int main() {
RpcServer server;
RpcServerOptions option;
option.net_threads_num = 1;
option.worker_threads_num = 1;
server.set_options(option);
comcfg::Configure conf;
if (conf.load("./conf", "rpc_server.conf") != 0) {
std::cerr << "load conf/rpc_server.conf fail" << std::endl;
}
comlog_init(conf["log"]);
EchoServiceImpl echo_service_impl;
if (server.RegisterService(&echo_service_impl) != 0) {
std::cerr << "register service fail" << std::endl;
return -1;
}
if (server.Start("127.0.0.1:60006")) {
std::cerr << "start server fail" << std::endl;
return -1;
}
return server.WaitForStop();
}
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 configure(ResourceFinder &rf)
{
rf1=rf;
if(algorithm==1)
loc5=new UnscentedParticleFilter();
else
loc5=new ScalingSeries();
loc5->configure(rf1);
state=0;
meas_given=1;
if(loc5->measurementsString!=1)
{
namePorts = rf.check("namePorts", Value("visual-localization"), "Getting module name").asString();
portIn.open("/"+namePorts+"/pnt:i");
rpcOut.open("/"+namePorts+"/toolFeat:rpc");
meas_given=0;
}
cout<<"meas_given "<<meas_given<<endl;
error_thres=loc5->error_thres;
cout<<"thresconf "<<error_thres<<endl;
rpcPort.open(("/"+namePorts+"/rpc").c_str());
attach(rpcPort);
delete loc5;
return true;
}
bool close()
{
save();
dispose();
rpcPort.close();
return true;
}
bool interruptModule()
{
rpcPort.interrupt();
dumpPort.interrupt();
opc.interrupt();
return true;
}
bool interruptModule()
{
closing = true;
handlerPort.interrupt();
cout<<"Interrupting your module, for port cleanup"<<endl;
return true;
}
/*
* Configure function. Receive a previously initialized
* resource finder object. Use it to configure your module.
* Open port and attach it to message handler.
*/
bool configure(yarp::os::ResourceFinder &rf)
{
count=0;
handlerPort.open("/myModule");
attach(handlerPort);
return true;
}
bool close()
{
rpcPort.close();
iPort.close();
oPort.close();
return true;
}
bool interruptModule()
{
imgInPort.interrupt();
imgOutPort.interrupt();
dataOutPort.interrupt();
rpcPort.interrupt();
return true;
}
bool close()
{
imgInPort.close();
imgOutPort.close();
dataOutPort.close();
rpcPort.close();
return true;
}
bool interruptModule()
{
cout<<"Interrupt caught!"<<endl;
cout<<endl;
handlerPort.interrupt();
objectsPort.interrupt();
return true;
}
bool configure(ResourceFinder &rf)
{
iPort.open("/tracker:i");
oPort.open("/tracker:o");
rpcPort.open("/tracker:rpc");
attach(rpcPort);
state=idle;
return true;
}
bool close()
{
portDispIn.close();
portDispOut.close();
portOutPoints.close();
portImgIn.close();
portContour.close();
portSFM.close();
portRpc.close();
return true;
}
bool interruptModule()
{
portDispIn.interrupt();
portDispOut.interrupt();
portOutPoints.interrupt();
portImgIn.interrupt();
portContour.interrupt();
portSFM.interrupt();
portRpc.interrupt();
return true;
}
bool close()
{
if(meas_given!=1)
{
portIn.close();
rpcOut.close();
}
rpcPort.close();
return true;
}
bool configure(ResourceFinder &rf)
{
string name=rf.check("name",Value("cmt")).asString().c_str();
imgInPort.open(("/"+name+"/img:i").c_str());
imgOutPort.open(("/"+name+"/img:o").c_str());
dataOutPort.open(("/"+name+"/data:o").c_str());
rpcPort.open(("/"+name+"/rpc").c_str());
attach(rpcPort);
initBoundingBox=doCMT=false;
return true;
}
bool configure(ResourceFinder &rf)
{
// request high resolution scheduling
Time::turboBoost();
speaker.configure(rf);
if (!speaker.start())
return false;
string name=rf.find("name").asString().c_str();
rpc.open(("/"+name+"/rpc").c_str());
attach(rpc);
