C++ ResourceFinder::findFileByName方法代码示例

bool rd::RobotDevastation::initSound(yarp::os::ResourceFinder &rf)
{
    SDLAudioManager::RegisterManager();
    audioManager = AudioManager::getAudioManager("SDL");

    std::string bsoStr( rf.findFileByName("../sounds/RobotDevastationBSO.mp3") );
    if ( ! audioManager->load(bsoStr, "bso", 0) )
        return false;

    std::string shootStr( rf.findFileByName("../sounds/01_milshot.wav") );
    if ( ! audioManager->load(shootStr, "shoot", 1) )
        return false;

    std::string explosionStr( rf.findFileByName("../sounds/15_explosion.wav") );
    if ( ! audioManager->load(explosionStr, "explosion", 1) )
        return false;

    std::string noAmmoStr( rf.findFileByName("../sounds/03_clip.wav") );
    if ( ! audioManager->load(noAmmoStr, "noAmmo", 1) )
        return false;

    std::string reloadStr( rf.findFileByName("../sounds/04_milaction.wav") );
    if ( ! audioManager->load(reloadStr, "reload", 1) )
        return false;

    return true;
}

bool kinematicStructureInterface::configure(yarp::os::ResourceFinder &rf)
{

    moduleName = rf.check("name", Value("kinematicStructureInterface")).asString().c_str();
    setName(moduleName.c_str());

    yInfo() << "findFileByName " << rf.findFileByName("kinematicStructureInterface.ini") ;
    cout << moduleName << ": finding configuration files..." << endl;
    period = rf.check("period", Value(0.1)).asDouble();
    robot  = rf.check("robot", Value("icub")).asString().c_str();

    //Create the ICubclient, check client.ini to know which subsystem to load (should be ARE)
    iCub = new ICubClient(moduleName, "kinematicStructureInterface", "client.ini");
    iCub->opc->isVerbose = false;
    if (!iCub->connect())
    {
        yInfo() << " iCubClient : Some dependencies are not running...";
        Time::delay(1.0);
    }

    //rpc port
    rpcPort.open(("/" + moduleName + "/rpc").c_str());
    attach(rpcPort);

    yInfo() << "\n \n" << "----------------------------------------------" << "\n \n" << moduleName << " ready! \n \n ";

    return true;
}

bool CRMainEstimation::configure(yarp::os::ResourceFinder &rf) {
    setName(rf.check("name", Value("headPoseEstimator"), "module name (string)").asString().c_str());

    g_ntrees = rf.check("g_ntrees",Value(10)).asInt();
    g_maxv = (float)rf.check("g_maxv",Value(800.0)).asDouble();
    g_larger_radius_ratio = rf.check("g_larger_radius_ratio",Value(1.6)).asDouble();
    g_smaller_radius_ratio = rf.check("g_smaller_radius_ratio",Value(5.0)).asDouble();
    g_stride = rf.check("g_stride",Value(5)).asInt();
    g_max_z = rf.check("g_max_z",Value(1300)).asInt();
    g_th = rf.check("g_th",Value(500)).asInt();
    string carrier=rf.check("carrier",Value("udp")).asString().c_str();
    string remote=rf.check("remote",Value("kinectServer")).asString().c_str();

    g_prob_th = 1.0f;
    g_Estimate = new CRForestEstimator();
    buf=new unsigned short[320*240];

    string fullpath = rf.findFileByName("tree000.bin");
    string relativepath = fullpath.substr(0, fullpath.find("000.bin"));

    if( !g_Estimate->loadForest(relativepath.c_str(), g_ntrees) ){
        cerr << "Could not read forest!" << endl;
        return false;
    }

    cout << endl << "------------------------------------" << endl << endl;
    cout << "Estimation:       " << endl;
    cout << "Trees:            " << g_ntrees << " " << relativepath << endl;
    cout << "Stride:           " << g_stride << endl;
    cout << "Max Variance:     " << g_maxv << endl;
    cout << "Max Distance:     " << g_max_z << endl;
    cout << "Head Threshold:   " << g_th << endl;

    cout << endl << "------------------------------------" << endl << endl;

    depthPort.open(("/"+ getName() + "/depth:i").c_str());
    while(!Network::connect(("/"+remote+"/depth:o").c_str(),depthPort.getName().c_str(),carrier.c_str())) {
        cout << "Waiting for connection to kinectServer" << endl;
        Time::delay(1.0);
    }

    if (!handlerPort.open(("/" + getName() + "/rpc").c_str())) {
        cout << getName() << ": Unable to open port " << handlerPort.getName() << endl;
        return false;
    }

    attach(handlerPort);

    return true;
}

bool ears::configure(yarp::os::ResourceFinder &rf)
{
    string moduleName = rf.check("name", Value("ears")).asString().c_str();
    setName(moduleName.c_str());

    yInfo() << moduleName << " : finding configuration files...";
    period = rf.check("period", Value(0.1)).asDouble();

