void testGetHomeDirsForWriting()
{
ConstString slash = Network::getDirectorySeparator();
report(0,"test get 'home' dirs for writing");
setUpTestArea(false);
{
ResourceFinder rf;
const char *fname1 = "_yarp_regression_test_rf1.txt";
rf.setDefaultContext("my_app");
rf.setDefaultConfigFile(fname1); // should be in pwd
rf.configure(0,NULL);
char buf[1000];
char *result = getcwd(buf,sizeof(buf));
checkEqual(rf.getHomeContextPath(),result,"cwd found as context directory for writing");
checkEqual(rf.getHomeRobotPath(),result,"cwd found as robot directory for writing");
}
{
ResourceFinder rf;
rf.setDefaultContext("my_app");
rf.setDefaultConfigFile("my_app.ini");
rf.configure(0,NULL);
bool found;
ConstString robot = NetworkBase::getEnvironment("YARP_ROBOT_NAME",
&found);
if (!found) robot = "default";
checkEqual(rf.getHomeContextPath(),ResourceFinder::getDataHome() + slash + "contexts" + slash + "my_app","$YARP_DATA_HOME/contexts/my_app found as directory for writing");
checkEqual(rf.getHomeRobotPath(),ResourceFinder::getDataHome() + slash + "robots" + slash + robot,"$YARP_DATA_HOME/robots/dummyRobot found as directory for writing");
}
breakDownTestArea();
}
void testContextVer2() {
report(0,"test context version 2");
setUpTestArea(false);
{
ResourceFinder rf;
rf.setDefaultContext("my_app");
Property p;
bool ok = rf.readConfig(p,"my_app.ini",
ResourceFinderOptions::findFirstMatch());
checkTrue(ok,"read a my_app.ini");
checkEqual(p.find("magic_number").asInt(),1000,"right version found");
}
{
ResourceFinder rf;
rf.setDefaultContext("my_app");
rf.setDefaultConfigFile("my_app.ini");
rf.configure(0,NULL);
checkEqual(rf.find("magic_number").asInt(),1000,"my_app.ini found as default config file");
}
{
ResourceFinder rf;
rf.setDefaultContext("shadowtest");
rf.setDefaultConfigFile("shadow.ini");
rf.configure(0,NULL);
checkEqual(rf.find("magic_number").asInt(),5001,"shadow.ini found as correct location");
}
{
ResourceFinder rf;
rf.setDefaultContext("shadowtest");
rf.setDefaultConfigFile("noshadow.ini");
rf.configure(0,NULL);
checkEqual(rf.find("magic_number").asInt(),5002,"noshadow.ini found as correct location");
}
{
ResourceFinder rf;
rf.setDefaultContext("shadowtest");
rf.setDefaultConfigFile("noshadow.ini");
rf.configure(0,NULL);
checkEqual(rf.find("magic_number").asInt(),5002,"noshadow.ini found as correct location");
Property p;
ResourceFinderOptions opts;
checkTrue(rf.readConfig(p,"shadow.ini",opts),"found shadow.ini");
checkEqual(p.find("magic_number").asInt(),5001,"shadow.ini found as correct location");
}
breakDownTestArea();
}
int main(int argc, char *argv[]) {
using yarp::os::Network;
using yarp::os::ResourceFinder;
using iCub::interactionForces::FingerForceModule;
// Initialise device driver list
YARP_REGISTER_DEVICES(icubmod);
// Open network
Network yarp;
if (!yarp.checkNetwork()) {
fprintf(stdout, "Error: yarp server is not available.\n");
return -1;
}
// Using modules
FingerForceModule mod;
// Create resource finder
ResourceFinder rf;
rf.setVerbose();
rf.setDefaultConfigFile("confFingertipsRight.ini");
rf.setDefaultContext("fingerForce");
rf.configure("ICUB_ROOT", argc, argv);
// Configure and run module
mod.configure(rf);
mod.runModule();
return 0;
}
int main(int argc, char *argv[])
{
/*
* create a specific Network object, rather than using Network::init().