return true;
}
bool interruptModule()
{
if(meas_given!=1)
{
portIn.interrupt();
rpcOut.interrupt();
}
rpcPort.close();
if(state==1)
delete loc5;
return true;
}
int main(int argc, char *argv[]) {
Network yarp;
RpcServer server;
server.promiseType(Type::byNameOnWire("rospy_tutorials/AddTwoInts"));
if (!server.open("/add_two_ints@/yarp_add_int_server")) {
fprintf(stderr,"Failed to open port\n");
return 1;
}
while (true) {
Bottle msg, reply;
if (!server.read(msg,true)) continue;
int x = msg.get(0).asInt32();
int y = msg.get(1).asInt32();
int sum = x + y;
reply.addInt32(sum);
printf("Got %d + %d, answering %d\n", x, y, sum);
server.reply(reply);
}
return 0;
}
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 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;
}
bool configure(ResourceFinder &rf)
{
interrupting=false;
closing=false;
this->rf=&rf;
Bottle &bGeneral=rf.findGroup("general");
if (bGeneral.isNull())
{
yError("group [general] is missing!");
return false;
}
string name=bGeneral.check("name",Value("fingersTuner")).asString().c_str();
setName(name.c_str());
if (Bottle *bParts=bGeneral.find("relevantParts").asList())
{
for (int i=0; (i<bParts->size()) && !interrupting; i++)
{
string part=bParts->get(i).asString().c_str();
tuners[part]=new Tuner;
Tuner *tuner=tuners[part];
if (!tuner->configure(rf,part))
{
dispose();
return false;
}
tuner->sync(Value("*"));
}
}
else
{
yError("\"relevantParts\" option is missing!");
return false;
}
rpcPort.open(("/"+name+"/rpc").c_str());
attach(rpcPort);
// request high resolution scheduling
Time::turboBoost();
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 configure(yarp::os::ResourceFinder &rf)
{
path = rf.find("clouds_path").asString();
printf("Path: %s",path.c_str());
handlerPort.open("/mergeModule");
attach(handlerPort);
/* Module rpc parameters */
visualizing = false;
saving = true;
closing = false;
/*Init variables*/
initF = true;
filesScanned = 0;
cout<<"Configuring done."<<endl;
return true;
}
bool configure(ResourceFinder &rf)
{
portDispIn.open("/3d-points/disp:i");
portDispOut.open("/3d-points/disp:o");
portImgIn.open("/3d-points/img:i");
portOutPoints.open("/3d-points/pnt:o");
portContour.open("/3d-points/contour:i");
portSFM.open("/3d-points/SFM:rpc");
portRpc.open("/3d-points/rpc");
portContour.setReader(*this);
attach(portRpc);
homeContextPath=rf.getHomeContextPath().c_str();
downsampling=std::max(1,rf.check("downsampling",Value(1)).asInt());
spatial_distance=rf.check("spatial_distance",Value(0.004)).asDouble();
color_distance=rf.check("color_distance",Value(6)).asInt();
go=flood3d=flood=false;
return true;
}
bool configure(ResourceFinder &rf)
{
agentName=rf.check("agent-name",Value("partner")).asString();
period=rf.check("period",Value(0.05)).asDouble();
if (!opc.connect("OPC"))
{
yError()<<"OPC seems unavailabe!";
return false;
}
dumpPort.open("/actionRecogDataDumper/data/dump:o");
rpcPort.open("/actionRecogDataDumper/rpc");
attach(rpcPort);
actionTag="none";
objectTag="none";
gate=0;
return true;
}
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;
}
bool configure(ResourceFinder &rf)
{
printf(" Starting Configure\n");
this->rf=&rf;
//****************** PARAMETERS ******************
robot = rf.check("robot",Value("icub")).asString().c_str();
name = rf.check("name",Value("demoINNOROBO")).asString().c_str();
arm = rf.check("arm",Value("right_arm")).asString().c_str();
verbosity = rf.check("verbosity",Value(0)).asInt();
rate = rf.check("rate",Value(0.5)).asDouble();
if (arm!="right_arm" && arm!="left_arm")