    //Create an iCub Client and check that all dependencies are here before starting
    bool isRFVerbose = false;
    iCub = new ICubClient(moduleName, "ears", "client.ini", isRFVerbose);
    iCub->opc->isVerbose = false;
    if (!iCub->connect())
    {
        yInfo() << " iCubClient : Some dependencies are not running...";
        Time::delay(1.0);
    }
    rpc.open(("/" + moduleName + "/rpc").c_str());
    attach(rpc);

    portToBehavior.open("/" + moduleName + "/behavior:o");
    while (!Network::connect(portToBehavior.getName(),"/BehaviorManager/trigger:i ")) {
        yWarning() << " Behavior is not reachable";
        yarp::os::Time::delay(0.5);
    }

    portTarget.open("/" + moduleName + "/target:o");

    MainGrammar = rf.findFileByName(rf.check("MainGrammar", Value("MainGrammar.xml")).toString());

    bShouldListen = true;

    yInfo() << "\n \n" << "----------------------------------------------" << "\n \n" << moduleName << " ready ! \n \n ";
    
    return true;
}

bool faceTrackerModule::configure(yarp::os::ResourceFinder &rf) {

    moduleName = rf.check("name",
                        Value("faceTracker"),
                        "module name (string)").asString();

    setName(moduleName.c_str());

    opcName = rf.check("opcName",
                        Value("OPC"),
                        "Opc name (string)").asString();

    string xmlPath = rf.findFileByName("haarcascade_frontalface_default.xml");

    // Create an iCub Client and check that all dependencies are here befor starting
    opc = new OPCClient(moduleName.c_str());
    opc->connect(opcName);
    icub = NULL;

    handlerPortName = "/";
    handlerPortName +=  getName() + "/rpc";

    if (!handlerPort.open(handlerPortName.c_str())) {
        cout << getName() << ": Unable to open port " << handlerPortName << endl;
        return false;
    }

	// ==================================================================
    // image port open
    imagePortLeft.open("/facetracking/image/left/in");	// give the left port a name

	// ==================================================================
    // robot
    // ==================================================================
    while(!Network::connect("/icub/camcalib/left/out", "/facetracking/image/left/in"))
    {
        Time::delay(3);
        cout << "try to connect left camera, please wait ..." << endl;
    }

    Property options;
    options.put("device", "remote_controlboard");
    options.put("local", "/tutorial/motor/client");
    options.put("remote", "/icub/head");

    robotHead = new PolyDriver(options);

    if(!robotHead->isValid())
    {
        cout << "Cannot connect to the robot head" << endl;
        return false;
    }

    robotHead->view(pos);
    robotHead->view(vel);
    robotHead->view(enc);

    if(pos==NULL || vel==NULL || enc==NULL)
    {
        cout << "Cannot get interface to robot head" << endl;
        robotHead->close();
        return false;
    }
    jnts = 0;
    pos->getAxes(&jnts);

	setpoints.resize(jnts);
	cur_encoders.resize(jnts);
	prev_encoders.resize(jnts);

	/* prepare command */
	for(int i=0;i<jnts;i++)
	{
		setpoints[i] = 0;
	}

	// ==================================================================
	//// create a opencv window
	cv::namedWindow("cvImage_Left",CV_WINDOW_NORMAL);

	// ==================================================================
	// face detection configuration
    face_classifier_left.load(xmlPath);

    attach(handlerPort);                  // attach to port

	// ==================================================================
    // Parameters
	counter = 0;
	x_buf = 0;
	y_buf = 0;

	mode = 0; // 0: going to a set position, 1: face searching, 2: face tracking, 3: face stuck,
	setpos_counter = 0;
	panning_counter = 0;
	stuck_counter = 0;
	tracking_counter = 0;

    // ==================================================================
	// random motion
//.........这里部分代码省略.........

bool learnPrimitive::configure(yarp::os::ResourceFinder &rf)
{
    string moduleName = rf.check("name", Value("learnPrimitive")).asString().c_str();
    setName(moduleName.c_str());

    GrammarYesNo           = rf.findFileByName(rf.check("GrammarYesNo", Value("nodeYesNo.xml")).toString());
    GrammarNameAction      = rf.findFileByName(rf.check("GrammarNameAction", Value("GrammarNameAction.xml")).toString());
    GrammarTypeAction      = rf.findFileByName(rf.check("GrammarTypeAction", Value("GrammarTypeAction.xml")).toString());

    yInfo() << "findFileByName " << rf.findFileByName("learnPrimitive.ini") ;
    pathToIniFile = rf.findFileByName("learnPrimitive.ini") ;

    cout << moduleName << ": finding configuration files..." << endl;
    period = rf.check("period", Value(0.1)).asDouble();