* this way, automatic cleanup by the means of Network::fini() will be smoother
*/
Network network;
AttentionNetworkTest attentionNetworkTestModule; // instantiate module
/* prepare and configure the resource finder */
ResourceFinder rf;
rf.setVerbose(true);
rf.setDefaultConfigFile("attentionNetworkTest.ini"); //overridden by --from parameter
rf.setDefaultContext("attentionNetworkTest/conf"); //overridden by --context parameter
rf.configure("ICUB_ROOT", argc, argv);
/* run the module: runModule() calls configure first and, if successful, it then runs */
attentionNetworkTestModule.runModule(rf);
return 0;
}
//********************************************
int main(int argc, char * argv[])
{
Network yarp;
ResourceFinder rf;
rf.setVerbose(false);
rf.setDefaultContext("periPersonalSpace");
rf.setDefaultConfigFile("ppsAggregEventsForiCubGui.ini");
rf.configure(argc,argv);
if (rf.check("help"))
{
yInfo(" ");
yInfo("Options:");
yInfo(" --context path: where to find the called resource (default periPersonalSpace).");
yInfo(" --from from: the name of the .ini file (default ppsAggregEventsForiCubGui.ini).");
yInfo(" --name name: the name of the module (default ppsAggregEventsForiCubGui).");
yInfo(" --verbosity verbosity: verbosity level.");
yInfo(" --autoConnect flag: if to auto connect the ports or not. Default no.");
yInfo(" --tactile flag: if enabled, the tactile aggreg events will be prepared for iCubGui visualization.");
yInfo(" --pps flag: if enabled, the peripersonal space aggreg events will be prepared for iCubGui visualization.");
yInfo(" --gain gain: the multiplication vector for the visualization of normalized event magnitude.");
yInfo(" ");
return 0;
}
if (!yarp.checkNetwork())
{
yError("No Network!!!");
return -1;
}
ppsAggregEventsForiCubGui module;
return module.runModule(rf);
}
int main(int argc, char *argv[])
{
printf("-- START --\n");
// we need to initialize the drivers list
YARP_REGISTER_DEVICES(icubmod)
yarp::os::Network yarp;
if (!yarp.checkNetwork())
{
cout << "NO CONNECTION TO YARP..." << endl;
return 1;
}
/* prepare and configure the resource finder */
ResourceFinder rf;
rf.setVerbose(true);
rf.setDefaultConfigFile("SimoxGraspExecutionModule.ini"); //overridden by --from parameter
rf.setDefaultContext("SimoxGraspExecution/conf"); //overridden by --context parameter
rf.configure("ICUB_ROOT", argc, argv);
SimoxGraspExecutionModulePtr rvm(new SimoxGraspExecutionModule());
rvm->configure(rf);
return rvm->runModule();
}
int main(int argc, char *argv[])
{
ResourceFinder rf;
rf.setVerbose(true);
rf.setDefaultContext("simCartesianControl");
rf.setDefault("robot","icubSim");
rf.setDefault("local","simCartesianControl");
rf.setDefault("right_arm_file","cartesianRightArm.ini");
rf.setDefault("left_arm_file","cartesianLeftArm.ini");
rf.setDefault("right_leg_file","cartesianRightLeg.ini");
rf.setDefault("left_leg_file","cartesianLeftLeg.ini");
rf.configure(argc,argv);
Network yarp;
if (!yarp.checkNetwork())
{
cout<<"YARP server not available!"<<endl;
return -1;
}
YARP_REGISTER_DEVICES(icubmod)
SimCartCtrlModule mod;
return mod.runModule(rf);
}
int main(int argc, char *argv[])
{
Network yarp;
ResourceFinder rf;
rf.setVerbose(false);
rf.setDefaultContext("poeticon"); // overridden by --context
rf.setDefaultConfigFile("wsm.ini"); // overridden by --from
rf.configure(argc, argv);
if(rf.check("help"))
{
