iCub-main
ports.h
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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 #ifndef __PERCEPTIVEMODELS_PORTS_H__
19 #define __PERCEPTIVEMODELS_PORTS_H__
20 
21 #include <mutex>
22 
23 #include <yarp/os/Value.h>
24 #include <yarp/os/Bottle.h>
25 #include <yarp/os/BufferedPort.h>
26 
27 
28 namespace iCub
29 {
30 
31 namespace perception
32 {
33 
34 class Port : public yarp::os::BufferedPort<yarp::os::Bottle>
35 {
36 protected:
37  std::mutex mtx;
38  yarp::os::Bottle bottle;
39 
40  void onRead(yarp::os::Bottle &bottle);
41 
42 public:
43  Port();
44  yarp::os::Value getValue(const int index);
45 };
46 
47 
48 }
49 
50 }
51 
52 #endif
53 
54 
iCub
This file contains the definition of unique IDs for the body parts and the skin parts of the robot.
Definition: emotionInterface.h:17
iCub::perception::Port::mtx
std::mutex mtx
Definition: ports.h:37
iCub::perception::Port::getValue
yarp::os::Value getValue(const int index)
Definition: ports.cpp:41
iCub::perception::Port::onRead
void onRead(yarp::os::Bottle &bottle)
Definition: ports.cpp:33
iCub::perception::Port::bottle
yarp::os::Bottle bottle
Definition: ports.h:38
iCub::perception::Port
Definition: ports.h:34
iCub::perception::Port::Port
Port()
Definition: ports.cpp:26