bool NetworkProfiler::setPortmonitorParams(std::string portName, yarp::os::Property& param) {
//e.g., set in "/view" (log_raw 1)"
yarp::os::Bottle cmd, reply;
cmd.addString("set");
cmd.addString("in");
cmd.addString(portName.c_str());
Bottle tmp;
tmp.fromString(param.toString());
cmd.add(tmp.get(0));
Contact srcCon = Contact::fromString(portName);
bool ret = yarp::os::NetworkBase::write(srcCon, cmd, reply, true, true, 2.0);
if(!ret) {
yError()<<"Cannot write to"<<portName;
return false;
}
if(reply.size() > 1) {
if(reply.get(0).isString() && reply.get(0).asString() == "fail") {
yError()<<reply.toString();
return false;
}
else if(reply.get(0).isInt() && reply.get(0).asInt() == -1) {
yError()<<reply.toString();
return false;
}
}
return true;
}
// Iif a subdevice parameter is given to the wrapper, it will open it as well
// and and attach to it immediatly.
bool yarp::dev::ServerInertial::openAndAttachSubDevice(yarp::os::Property& prop)
{
yarp::os::Value &subdevice = prop.find("subdevice");
IMU_polydriver = new yarp::dev::PolyDriver;
// yDebug("Subdevice %s\n", subdevice.toString().c_str());
if (subdevice.isString())
{
// maybe user isn't doing nested configuration
yarp::os::Property p;
p.setMonitor(prop.getMonitor(), "subdevice"); // pass on any monitoring
p.fromString(prop.toString());
p.put("device",subdevice.toString());
IMU_polydriver->open(p);
}
else
IMU_polydriver->open(subdevice);
if (!IMU_polydriver->isValid())
{
yError("cannot create device <%s>\n", subdevice.toString().c_str());
return false;
}
// if we are here, poly is valid
IMU_polydriver->view(IMU); // attach to subdevice
if(IMU == NULL)
{
yError("Error, subdevice <%s> has no valid IMU interface\n", subdevice.toString().c_str());
IMU_polydriver->close();
return false;
}
// iTimed interface
IMU_polydriver->view(iTimed); // not mandatory
return true;
}
bool NetworkProfiler::attachPortmonitorPlugin(std::string portName, yarp::os::Property pluginProp) {
//e.g., atch in "(context yarpviz) (file portrate)"
yarp::os::Bottle cmd, reply;
cmd.addString("atch");
cmd.addString("in");
cmd.addString(pluginProp.toString());
//Property& prop = cmd.addDict();
//prop.fromString(pluginProp.toString());
//yInfo()<<cmd.toString();
Contact srcCon = Contact::fromString(portName);
bool ret = yarp::os::NetworkBase::write(srcCon, cmd, reply, true, true, 2.0);
if(!ret) {
yError()<<"Cannot write to"<<portName;
return false;
}
if(reply.get(0).asString() != "ok") {
yError()<<reply.toString();
return false;
}
return true;
}