yInfo("Available options:");
yInfo("--name prefix (default wsm)");
yInfo("--playback filename (read dummy world state data from a file, for example dbdummy.ini)");
return 0; // EXIT_SUCCESS
}
if(! yarp::os::Network::checkNetwork() )
{
yError("YARP server not available!");
return 1; // EXIT_FAILURE
}
DummyWorldStateMgrModule mod;
return mod.runModule(rf);
}
int main(int argc, char *argv[])
{
printf("-- START --\n");
YARP_REGISTER_DEVICES(icubmod)
yarp::os::Network yarp;
if (!yarp.checkNetwork())
{
cout << "NO CONNECTION TO YARP..." << endl;
return 1;
}
// We must always have an application
QApplication a( argc, argv );
/* prepare and configure the resource finder */
ResourceFinder rf;
rf.setVerbose(true);
rf.setDefaultConfigFile("SimoxHandEyeCalibrationGui_iCub.ini"); //overridden by --from parameter
rf.setDefaultContext("SimoxHandEyeCalibrationGui/conf"); //overridden by --context parameter
rf.configure("ICUB_ROOT", argc, argv);
bool isleft = false;
SimoxHandEyeCalibrationGuiPtr rvm(new SimoxHandEyeCalibrationGui(isleft));
rvm->configure(rf);
return rvm->runModule();
}
int main(int argc, char * argv[])
{
ResourceFinder rf;
rf.setVerbose(true);
rf.configure(argc,argv);
//rf.setDefaultContext("empty");
//rf.setDefaultConfigFile("empty");
if (rf.check("help"))
{
//help here
}
//initialize yarp network
Network yarp;
if (!yarp.checkNetwork())
{
fprintf(stderr, "Sorry YARP network does not seem to be available, is the yarp server available?\n");
return -1;
}
YARP_REGISTER_DEVICES(icubmod)
CtrlModule mod;
return mod.runModule(rf);
}
void testDefaults() {
report(0,"test default values of generic type");
int defInt=42;
double defDouble=42.42;
ConstString defString="fortytwo";
Bottle defList("(answers (42 24))");
const char *argv[] = { NULL };
int argc = 1;
ResourceFinder rf;
rf.setDefault("int", defInt);
rf.setDefault("double", defDouble);
rf.setDefault("string", defString);
rf.setDefault("constchar", defString.c_str());
rf.setDefault("list", defList.toString());
rf.configure(argc,(char **)argv);
checkEqual(rf.find("int").asInt(), defInt, "default integer set correctly");
checkEqualish(rf.find("double").asDouble(), defDouble, "default double set correctly");
checkEqual(rf.find("string").asString(), defString, "default string set correctly");
checkEqual(rf.find("constchar").asString(), defString, "default string (passed as const char*) set correctly");
Bottle *foundList=rf.find("list").asList();
if(foundList!=NULL)
checkEqual(rf.find("list").asList()->get(0).asString(), "answers", "default list set correctly");
else
report(1, "RF could not find default list");
}
int main(int argc, char *argv[]) {
Network yarp;
BufferedPort<Bottle> inPort;
ResourceFinder parameters;
parameters.configure(argc, argv);
int delay=0;
string portname="/consumer";
if (parameters.check("name"))
portname=parameters.find("name").asString().c_str();
if (parameters.check("delay"))
{
delay=parameters.find("delay").asInt();
printf("Setting delay to %d[ms]\n", delay);
}
inPort.open(portname.c_str());
while (true) {
Bottle *message=inPort.read();
if (message==0)
continue;
int counter=message->get(0).asInt();
string msg=message->get(1).asString().c_str();
printf("Received: %d %s\n", counter, msg.c_str());
Time::delay(delay/1000.0);
}
return 0;
}
int main(int argc, char * argv[])
{
/* initialize yarp network */
Network yarp;
if ( !yarp.checkNetwork() )
return -1;
