iCub-main
main.cpp
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1 /*
2  * Copyright (C) 2011 Department of Robotics Brain and Cognitive Sciences - Istituto Italiano di Tecnologia
3  * Author: Ugo Pattacini
4  * email: ugo.pattacini@iit.it
5  * Permission is granted to copy, distribute, and/or modify this program
6  * under the terms of the GNU General Public License, version 2 or any
7  * later version published by the Free Software Foundation.
8  *
9  * A copy of the license can be found at
10  * http://www.robotcub.org/icub/license/gpl.txt
11  *
12  * This program is distributed in the hope that it will be useful, but
13  * WITHOUT ANY WARRANTY; without even the implied warranty of
14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
15  * Public License for more details
16 */
17 
18 #include <yarp/os/all.h>
19 #include <yarp/dev/all.h>
20 #include <fakeMotorDevice.h>
21 
22 #include <iostream>
23 #include <iomanip>
24 
25 using namespace std;
26 using namespace yarp::os;
27 using namespace yarp::dev;
28 
35 class Launcher: public RFModule
36 {
37  PolyDriver driver;
38 
39 public:
40  /**********************************************************/
41  bool configure(ResourceFinder &rf)
42  {
43  Property options;
44  options.put("device","fakeyServer");
45  options.put("local","/fake_robot/fake_part");
46 
47  driver.open(options);
48  return driver.isValid();
49  }
50 
51  /**********************************************************/
52  bool close()
53  {
54  if (driver.isValid())
55  driver.close();
56 
57  return true;
58  }
59 
60  /**********************************************************/
61  double getPeriod() { return 1.0; }
62  bool updateModule() { return true; }
63 };
64 
65 
66 /**********************************************************/
67 int main()
68 {
69  Network yarp;
70  if (!yarp.checkNetwork())
71  {
72  cout<<"Error: yarp server does not seem available"<<endl;
73  return 1;
74  }
75 
76  // register here the new yarp devices
77  // for dealing with the fake robot
79 
80  Launcher launcher;
81  ResourceFinder rf;
82  return launcher.runModule(rf);
83 }
84 
85 
86 
Launcher::close
bool close()
Definition: main.cpp:52
main
int main(int argc, char *argv[])
Definition: main.cpp:31
registerFakeMotorDevices
void registerFakeMotorDevices()
Register new yarp devices for fake motor handling.
Definition: fakeMotorDevice.cpp:24
yarp::dev
Definition: DebugInterfaces.h:52
Launcher
This container class launches the server part of the fake motor device in order to simulate a robot c...
Definition: main.cpp:35
fakeMotorDevice.h
Launcher::configure
bool configure(ResourceFinder &rf)
Definition: main.cpp:41
Launcher::updateModule
bool updateModule()
Definition: main.cpp:62
yarp
Copyright (C) 2008 RobotCub Consortium.
Definition: DebugInterfaces.h:51
Launcher::getPeriod
double getPeriod()
Definition: main.cpp:61