Controlling the fakebot from code

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Revision as of 13:37, 21 February 2007 by Lorenzo (talk | contribs)
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This example shows how to send commands to the fake robot.

 #include <yarp/os/Network.h>
 #include <yarp/os/Port.h>
 #include <yarp/os/Bottle.h>
 #include <yarp/os/BufferedPort.h>
 #include <yarp/os/Time.h>
 //
 using namespace yarp::os;
 using namespace yarp;
 //
 int main() {
     // Initialize YARP - some OSes need network and time service initialization
      Network::init();
     //
     // Create a port you will use to send commands to the bot
     BufferedPort<Bottle> out;
     //
     // Name the ports
     out.open("/nat/out");
     //
     // Connect the ports so that anything written from /out arrives to /in
     Network::connect("/nat/out","/fakebot/motor/rpc:i");
     //
     Bottle& outBot1 = out.prepare();   // Get the object
     outBot1.addString("set"); // put "set" command in the bottle
     outBot1.addString("pos"); // put "pos" command in the bottle
     outBot1.addInt(0); //control joint 0
     outBot1.addInt(-80); //move to 80
     printf("Writing bottle 1 (%s)\n", outBot1.toString().c_str());
     out.write();                       // Now send it on its way
     //
     //
     Time::delay(3);
     Network::fini(); // This is the reverse of Network::init()
     return 0;
  }

Another a bit more elaborated example:

  1. include <yarp/os/Network.h>
  2. include <yarp/os/Port.h>
  3. include <yarp/os/Bottle.h>
  4. include <yarp/os/BufferedPort.h>
  5. include <yarp/os/Time.h>
  6. include <yarp/os/Random.h>

// using namespace yarp::os; using namespace yarp; // int main() {

     // Initialize YARP - some OSes need network and time service initialization
      Network::init();
     //
     // Create a port you will use to send commands to the bot
     BufferedPort<Bottle> out;
     //
     // Name the ports
     out.open("/nat/out");
     //
     // Connect the ports so that anything written from /out arrives to /in
     Network::connect("/nat/out","/fakebot/motor/rpc:i");
     //

int j=0; int pos=0; while(true) { Bottle& outBot1 = out.prepare(); // Get the object outBot1.clear(); outBot1.addString("set"); // put "set" command in the bottle outBot1.addString("pos"); // put "pos" command in the bottle outBot1.addInt(j); //control joint 0 outBot1.addInt(pos); //move to 80 printf("Writing bottle 1 (%s)\n", outBot1.toString().c_str()); out.write(); // Now send it on its way // // change joint number if (j==0) j=1; else j=0; // // pick a random position pos=100*(2*Random::uniform()-1); // wait some time Time::delay(3); } // Network::fini(); // This is the reverse of Network::init()

     return 0;
  }