/* prepare and configure the resource finder */
ResourceFinder rf;
rf.setVerbose(true);
rf.setDefaultConfigFile("onlineLearnerModule.ini"); //overridden by --from parameter
// rf.setDefaultContext("onlineLearnerModule/conf"); //overridden by --context parameter
rf.configure("ICUB_ROOT", argc, argv);
/* create your module */
OnlineLearnerModule onlineLearnerModule;
/* run the module: runModule() calls configure first and, if successful, it then runs */
onlineLearnerModule.runModule(rf);
return 0;
}
int main(int argc, char *argv[])
{
ResourceFinder rf;
rf.setVerbose(true);
rf.setDefaultContext("navigation");
rf.setDefaultConfigFile("baseCtrl.ini");
rf.configure(argc,argv);
if (rf.check("help"))
{
yInfo("Possible options: ");
yInfo("'rate <r>' sets the threads rate (default 20ms).");
yInfo("'no_filter' disables command filtering.");
yInfo("'no_motors' motor interface will not be opened.");
yInfo("'no_start' do not automatically enables pwm.");
yInfo("'joystick_connect' tries to automatically connect to the joystickCtrl output.");
yInfo("'skip_robot_interface_check' does not connect to robotInterface/rpc (useful for simulator)");
return 0;
}
//Initialize Yarp network
Network yarp;
if (!yarp.checkNetwork())
{
yError("Sorry YARP network does not seem to be available, is the yarp server available?\n");
return -1;
}
//Starts the control module
CtrlModule mod;
return mod.runModule(rf);
}
int main(int argc, char *argv[])
{
Network yarp;
ResourceFinder rf;
rf.setVerbose();
rf.setDefaultConfigFile("or.ini");
rf.setDefaultContext("orBottle");
rf.configure(argc, argv);
std::string robotName=rf.find("robot").asString();
std::string model=rf.findFile("model");
cout<<"Running with:"<<endl;
cout<<"robot: "<<robotName.c_str()<<endl;
if (model=="")
{
cout<<"Sorry no model was found, check config parameters"<<endl;
return -1;
}
cout << "Using object model: " << model.c_str() << endl;
int times=4;
while(times--)
{
cout << ".";
Time::delay(0.5);
}
cout << "done!" <<endl;
return 0;
}
int main(int argc, char * argv[])
{
//initialize yarp network
Network yarp;
//create your module
TorqueObserver tauObs;
// prepare and configure the resource finder
ResourceFinder rf;
rf.setVerbose(true);
rf.configure("ICUB_ROOT", argc, argv);
if( tauObs.configure(rf) )
cout<<"TorqueObserver configured correctly!"<<endl;
else
{
cout<<"TorqueObserver is not properly configured: exiting.."<<endl;
return 0;
}
cout<<"Start module TorqueObserver..."<<endl;
//running module: if configure() succeeds, module runs
tauObs.runModule();
cout<<"TorqueObserver has been closed!"<<endl;
return 1;
}
int main(int argc, char *argv[])
{
ResourceFinder rf;
rf.setVerbose(true);
rf.setDefaultContext("crawling");
//SI: was before -> but now context has changed
//rf.setDefaultContext("crawlingApplication/conf");
rf.setDefaultConfigFile("crawling_managerConfig.ini");
//SI: was before located -> ICUB_ROOT\contrib\src\crawlingTest\app\conf\managerConfig.ini
rf.configure(argc, argv);
if (rf.check("help"))
{
cout << "Options:" << endl << endl;
cout << "\t--robot robot: the robot name. default: iCub" << endl;
return 0;
}
Network yarp;
if (!yarp.checkNetwork())
{
yError("Sorry YARP network does not seem to be available, is the yarp server available?\n");
return 1;
}
//create and run the Crawl generator module
CrawlManagerModule mod;
return mod.runModule(rf);
}
/**
* Main function.
