linearClassifierModule.cpp

#include "linearClassifierModule.h"
#include <yarp/os/Stamp.h>
 
bool linearClassifierModule::configure(yarp::os::ResourceFinder &rf)
{    
 
 
    string moduleName = rf.check("name", Value("linearClassifier"), "module name (string)").asString().c_str();
    setName(moduleName.c_str());
 
 
    handlerPortName = "/";
    handlerPortName += getName(rf.check("CommandPort",Value("/rpc"),"Output image port (string)").asString().c_str());
 
 
 
    if (!handlerPort.open(handlerPortName.c_str())) {
        cout << ": unable to open port " << handlerPortName << endl;
        return false;
    }
 
    attach(handlerPort);
 
 
    lCThread = new linearClassifierThread(rf,&handlerPort);
 
    lCThread->start(); 
 
    return true ;
 
}
 
 
bool linearClassifierModule::interruptModule()
{
   lCThread->stop();
 
 
    return true;
}
 
 
bool linearClassifierModule::close()
{
 
    lCThread->stop();
    delete lCThread;
 
    return true;
}
 
 
bool linearClassifierModule::respond(const Bottle& command, Bottle& reply) 
{
    if(command.size()==0)
    {
        reply.addString("nack");
        return true;
    }
 
    if(command.get(0).asString()=="save" && command.size()==2)
    {
        string obj=command.get(1).asString().c_str();
        this->lCThread->prepareObjPath(obj);
        reply.addString("ack");
        return true;
    }
 
    if(command.get(0).asString()=="stop")
    {
        this->lCThread->stopAll();
        reply.addString("ack");
        return true;
    } 
 
    if(command.get(0).asString()=="objList")
    {
        reply.addString("ack");
        this->lCThread->getClassList(reply.addList());        
        return true;
    } 
 
    if(command.get(0).asString()=="changeName")
    {
        string old_name=command.get(1).asString().c_str();
        string new_name=command.get(2).asString().c_str();
        reply.addString(this->lCThread->changeName(old_name,new_name)?"ack":"nack");
        return true;
    } 
 
    if(command.get(0).asString()=="train")
    {    
        this->lCThread->trainClassifiers();
        reply.addString("ack");
        return true;
    }
 
    if(command.get(0).asString()=="recognize")
    {    
        bool ack=this->lCThread->startRecognition();
        reply.addString(ack?"ack":"nack");
        return true;
    }
 
    if(command.get(0).asString()=="forget" && command.size()>1)
    {
        string className=command.get(1).asString().c_str();
        if(className=="all")
            this->lCThread->forgetAll();
        else
            this->lCThread->forgetClass(className,true);
        reply.addString("ack");
        return true;
    }
 
    reply.addString("nack");
    return true;
}
 
 
bool linearClassifierModule::updateModule()
{
    return true;
}
 
 
double linearClassifierModule::getPeriod()
{
    return 1.0;
}