    //bool    bEveryThingisGood = true;

    //Create an iCub Client and check that all dependencies are here before starting
    bool isRFVerbose = true;
    iCub = new ICubClient(moduleName, "learnPrimitive", "client.ini", isRFVerbose);
    iCub->opc->isVerbose &= true;

    string robot = rf.check("robot", Value("icubSim")).asString().c_str();
    string arm   = rf.check("arm", Value("left_arm")).asString().c_str();

    portToArm.open(("/" + moduleName + "/toArm:rpc").c_str());
    string portRobotArmName = "/" + robot + "/" + arm + "/rpc:i";

    yInfo() << "================> port controlling the arm : " << portRobotArmName;
    if (!Network::connect(portToArm.getName().c_str(),portRobotArmName))
    {
        yWarning() << "WARNING PORT TO CONTROL ARM (" << portRobotArmName << ") IS NOT CONNECTED";
    }


    if (!iCub->connect())
    {
        cout << "iCubClient : Some dependencies are not running..." << endl;
        Time::delay(1.0);
    }

    //rpc port
    rpcPort.open(("/" + moduleName + "/rpc").c_str());
    attach(rpcPort);

    if (!iCub->getRecogClient())
    {
        yWarning() << "WARNING SPEECH RECOGNIZER NOT CONNECTED";
    }
    if (!iCub->getABMClient())
    {
       yWarning() << "WARNING ABM NOT CONNECTED";
    }

    updateProtoAction(rf);
    updatePrimitive(rf);
    updateAction(rf);

    yInfo() << "\n \n" << "----------------------------------------------" << "\n \n" << moduleName << " ready ! \n \n ";

    iCub->say("learn Primitive is ready", false);



    return true;
}

/*
* Configure method, connect to different subsystem
*/
bool abmInteraction::configure(yarp::os::ResourceFinder &rf)
{
    string moduleName = rf.check("name", Value("abmInteraction")).asString().c_str();
    setName(moduleName.c_str());

    nameGrammarHumanFeedback = rf.findFileByName(rf.check("nameGrammarHumanFeedback", Value("hFeedback.xml")).toString());
    //nameGrammarHumanFeedback = rf.findFileByName(rf.check("nameGrammarHumanFeedback", Value("hFeedbackDescription")).toString());
    
    nameGrammarYesNo = rf.findFileByName(rf.check("nameGrammarYesNo", Value("nodeYesNo.xml")).toString());

    cout << moduleName << ": finding configuration files..." << endl;
    period = rf.check("period", Value(0.1)).asDouble();

    //tryAgain = false ; //at start, iCub will explain and speaks
    //bestRank = 0 ;

    //Create an iCub Client and check that all dependencies are here before starting
    bool isRFVerbose = false;
    iCub = new ICubClient(moduleName, "abmInteraction", "client.ini", isRFVerbose);
    iCub->opc->isVerbose = false;
    if (!iCub->connect())
    {
        cout << "iCubClient : Some dpeendencies are not running..." << endl;
        Time::delay(1.0);
    }

    rpc.open(("/" + moduleName + "/rpc").c_str());
    attach(rpc);

    if (!iCub->getRecogClient())
    {
        cout << "WARNING SPEECH RECOGNIZER NOT CONNECTED" << endl;
    }
    if (!iCub->getABMClient())
    {
        cout << "WARNING ABM NOT CONNECTED" << endl;
    }

    rememberedInstance = rf.check("rememberedInstance", Value(1333)).asInt();
    agentName = rf.check("agentName", Value("Bob")).asString().c_str();
    img_provider_port = rf.check("img_provider_port", Value("/icub/camcalib/left/out/kinematic_structure")).asString().c_str();
    
    //resume : no (take all the augmented_time from the instance)
    //resume : yes (take only the augmented_time without feedback from the instance)
    //resume : agent (take only the augmented_time with no feedback from the agent, from the instance)
    resume = rf.check("resume", Value("agent")).asString().c_str();

    it_augmentedTime = vAugmentedTime.begin();
    /*pair<string, int> bestTimeAndRank("", -1);

    if (createAugmentedTimeVector(bestTimeAndRank) == -1){
        yError() << " Something is wrong with the augmented memories! quit";
        return false;
    }*/

    //testing
    /*Bottle bRecognized;
    bool blop = true;
    while (blop){

    iCub->say("Check for sending a grammar");

    bRecognized = iCub->getRecogClient()->recogFromGrammarLoop(grammarToString(nameGrammarHumanFeedback));
    yInfo() << "bRecognized " << bRecognized.toString();
    cout << bRecognized.get(1).toString() << endl;
    bRecognized.clear();
    }   */
    //end testing

    return true;
}