void testBasics() {
report(0,"testing the basics of RF...");
ResourceFinder rf;
const char *fname0 = "_yarp_regression_test.ini";
const char *fname1 = "_yarp_regression_test_rf1.txt";
const char *fname2 = "_yarp_regression_test_rf2.txt";
// create some test files
{
FILE *fout = fopen(fname0,"w");
yAssert(fout!=NULL);
fprintf(fout,"style capability\n");
fprintf(fout,"capability_directory \".\"\n");
fprintf(fout,"default_capability \".\"\n");
fclose(fout);
fout = NULL;
fout = fopen(fname1,"w");
yAssert(fout!=NULL);
fprintf(fout,"alt %s\n", fname2);
fclose(fout);
fout = NULL;
fout = fopen(fname2,"w");
fprintf(fout,"x 14\n");
fclose(fout);
fout = NULL;
const char *argv[] = { "ignore",
"--_yarp_regression_test", ".",
"--from", fname1,
"--verbose", "0",
NULL };
int argc = 7;
rf.configure(argc,(char **)argv);
ConstString alt = rf.findFile("alt");
checkTrue(alt!="","found ini file");
rf.setDefault("alt2",fname2);
alt = rf.findFile("alt2");
checkTrue(alt!="","default setting worked");
rf.setDefault("alt3","_yarp_nonexistent.txt");
alt = rf.findFile("alt3");
checkTrue(alt=="","cannot find nonexistent files");
rf.setDefault("alt","_yarp_nonexistent.txt");
alt = rf.findFile("alt");
checkTrue(alt!="","default setting is safe");
checkTrue(rf.findPath()!="","existing path found");
alt=rf.findFileByName(fname1);
checkTrue(alt!="","found file by name");
}
}
int main(int argc, char * argv[])
{
Network yarp;
ResourceFinder rf;
rf.setVerbose(true);
rf.setDefaultConfigFile("trajectVisualize.ini"); //overridden by --from parameter
rf.setDefaultContext("morphoGenApp/conf"); //overridden by --context parameter
rf.configure("ICUB_ROOT", argc, argv);
yarp::os::ConstString path = rf.findPath("trajPoints.txt");
printf("File found! path %s \n", path.c_str());
yarp::os::BufferedPort<yarp::os::Bottle> output;
output.open("/trajectVisualize/cmd:o");
Network::connect("/trajectVisualize/cmd:o","/iCubGui/objects");
string line;
char *ptrLine;
string word;
ifstream trajFile (path.c_str());
if (trajFile.is_open()) {
while ( trajFile.good() ) {
getline (trajFile,line);
cout << "line: "<<line << endl;
if(line.empty()) {
printf("empty line \n");
break;
}
char text[line.length()];
char * pch;
double value[3];
int i = 0;
pch = strtok ((char*)line.c_str()," ");
printf("%s \n", pch);
value[i] = atof(pch);
i++;
while (pch != NULL) {
pch = strtok (NULL, " ");
//value[i] = stod(pch);
if(pch !=NULL) {
printf("%s \n", pch);
value[i] = atof(pch);
}
i++;
}
printf("Preparing the port \n");
yarp::os::Bottle& b = output.prepare();
b.clear();
//trajPoint.addString("addpoint");
//trajPoint.addString("trajA");
//trajPoint.addDouble(x);
//trajPoint.addDouble(y);
//trajPoint.addDouble(z);
b.addString("addpoint");
b.addString("trajA");
b.addDouble(value[0] * 1000);
b.addDouble(value[1] * 1000);
b.addDouble((value[2] + 0.35) * 1000 );
//trajPoint = b.addList();
output.write();
Time::delay(0.1);
}
trajFile.close();
}
else cout << "Unable to open file";
//module.runModule(rf);
return 0;
}