*/
int main(int argc, char * argv[])
{
Network yarp;
ResourceFinder rf;
rf.setVerbose(true);
rf.setDefaultContext("periPersonalSpace");
rf.setDefaultConfigFile("skinEventsAggregation.ini");
rf.configure(argc,argv);
if (rf.check("help"))
{
yInfo(" ");
yInfo("Options:");
yInfo(" ");
yInfo(" --context path: where to find the called resource");
yInfo(" --from from: the name of the .ini file.");
yInfo(" --general::name name: the name of the module (default virtualContactGeneration).");
yInfo(" --general::robot robot: the name of the robot. Default icubSim.");
yInfo(" --general::rate rate: the period used by the thread. Default 100ms.");
yInfo(" --general::verbosity int: verbosity level (default 0).");
yInfo(" ");
return 0;
}
if (!yarp.checkNetwork())
{
printf("No Network!!!\n");
return -1;
}
skinEventsAggregator sEA;
return sEA.runModule(rf);
}
int main(int argc, char *argv[])
{
ResourceFinder rf;
rf.setVerbose(true);
rf.setDefaultContext("cer");
rf.setDefaultConfigFile("robotJoystickCtrl.ini");
rf.configure(argc,argv);
if (rf.check("help"))
{
yInfo("Possible options: ");
yInfo("'robot <name>' the robot name for remote connection.");
yInfo("'local <name>' the local port name.");
yInfo("'rate <r>' sets the threads rate (default 20ms).");
yInfo("'no_motors' motor interface will not be opened.");
yInfo("'joystick_connect' tries to automatically connect to the joystickCtrl output.");
yInfo("'skip_robot_interface_check' does not connect to robotInterface/rpc (useful for simulator)");
yInfo("''");
yInfo("example: robotJoystickCtrl --robot SIM_CER_ROBOT --joystick_connect --skip_robot_interface_check ");
return 0;
}
Network yarp;
if (!yarp.checkNetwork())
{
yError("Sorry YARP network does not seem to be available, is the yarp server available?\n");
return -1;
}
CtrlModule mod;
return mod.runModule(rf);
}
int main(int argc, char * argv[])
{
/* initialize yarp network */
Network yarp;
if ( !yarp.checkNetwork() )
{
fprintf(stderr,"Connection problem. No yarp server?\n\n");
return -1;
}
/* prepare and configure the resource finder */
ResourceFinder rf;
rf.setVerbose(true);
rf.setDefaultConfigFile("../conf/handTactileControl.ini"); //overridden by --from parameter
//rf.setDefaultContext("/home/lorejam/SW/iCub_myApps/handTactileControl/conf"); //overridden by --context parameter
rf.configure("ICUB_ROOT", argc, argv);
/* create your module */
HandTactileControlModule handControlModule;
/* run the module: runModule() calls configure first and, if successful, it then runs */
handControlModule.runModule(rf);
return 0;
}
int main(int argc, char *argv[])
{
ResourceFinder rf;
rf.setVerbose(true);
rf.setDefaultContext("ctpService/conf");
rf.configure("ICUB_ROOT",argc,argv);
if (rf.check("help"))
{
yInfo() << "Options:";
yInfo() << "\t--joints <n>: number of joints, default 6";
yInfo() << "\t--name <moduleName>: set new module name";
yInfo() << "\t--robot <robotname>: robot name";
yInfo() << "\t--part <robotname>: part name";
yInfo() << "\t--filename <filename>: the positions file";
yInfo() << "\t--execute activate the iPid->setReference() control";
yInfo() << "\t--period <period>: the period in ms of the internal thread (default 5)";
yInfo() << "\t--verbose to display additional infos";
return 0;
}
Network yarp;
if (!yarp.checkNetwork())
{
yError() << "yarp.checkNetwork() failed.";
return -1;
}
scriptModule mod;
return mod.runModule(rf);
}
int main(int argc, char *argv[])
{
ResourceFinder rf;