{
printMessage(0,"ERROR: arm was set to %s, putting it to right_arm\n",arm.c_str());
arm="right_arm";
}
printMessage(1,"Parameters correctly acquired\n");
printMessage(1,"Robot: %s \tName: %s \tArm: %s\n",robot.c_str(),name.c_str(),arm.c_str());
printMessage(1,"Verbosity: %i \t Rate: %g \n",verbosity,rate);
//****************** DETECTOR ******************
certainty = rf.check("certainty", Value(10.0)).asInt();
strCascade = rf.check("cascade", Value("haarcascade_frontalface_alt.xml")).asString().c_str();
detectorL=new Detector();
detectorL->open(certainty,strCascade);
detectorR=new Detector();
detectorR->open(certainty,strCascade);
printMessage(1,"Detectors opened\n");
//****************** DRIVERS ******************
Property optionArm("(device remote_controlboard)");
optionArm.put("remote",("/"+robot+"/"+arm).c_str());
optionArm.put("local",("/"+name+"/"+arm).c_str());
if (!drvArm.open(optionArm))
{
printf("Position controller not available!\n");
return false;
}
Property optionCart("(device cartesiancontrollerclient)");
optionCart.put("remote",("/"+robot+"/cartesianController/"+arm).c_str());
optionCart.put("local",("/"+name+"/cart/").c_str());
if (!drvCart.open(optionCart))
{
printf("Cartesian controller not available!\n");
// return false;
}
Property optionGaze("(device gazecontrollerclient)");
optionGaze.put("remote","/iKinGazeCtrl");
optionGaze.put("local",("/"+name+"/gaze").c_str());
if (!drvGaze.open(optionGaze))
{
printf("Gaze controller not available!\n");
// return false;
}
// quitting conditions
bool andArm=drvArm.isValid()==drvCart.isValid()==drvGaze.isValid();
if (!andArm)
{
printMessage(0,"Something wrong occured while configuring drivers... quitting!\n");
return false;
}
drvArm.view(iencs);
drvArm.view(iposs);
drvArm.view(ictrl);
drvArm.view(iimp);
drvCart.view(iarm);
drvGaze.view(igaze);
iencs->getAxes(&nEncs);
iimp->setImpedance(0, 0.4, 0.03);
iimp->setImpedance(1, 0.35, 0.03);
iimp->setImpedance(2, 0.35, 0.03);
iimp->setImpedance(3, 0.2, 0.02);
iimp->setImpedance(4, 0.2, 0.00);
ictrl -> setImpedancePositionMode(0);
ictrl -> setImpedancePositionMode(1);
ictrl -> setImpedancePositionMode(2);
ictrl -> setImpedancePositionMode(3);
ictrl -> setImpedancePositionMode(2);
ictrl -> setImpedancePositionMode(4);
igaze -> storeContext(&contextGaze);
igaze -> setSaccadesStatus(false);
igaze -> setNeckTrajTime(0.75);
igaze -> setEyesTrajTime(0.5);
iarm -> storeContext(&contextCart);
printMessage(1,"Drivers opened\n");
//****************** PORTS ******************
imagePortInR -> open(("/"+name+"/imageR:i").c_str());
imagePortInL -> open(("/"+name+"/imageL:i").c_str());
imagePortOutR.open(("/"+name+"/imageR:o").c_str());
imagePortOutL.open(("/"+name+"/imageL:o").c_str());
portOutInfo.open(("/"+name+"/info:o").c_str());
if (robot=="icub")
{
Network::connect("/icub/camcalib/left/out",("/"+name+"/imageL:i").c_str());
Network::connect("/icub/camcalib/right/out",("/"+name+"/imageR:i").c_str());
}
else
{
Network::connect("/icubSim/cam/left",("/"+name+"/imageL:i").c_str());
Network::connect("/icubSim/cam/right",("/"+name+"/imageR:i").c_str());
}
Network::connect(("/"+name+"/imageL:o").c_str(),"/demoINN/left");
Network::connect(("/"+name+"/imageR:o").c_str(),"/demoINN/right");
Network::connect(("/"+name+"/info:o").c_str(),"/iSpeak");
rpcClnt.open(("/"+name+"/rpc:o").c_str());
rpcSrvr.open(("/"+name+"/rpc:i").c_str());
attach(rpcSrvr);
printMessage(0,"Configure Finished!\n");
return true;
}
int main()
{
RpcServer server;
server.serve(20001);
return 0;
}