Controlling the fakebot from code

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Revision as of 13:52, 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:

  #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>
  #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;
   }