bool checkVectorExistInConfiguration(yarp::os::Bottle & bot,
                                     const std::string & name,
                                     const int expected_vec_size)
{
    //std::cerr << " checkVectorExistInConfiguration(" << name
    //         << " , " << expected_vec_size << " )" << std::endl;
    //std::cerr << "bot.check(name) : " << bot.check(name) << std::endl;
    //std::cerr << "bot.find(name).isList(): " << bot.find(name).isList() << std::endl;
    //std::cerr << "bot.find(name).asList()->size() : " << bot.find(name).asList()->size()<< std::endl;

    return (bot.check(name) &&
            bot.find(name).isList() &&
            bot.find(name).asList()->size() == expected_vec_size );
}
bool homeostaticModule::addNewDrive(string driveName, yarp::os::Bottle& grpHomeostatic)
{

    
    Drive* drv = new Drive(driveName);


    drv->setHomeostasisMin(grpHomeostatic.check((driveName + "-homeostasisMin"), Value(drv->homeostasisMin)).asDouble());
    drv->setHomeostasisMax(grpHomeostatic.check((driveName + "-homeostasisMax"), Value(drv->homeostasisMax)).asDouble());
    cout << "H1 " << grpHomeostatic.check((driveName + "-decay"), Value(drv->decay)).asDouble() <<endl; 
    drv->setDecay(grpHomeostatic.check((driveName + "-decay"), Value(drv->decay)).asDouble());
    drv->setValue((drv->homeostasisMax + drv->homeostasisMin) / 2.);
    drv->setGradient(grpHomeostatic.check((driveName + "-gradient"), Value(drv->gradient)).asBool());
    cout << "h2 " << drv->decay << endl;
    //cout << drv->name << " " << drv->homeostasisMin << " " << drv->homeostasisMax << " " << drv->decay << " " <<drv->gradient << endl;
    //cout << d << endl;
    //cout << grpHomeostatic.toString()<<endl;
    manager.addDrive(drv);
     cout << "h2 " << manager.drives[0]->decay << endl;
   
    openPorts(driveName);

    return true;
}
Пример #3
0
bool NameServiceOnTriples::apply(yarp::os::Bottle& cmd,
                                 yarp::os::Bottle& reply,
                                 yarp::os::Bottle& event,
                                 const yarp::os::Contact& remote) {
    ConstString key = cmd.get(0).toString();
    ConstString prefix = " * ";

    access.wait();
    if (key=="register") {
        lastRegister = cmd.get(1).asString().c_str();
    } else if (key=="set") {
        if (cmd.get(1).asString()==lastRegister.c_str()) {
            prefix = "   + ";
        }
    } else {
        lastRegister = "";
    }
    if (!silent) {
        printf("%s%s\n",
               prefix.c_str(),
               cmd.toString().c_str());
    }
    access.post();

    TripleSource& mem = *db;
    //mem.begin();
    mem.reset();
    reply.clear();
    NameTripleState act(cmd,reply,event,remote,mem);

    if (cmd.check("format")) {
        if (cmd.find("format")=="json") {
            act.bottleMode = true;
        }
    }

    if (key == "NAME_SERVER") {
        cmd = cmd.tail();
        key = cmd.get(0).asString();
    }
    if (key == "bot") {
        act.bottleMode = true;
        cmd = cmd.tail();
        key = cmd.get(0).asString();
    }

    if (key=="register") {
        return cmdRegister(act);
    } else if (key=="unregister") {
        return cmdUnregister(act);
    } else if (key=="query") {
        return cmdQuery(act);
    } else if (key=="list") {
        return cmdList(act);
    } else if (key=="set") {
        return cmdSet(act);
    } else if (key=="get") {
        return cmdGet(act);
    } else if (key=="check") {
        return cmdCheck(act);
    } else if (key=="route") {
        return cmdRoute(act);
    } else if (key=="gc") {
        return cmdGc(act);
    } else if (key=="help") {
        return cmdHelp(act);
    } else {
        // not understood
        act.reply.addString("old");
    }
    //mem.end();

    return true;
}