YARPPort

Module that can read and write to an YARP network using the YARP PortablePair.
Data structure:
PortablePair <.Bottle,Vector>.

Head (Bottle part)
Bottle desc;
Bottle l; // Length of data
Bottle c; // Colums of data
Bottle r; // Rows of data

Body (Vector part)
Vector v(size_x*size_y); // data in float values

Example XML definition

A simple example

  <module
      class = "YARPPort"
      name = "SENDER"
      yarp_name = "/IkarosOUT"
      type = "sender"
      outputsize_x = "5"
      outputsize_y = "1"
  />

Parameters

Name	Description	Type	Default
class	The class name for the module; must be "YARPPort".	string
name	The name of this instance of the module.	string
type	Defines if ikaros is sending or reciveing data to the YARP network.	choices: sender receiver	sender
send_only_new_values	If set to false, the module will send for each tick. If true, it will send only if the input value is changed	bool	true
send_strict	If set to true, the module will wait untill yarp is ready to send the message. If false, it will continue without knowing if the message will be sent.	bool	false
receive_strict	If set to true, the module will read every message received from yarp. If false, it will only read if yarp is not busy	bool	false
size_x	Size of the data	int
size_y	Size of the data	int

Module Connections

Inputs

Name	Description
INPUT	The input

Outputs

Name	Description
OUTPUT	The output
YARP_ACTIVITY	An output that is 1 if we reading/sending data to the YARP network

Author

Birger Johansson
birger.johansson@lucs.lu.se
Lund University Cognitive Science

Files

YARPPort.h
YARPPort.cc
YARPPort.ikc