rf.setVerbose(true);
rf.setDefaultContext("navigation");
rf.setDefaultConfigFile("fakeMobileBaseTest.ini");
rf.configure(argc,argv);
if (rf.check("help"))
{
yInfo("Possible options: ");
yInfo("'period <r>' sets the threads period (default 20ms).");
yInfo("'joystick_connect' tries to automatically connect to the joystickCtrl output.");
yInfo("'holonomic' if set, the robot will be holonomic");
return 0;
}
Network yarp;
if (!yarp.checkNetwork())
{
yError("Sorry YARP network does not seem to be available, is the yarp server available?\n");
return -1;
}
CtrlModule mod;
return mod.runModule(rf);
}
int main(int argc, char *argv[])
{
ResourceFinder rf;
rf.setVerbose(true);
rf.setDefaultContext("ctpService");
rf.configure(argc,argv);
if (rf.check("help"))
{
cout << "Options:" << endl << endl;
cout << "\t--name moduleName: set new module name" << endl;
cout << "\t--robot robotname: robot name" << endl;
cout << "\t--part partname: robot part name" << endl;
cout << "\t--from fileName: input configuration file" << endl;
cout << "\t--context dirName: resource finder context" << endl;
return 0;
}
Network yarp;
if (!yarp.checkNetwork())
return 1;
scriptModule mod;
return mod.runModule(rf);
}
int main(int argc, char **argv)
{
ResourceFinder *rf = new ResourceFinder;
rf->setVerbose(true);
rf->setDefaultConfigFile("default.ini"); //default config file name.
rf->setDefaultContext("adaptiveControl/conf"); //when no parameters are given to the module this is the default context
rf->configure("ICUB_ROOT",argc,argv);
if (rf->check("help"))
{
std::cout<< "Possible parameters" << std::endl << std::endl;
std::cout<< "\t--context :Where to find a user defined .ini file within $ICUB_ROOT/app e.g. /adaptiveControl/conf" << std::endl;
// std::cout<< "\t--from :Name of the file.ini to be used for calibration." << std::endl;
std::cout<< "\t--rate :Period used by the module. Default set to 10ms." << std::endl;
std::cout<< "\t--robot :Robot name (icubSim or icub). Set to icub by default." << std::endl;
std::cout<< "\t--local :Prefix of the ports opened by the module. Set to the module name by default, i.e. adaptiveControl." << std::endl;
return 0;
}
Network yarp;
if (!yarp.checkNetwork())
{
std::cerr << "Sorry YARP network is not available\n";
return -1;
}
//Creating the module
adaptiveControl::AdaptiveControlModule module;
return module.runModule(*rf);
}
int main (int argc, char * argv[])
{
YARP_REGISTER_DEVICES(icubmod)
Network yarp;
if (!yarp.checkNetwork())
{
cout<<"YARP network not available. Aborting."<<endl;
return -1;
}
ResourceFinder rf;
rf.setVerbose(true);
rf.setDefaultConfigFile("defaultSim.ini");
rf.setDefaultContext("reachComBalance/conf");
rf.configure("ICUB_ROOT",argc,argv);
if (rf.check("help"))
{
cout<< "Possible parameters" << endl << endl;
cout<< "\t--context :Where to find an user defined .ini file " <<endl;
cout<< "\t--from :Name of the file.ini to be used for calibration." <<endl;
cout<<"The list of parameters is huge: please fill the configuration file.ini"<<endl;
return 0;
}
//Creating the module
ISIR_Balancer balancerModule;
balancerModule.runModule(rf);
return 0;
}
int
main (int argc, char *argv[])
{
Network yarp;
if (!yarp.checkNetwork ())
return -1;
YARP_REGISTER_DEVICES(icubmod)
ResourceFinder rf;
rf.setVerbose (true);
rf.setDefaultContext ("actionPrimitivesExample/conf");
rf.setDefaultConfigFile ("config.ini");
rf.setDefault ("part", "left_arm");
