YarpManager::YarpManager():
m_acuity(0),
m_brightness(0),
m_fov(0),
m_threshold(0)
{
std::cout<<"## YarpManager Initialisation ##"<<std::endl;
std::cout<<"- Setting default parameters value"<<std::endl;
setAcuity(3);
setFov(100);
setBrightness(50);
setTreshold(150);
std::cout<<"- Setting up YARP network"<<std::endl;
yarp::os::Network::init();
std::cout<<"- Opening YARP port"<<std::endl;
std::cout<<" * /target/module"<<std::endl;
m_modulePort.open("/target/module");
m_modulePort.setStrict();
m_modulePort.useCallback(*this);
std::cout<<" * /target/parameter"<<std::endl;
m_parameterPort.open("/target/parameter");
m_parameterPort.setStrict();
m_parameterPort.useCallback(*this);
}
void YarpManager::onRead(yarp::os::Bottle& b) {
std::string name = b.get(0).asString().c_str();
int value = b.get(1).asInt();
if(name == "acuity") setAcuity(value);
else if(name == "fov") setFov(value);
else if(name == "brightness") setBrightness(value);
else if(name == "threshold") setTreshold(value);
else std::cout<<"Bottle message incorrect"<<std::endl;
}
void initSensor(Sensor * sensor) {
/* esempio di configurazione cablata nel codice:
* ID 1 -> allarme
* ID 2 -> allarme e confidenzialità
* ID 3 -> niente
*/
if (sensor->ID < 3) {
setAlarm(sensor, True);
setTreshold(sensor, UPPER_TRESHOLD, LOWER_TRESHOLD);
} else setAlarm(sensor, False);
if (sensor->ID == 2) sensor->confidential=True;
else sensor->confidential=False;
}
