main.cpp

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/* 
 * Copyright (C) 2011 Department of Robotics Brain and Cognitive Sciences - Istituto Italiano di Tecnologia
 * Author: Ugo Pattacini
 * email:  ugo.pattacini@iit.it
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * http://www.robotcub.org/icub/license/gpl.txt
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
 * Public License for more details
*/
 
#include <yarp/os/all.h>
#include <yarp/dev/all.h>
#include <fakeMotorDevice.h>
 
#include <iostream>
#include <iomanip>
 
using namespace std;
using namespace yarp::os;
using namespace yarp::dev;
 
class Launcher: public RFModule
{
    PolyDriver driver;
 
public:
    /**********************************************************/
    bool configure(ResourceFinder &rf)
    {
        Property options;
        options.put("device","fakeyServer");
        options.put("local","/fake_robot/fake_part");
 
        driver.open(options);
        return driver.isValid();
    }
 
    /**********************************************************/
    bool close()
    {
        if (driver.isValid())
            driver.close();
 
        return true;
    }
 
    /**********************************************************/
    double getPeriod()    { return 1.0;  }
    bool   updateModule() { return true; }
};
 
 
/**********************************************************/
int main()
{
    Network yarp;
    if (!yarp.checkNetwork())
    {
        cout<<"Error: yarp server does not seem available"<<endl;
        return 1;
    }
 
    // register here the new yarp devices
    // for dealing with the fake robot
    registerFakeMotorDevices();
    
    Launcher launcher;
    ResourceFinder rf;
    return launcher.runModule(rf);
}