rf.setDefault ("grasp_model_type", "tactile");
rf.setDefault ("grasp_model_file", "grasp_model.ini");
rf.setDefault ("hand_sequences_file", "hand_sequences.ini");
rf.setDefault ("name", "actionPrimitivesMod");
rf.setDefault ("sim", "off");
rf.configure ("ICUB_ROOT", argc, argv);
BehaviorModule mod;
return mod.runModule (rf);
}
int main(int argc, char * argv[])
{
Network yarp;
if (!yarp.checkNetwork())
{
printf("YARP server not available!\n");
return -1;
}
ShowModule module;
ResourceFinder rf;
rf.setDefaultContext("toolIncorporation");
rf.setDefaultConfigFile("cloudsPath.ini");
rf.setVerbose(true);
rf.configure(argc, argv);
cout<<"Configure module..."<<endl;
module.configure(rf);
cout<<"Start module..."<<endl;
module.runModule();
cout<<"Main returning..."<<endl;
return 0;
}
//********************************************
int main(int argc, char * argv[])
{
Network yarp;
ResourceFinder moduleRF;
moduleRF.setVerbose(false);
moduleRF.setDefaultContext("periPersonalSpace");
moduleRF.setDefaultConfigFile("demoAvoidance.ini");
moduleRF.configure(argc,argv);
if (moduleRF.check("help"))
{
yInfo(" ");
yInfo("Options:");
yInfo(" --context path: where to find the called resource (default periPersonalSpace).");
yInfo(" --from from: the name of the .ini file (default demoAvoidance.ini).");
yInfo(" --name name: the name of the module (default avoidance).");
yInfo(" --autoConnect flag: if to auto connect the ports or not. Default no.");
yInfo(" --catching flag: if enabled, the robot will catch the target instead of avoiding it.");
yInfo(" --stiff flag: if enabled, the robot will perform movements in stiff mode instead of compliant.");
yInfo(" --noLeftArm flag: if enabled, the robot will perform movements without the left arm.");
yInfo(" --noRightArm flag: if enabled, the robot will perform movements without the rihgt arm.");
yInfo(" ");
return 0;
}
if (!yarp.checkNetwork())
{
yError("No Network!!!");
return -1;
}
Avoidance module;
return module.runModule(moduleRF);
}
/**
* Main function.
*/
int main(int argc, char * argv[])
{
YARP_REGISTER_DEVICES(icubmod)
ResourceFinder rf;
rf.setVerbose(true);
rf.setDefaultContext("demoINNOROBO");
rf.setDefaultConfigFile("demoINNOROBO.ini");
rf.configure(argc,argv);
if (rf.check("help"))
{
cout << endl << "Options:" << endl;
cout << " --context path: where to find the called resource" << endl;
cout << " --from from: the name of the .ini file." << endl;
cout << " --name name: the name of the module (default demoINNOROBO)." << endl;
cout << " --robot robot: the name of the robot. Default icub." << endl;
cout << " --rate rate: the period used by the thread. Default 100ms." << endl;
cout << " --verbosity int: verbosity level (default 1)." << endl;
cout << endl;
return 0;
}
Network yarp;
if (!yarp.checkNetwork())
{
printf("No Network!!!\n");
return -1;
}
demoINNOROBO chEyeTest;
return chEyeTest.runModule(rf);
}
int main(int argc, char *argv[])
{
Network yarp;
ResourceFinder rf;
rf.setVerbose(true);
rf.setDefaultContext("poeticon"); // overridden by --context
rf.setDefaultConfigFile("geometricGrounding.ini"); // overridden by --from
rf.configure(argc, argv);
if(rf.check("help"))
{
yInfo("Options available:");
yInfo(" --prerules <filename> (pre-rules file, default: pre_rules.dat)");
return 0; // EXIT_SUCCESS
}
if(! yarp.checkNetwork() )
{
yError("yarp server does not seem available");
return 1; // EXIT_FAILURE
}
geoGround module;
return module.runModule(rf);
}
