bool ObserverModule::configure(yarp::os::ResourceFinder &rf) {
/* Process all parameters from both command-line and .ini file */
/* get the module name which will form the stem of all module port names */
moduleName = rf.check("name",
Value(""),
"module name (string)").asString();
/*
* before continuing, set the module name before getting any other parameters,
* specifically the port names which are dependent on the module name
*/
// setName(moduleName.c_str());
/*
* get the robot name which will form the stem of the robot ports names
* and append the specific part and device required
*/
robotName = rf.check("robot",
Value("icub"),
"Robot name (string)").asString();
//robotPortName = "/" + robotName + "/head";
inputPortName = rf.check("inputPortName",
Value(":i"),
"Input port name (string)").asString();
/*
* attach a port of the same name as the module (prefixed with a /) to the module
* so that messages received from the port are redirected to the respond method
*/
handlerPortName = "";
handlerPortName += getName(); // use getName() rather than a literal
if (!handlerPort.open(handlerPortName.c_str())) {
cout << getName() << ": Unable to open port " << handlerPortName << endl;
return false;
}
attach(handlerPort); // attach to port
if (rf.check("config")) {
configFile=rf.findFile(rf.find("config").asString().c_str());
if (configFile=="") {
return false;
}
}
else {
configFile.clear();
}
bool returnval = true;
//create the thread and configure it using the ResourceFinder
_effectorThread = new EffectorThread();
returnval &= _effectorThread->configure(rf);
_affordanceAccess = new darwin::observer::AffordanceAccessImpl();
if (returnval) {
returnval &= _affordanceAccess->configure(rf);
}
_attentionAccess = new darwin::observer::AttentionAccessImpl();
if (returnval) {
returnval &= _attentionAccess->configure(rf);
}
_workspace = new darwin::observer::WorkspaceCalculationsImpl();
if (returnval) {
returnval &= _workspace->configure(rf);
}
/* create the thread and pass pointers to the module parameters */
rThread = new ObserverThread(robotName, configFile);
rThread->setName(getName().c_str());
rThread->setEffectorAccess(_effectorThread);
rThread->setAffordanceAccess(_affordanceAccess);
rThread->setAttentionAccess(_attentionAccess);
rThread->setWorkspaceAccess(_workspace);
const string pt = rf.findPath("observerConfig.ini");
unsigned pos = pt.find("observerConfig.ini");
pathPrefix = pt.substr(0,pos);
printf("observer configuraion file in %s \n", pathPrefix.c_str());
//////////////////////// find file paths
///////////input files
rThread->setPath(pathPrefix);
// rThread->setColorPath(colormapFile);
// rThread->setModelPath(modelFile);
//=======================================================================
//
//rThread->setInputPortName(inputPortName.c_str());
if (returnval) {
returnval &= _effectorThread->start();
}
/* now start the thread to do the work */
if (returnval) {
returnval &= rThread->start(); // this calls threadInit() and it if returns true, it then calls run()
}
return returnval; // let the RFModule know everything went well
// so that it will then run the module
}