C++ (Cpp) control_board_options Examples

Example #1

File: odometry.cpp Project: xufango/contrib_bk

bool Odometry::open()
{
    // open the control board driver
    printf("\nOpening the motors interface...\n");

    Property control_board_options("(device remote_controlboard)");
    if (!control_board_driver)
    {
        fprintf(stderr,"ERROR: control board driver not ready!\n");
            return false;
    }
    // open the interfaces for the control boards
    bool ok = true;
    ok = ok & control_board_driver->view(ienc);
    if(!ok)
    {
        fprintf(stderr,"ERROR: one or more devices has not been viewed\nreturning...\n");
        //return false;
    }
    // open control input ports
    port_odometry.open((localName+"/odometry:o").c_str());
    port_odometer.open((localName+"/odometer:o").c_str());
    port_ikart_vels.open((localName+"/velocity:o").c_str());

    //reset odometry
    reset_odometry();

    return true;
}

Example #2

File: controlThread.cpp Project: robotology/cer

bool ControlThread::threadInit()
{
    //open the joystick port
    port_joystick_control.open(localName + "/joystick:i");

        //try to connect to joystickCtrl output
        if (rf.check("joystick_connect"))
        {
            int joystick_trials = 0; 
            do
            {
                yarp::os::Time::delay(1.0);
                if (yarp::os::Network::connect("/joystickCtrl:o", localName+"/joystick:i"))
                    {
                        yInfo("Joystick has been automatically connected");
                        break;
                    }
                else
                    {
                        yWarning("Unable to find the joystick port, retrying (%d/5)...",joystick_trials);
                        joystick_trials++;
                    }

                if (joystick_trials>=5)
                    {
                        yError("Unable to find the joystick port, giving up");
                        break;
                    }
            }
            while (1);
        }
        
    // open the control board driver
    yInfo("Opening the motors interface...\n");
    int trials = 0;
    double start_time = yarp::os::Time::now();
    Property control_board_options("(device remote_controlboard)");
    control_board_options.put("remote", remoteName.c_str());
    control_board_options.put("local", localName.c_str());

    do
    {
        double current_time = yarp::os::Time::now();

        //remove previously existing drivers
        if (control_board_driver)
        {
            delete control_board_driver;
            control_board_driver = 0;
        }

        //creates the new device driver
        control_board_driver = new PolyDriver(control_board_options);
        bool connected = control_board_driver->isValid();

        //check if the driver is connected
        if (connected) break;

        //check if the timeout (10s) is expired
        if (current_time - start_time > 10.0)
        {
            yError("It is not possible to instantiate the device driver. I tried %d times!", trials);
            if (control_board_driver)
            {
                delete control_board_driver;
                control_board_driver = 0;
            }
            return false;
        }

        yarp::os::Time::delay(0.5);
        trials++;
        yWarning("Unable to connect the device driver, trying again...");
    } while (true);

    control_board_driver->view(iDir);
    control_board_driver->view(iVel);
    control_board_driver->view(iEnc);
    control_board_driver->view(iPos);
    control_board_driver->view(iCmd);
    if (iDir == 0 || iEnc == 0 || iVel == 0 || iCmd == 0)
    {
        yError() << "Failed to open interfaces";
        return false;
    }

    yarp::os::Time::delay(1.0);
    iEnc->getEncoder(0, &enc_init_elong);
    iEnc->getEncoder(1, &enc_init_roll);
    iEnc->getEncoder(2, &enc_init_pitch);
    iVel ->setRefAcceleration (0,10000000);
    iVel ->setRefAcceleration (1,10000000);
    iVel ->setRefAcceleration (2,10000000);

    yDebug() << "Initial vals" << enc_init_elong << enc_init_roll << enc_init_pitch;
    return true;
}