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);
}
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;
}
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");
}
}
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");
}
}
Echo() : mutex(1) {
put = NULL;
port.useCallback(*this);
port.setStrict();
muted = false;
saving = false;
samples = 0;
channels = 0;
put = NULL;
}
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;
}
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");
}
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");
}
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();
}
