bool AllostaticController::configure(yarp::os::ResourceFinder &rf)
{
moduleName = rf.check("name",Value("AllostaticController")).asString();
setName(moduleName.c_str());
yDebug()<<moduleName<<": finding configuration files...";//<<endl;
period = rf.check("period",Value(0.5)).asDouble();
bool isRFVerbose = true;
iCub = new ICubClient(moduleName, "allostaticController", "client.ini", isRFVerbose);
iCub->opc->isVerbose &= true;
if (!iCub->connect())
{
yInfo() << "iCubClient : Some dependencies are not running...";
Time::delay(1.0);
}
configureAllostatic(rf);
rpc_in_port.open("/" + moduleName + "/rpc");
attach(rpc_in_port);
yInfo()<<"Configuration done.";
return true;
}
bool ReactiveLayer::configure(yarp::os::ResourceFinder &rf)
{
string moduleName = rf.check("name",Value("ReactiveLayer")).asString().c_str();
setName(moduleName.c_str());
cout<<moduleName<<": finding configuration files..."<<endl;
period = rf.check("period",Value(0.1)).asDouble();
//Create an iCub Client and check that all dependencies are here before starting
bool isRFVerbose = false;
iCub = new ICubClient(moduleName,"reactiveLayer","client.ini",isRFVerbose);
iCub->opc->isVerbose = false;
char rep = 'n';
while (rep!='y'&&!iCub->connect())
{
cout<<"iCubClient : Some dependencies are not running..."<<endl;
//cout<<"Continue? y,n"<<endl;
//cin>>rep;
break; //to debug
Time::delay(1.0);
}
//Set the voice
std::string ttsOptions = rf.check("ttsOptions", yarp::os::Value("iCubina 85.0")).asString();
if (iCub->getSpeechClient())
iCub->getSpeechClient()->SetOptions(ttsOptions);
//Configure the various components
configureOPC(rf);
configureAllostatic(rf);
configureTactile(rf);
configureSalutation(rf);
cout<<"Configuration done."<<endl;
rpc.open ( ("/"+moduleName+"/rpc").c_str());
attach(rpc);
//Initialise timers
lastFaceUpdate = Time::now();
physicalInteraction = false;
someonePresent = false;
//iCub->getReactableClient()->SendOSC(yarp::os::Bottle("/event reactable pong start"));
return true;
}
