bool HapticDeviceWrapper::open(Searchable &config)
{
portStemName=config.check("name",
Value(HAPTICDEVICE_WRAPPER_DEFAULT_NAME)).asString().c_str();
verbosity=config.check("verbosity",Value(0)).asInt();
int period=config.check("period",
Value(HAPTICDEVICE_WRAPPER_DEFAULT_PERIOD)).asInt();
setRate(period);
if (config.check("subdevice"))
{
Property p(config.toString().c_str());
p.setMonitor(config.getMonitor(),"subdevice");
p.unput("device");
p.put("device",config.find("subdevice").asString());
if (driver.open(p))
{
IHapticDevice *d;
driver.view(d);
attach(d);
}
else
{
yError("*** Haptic Device Wrapper: failed to open the driver!");
return false;
}
}
if (verbosity>0)
yInfo("*** Haptic Device Wrapper: opened");
return true;
}
bool ServerSerial::open(Searchable& prop)
{
verb = (prop.check("verbose",Value(0),"Specifies if the device is in verbose mode (0/1).").asInt())>0;
if (verb)
printf("running with verbose output\n");
Value *name;
if (prop.check("subdevice",name,"name of specific control device to wrap")) {
printf("Subdevice %s\n", name->toString().c_str());
if (name->isString()) {
// maybe user isn't doing nested configuration
Property p;
p.setMonitor(prop.getMonitor(),
"subdevice"); // pass on any monitoring
p.fromString(prop.toString());
p.put("device",name->toString());
poly.open(p);
} else {
Bottle subdevice = prop.findGroup("subdevice").tail();
poly.open(subdevice);
}
if (!poly.isValid()) {
printf("cannot make <%s>\n", name->toString().c_str());
}
} else {
printf("\"--subdevice <name>\" not set for server_serial\n");
return false;
}
if (!poly.isValid()) {
return false;
}
ConstString rootName =
prop.check("name",Value("/serial"),
"prefix for port names").asString().c_str();
command_buffer.attach(toDevice);
reply_buffer.attach(fromDevice);
command_buffer.useCallback(callback_impl);
toDevice.open((rootName+"/in").c_str());
fromDevice.open((rootName+"/out").c_str());
if (poly.isValid())
poly.view(serial);
if(serial != NULL) {
start();
return true;
}
printf("subdevice <%s> doesn't look like a serial port (no appropriate interfaces were acquired)\n",
name->toString().c_str());
return false;
}
bool JoypadControlServer::openAndAttachSubDevice(Searchable& prop)
{
Property p;
m_subDeviceOwned = new PolyDriver;
p.fromString(prop.toString().c_str());
p.setMonitor(prop.getMonitor(), "subdevice"); // pass on any monitoring
p.unput("device");
p.put("device",prop.find("subdevice").asString()); // subdevice was already checked before
// if error occour during open, quit here.
m_subDeviceOwned->open(p);
if (!m_subDeviceOwned->isValid())
{
yError("JoypadControlServer: opening subdevice... FAILED\n");
return false;
}
m_isSubdeviceOwned = true;
if(!attach(m_subDeviceOwned))
return false;
if(!m_parser.configure(m_device) )
{
yError() << "JoypadControlServer: error configuring interfaces for parsers";
return false;
}
openPorts();
PeriodicThread::setPeriod(m_period);
return PeriodicThread::start();
}
bool RGBDSensorWrapper::openAndAttachSubDevice(Searchable& prop)
{
Property p;
subDeviceOwned = new PolyDriver;
p.fromString(prop.toString().c_str());
p.setMonitor(prop.getMonitor(), "subdevice"); // pass on any monitoring
p.unput("device");
p.put("device",prop.find("subdevice").asString()); // subdevice was already checked before
// if error occour during open, quit here.
yDebug("opening IRGBDSensor subdevice\n");
subDeviceOwned->open(p);
if (!subDeviceOwned->isValid())
{
yError("opening controlBoardWrapper2 subdevice... FAILED\n");
return false;
}
isSubdeviceOwned = true;
if(!attach(subDeviceOwned))
return false;
RateThread::setRate(rate);
RateThread::start();
return true;
}
bool RGBDSensorWrapper::openAndAttachSubDevice(Searchable& prop)
{
Property p;
subDeviceOwned = new PolyDriver;
p.fromString(prop.toString().c_str());
p.setMonitor(prop.getMonitor(), "subdevice"); // pass on any monitoring
p.unput("device");
p.put("device",prop.find("subdevice").asString()); // subdevice was already checked before
// if error occour during open, quit here.
yDebug("opening IRGBDSensor subdevice\n");
subDeviceOwned->open(p);
if (!subDeviceOwned->isValid())
{
yError("opening controlBoardWrapper2 subdevice... FAILED\n");
return false;
}
isSubdeviceOwned = true;
if(!attach(subDeviceOwned))
return false;
// Configuring parsers
IRgbVisualParams * rgbVis_p;
IDepthVisualParams * depthVis_p;
subDeviceOwned->view(rgbVis_p);
subDeviceOwned->view(depthVis_p);
if(!parser.configure(sensor_p) )
{
yError() << "RGBD wrapper: error configuring interfaces for parsers";
return false;
}
/*
bool conf = rgbParser.configure(rgbVis_p);
conf &= depthParser.configure(depthVis_p);
if(!conf)
{
yError() << "RGBD wrapper: error configuring interfaces for parsers";
return false;
}
*/
RateThread::setRate(rate);
RateThread::start();
return true;
}
bool AcousticMap::open(Searchable& config) {
bool ok = true;
if(!config.check("name")) {
std::cout << "AuditoryMap: Error, module base name not found in configuration. Start the module with the --name option.." << std::endl;
return false;
}
// module base name
std::string strModuleName = std::string(config.find("name").asString().c_str());
// look for group EGO_SPHERE_ACOUSTIC_MAP
Bottle botConfigAcoustic(config.toString().c_str());
botConfigAcoustic.setMonitor(config.getMonitor());
if (!config.findGroup("EGO_SPHERE_ACOUSTIC_MAP").isNull()) {
botConfigAcoustic.clear();
botConfigAcoustic.fromString(config.findGroup("EGO_SPHERE_ACOUSTIC_MAP", "Loading visual map configuration from group EGO_SPHERE_ACOUSTIC_MAP.").toString());
}
_salienceDecayRate = botConfigAcoustic.check("decayAcoustic",
Value(0.95),
"Decay for the acoustic saliency map (double).").asDouble();
_resXAcoustic = botConfigAcoustic.check("resXAcoustic",
Value(80),
"Width of internal acoustic map (int)").asInt();
_resYAcoustic = botConfigAcoustic.check("resYAcoustic",
Value(60),
"Height of internal acoustic map (int)").asInt();
_imgCart.resize(_resXAcoustic,_resYAcoustic);
_imgRemapX.resize(_resXAcoustic,_resYAcoustic);
_imgRemapY.resize(_resXAcoustic,_resYAcoustic);
_imgSpher.resize(_resXAcoustic,_resYAcoustic);
_imgMapResA.resize(_resXAcoustic,_resYAcoustic);
ok = ok && _prtVctSound.open(std::string(strModuleName + std::string("/mapAuditory/vct_in")).c_str());
return ok;
}
