
if (clientArmLeft.isValid())
clientArmLeft.close();
itorsoVelocity->stop();
if (clientTorso.isValid())
clientTorso.close();
return true;
}
/*
* Close function, to perform cleanup.
*/
bool close()
{
cout<<"Calling close function\n";
handlerPort.close();
return true;
}
int main(int argc, char * argv[])
{
Network yarp;
cout << "Server name is : " << yarp.getNameServerName() << endl;
if (!Network::checkNetwork())
{
cout << "yarp network is not available!" << endl;
return 0;
}
ResourceFinder rf;
rf.setVerbose(true);
rf.setDefaultContext("visualSystem");
rf.setDefaultConfigFile("visualSystem.ini"); //overridden by --from parameter
rf.configure(argc, argv);
//Get the parameters of the model
cvz::core::CvzStack stack;
int retinaX = rf.check("retinaW",Value(3)).asInt();
int retinaY = rf.check("retinaH", Value(3)).asInt();
int foveaX = rf.check("foveaW", Value(3)).asInt();
int foveaY = rf.check("foveaH", Value(3)).asInt();
/*************************************************/
//Add V1
configureV1Retina(&stack, retinaX, retinaY);
configureV1Fovea(&stack, foveaX, foveaY);
/*************************************************/
//Add v2
stringstream configV2;
configV2
<< "type" << '\t' << cvz::core::TYPE_MMCM << endl
<< "name" << '\t' << "v2" << endl
<< "width" << '\t' << V2_W << endl
<< "height" << '\t' << V2_H << endl
<< "layers" << '\t' << V2_L << endl
<< "sigmaFactor" << '\t' << V2_SIGMA_FACTOR << endl
<< "learningRate" << '\t' << V2_LEARNING << endl << endl;
//Add the proprioception
configV2
<< "[modality_0]" << endl
<< "name" << '\t' << "gaze" << endl
<< "type" << '\t' << "yarpVector" << endl
<< "size" << '\t' << 3 << endl << endl;
//Add the v1Retina
configV2
<< "[modality_1]" << endl
<< "name" << '\t' << "v1Retina" << endl
<< "type" << '\t' << "yarpVector" << endl
<< "size" << '\t' << TOPDOWN_SIZE << endl << endl;
configV2
<< "[modality_2]" << endl
<< "name" << '\t' << "v1Fovea" << endl
<< "type" << '\t' << "yarpVector" << endl
<< "size" << '\t' << TOPDOWN_SIZE << endl << endl;
Property propV2;
propV2.fromConfig(configV2.str().c_str());
stack.addCvzFromProperty(propV2,false, "v2");
//Add the head proprioception
stack.addCvzFromConfigFile(std::string("icub_head.ini"),false, "gaze");
//Connect the head to v2 -- I know this is non plausible
stack.connectModalities("/gaze/v1", "/v2/gaze");
stack.connectModalities("/v1Retina/out", "/v2/v1Retina");
stack.connectModalities("/v1Fovea/out", "/v2/v1Fovea");
//Make sure the graph is completed and all the connections are established
stack.connectModalities();
stack.configure(rf);
RpcServer* ticker = NULL;
StackTicker* tickerProcessor = NULL;
//Start the RPC wrapper for commands
bool isTickBased = rf.check("tickBased");
StackRpcWrapper* rpc = new StackRpcWrapper(&stack, retinaX, retinaY, foveaX, foveaY, isTickBased);
rpc->open("/visualSystem/rpc");
rpc->useCallback();
rpc->start();
if (isTickBased)
{
ticker = new RpcServer();
ticker->open("/visualSystem/ticker:i");
//Start the ticker to synchronize with the arrival of data
tickerProcessor = new StackTicker(rpc);
ticker->setReader(*tickerProcessor);
}
stack.runModule();
rpc->stop();
rpc->close();
delete rpc;
if (ticker != NULL)
{
ticker->close();
delete ticker;
delete tickerProcessor;
}
return 0;
}
