iCub-main
EyeLidsController.cpp
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1 // -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
2 
3 /*
4 * Copyright (C) 2010 RobotCub Consortium, European Commission FP6 Project IST-004370
5 * Author: Martin Peniak, Vadim Tikhanoff
6 * email: martin.peniak@plymouth.ac.uk, vadim.tikhanoff@iit.it
7 * website: www.robotcub.org
8 * Permission is granted to copy, distribute, and/or modify this program
9 * under the terms of the GNU General Public License, version 2 or any
10 * later version published by the Free Software Foundation.
11 *
12 * A copy of the license can be found at
13 * http://www.robotcub.org/icub/license/gpl.txt
14 *
15 * This program is distributed in the hope that it will be useful, but
16 * WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
18 * Public License for more details
19 */
20 
21 #include "EyeLidsController.h"
22 #include <yarp/os/LogStream.h>
23 
24 using namespace yarp::os;
25 using namespace yarp::sig;
26 using namespace std;
27 
29 {
30 
31 }
32 
34 {
35  ClosePort();
36 }
37 
39 {
40  port.close();
41 }
42 
43 void EyeLids::setName(string name) {
44  this->portName = name;
45  OpenPort();
46 }
47 
49 {
50  string eyelidsName = "/face/eyelids";
51  string eyelicsPort = this->portName + eyelidsName;
52  port.open( eyelicsPort.c_str() );
53  return true;
54 }
55 
56 
58 {
59  if(port.getInputCount()>0)
60  {
61  Bottle *bot = port.read(false);
62  if (bot!=NULL){
63  eyeLidsRotation = (float)bot->get(0).asFloat64();
64  yDebug("Message received: %s\n",bot->toString().c_str());
65  bot->clear();
66  }
67  }
68 }
EyeLids::~EyeLids
~EyeLids()
Definition: EyeLidsController.cpp:33
EyeLids::EyeLids
EyeLids()
Definition: EyeLidsController.cpp:28
EyeLids::ClosePort
void ClosePort()
Definition: EyeLidsController.cpp:38
EyeLids::checkPort
void checkPort()
Definition: EyeLidsController.cpp:57
EyeLids::setName
void setName(std::string module)
Definition: EyeLidsController.cpp:43
EyeLidsController.h
EyeLids::OpenPort
bool OpenPort()
Definition: EyeLidsController.cpp:48