Revision 07e68eb7 examples/humotion_yarp_icub/src/icub_faceinterface.cpp

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examples/humotion_yarp_icub/src/icub_faceinterface.cpp
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#include "humotion_yarp_icub/icub_faceinterface.h"
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#include <boost/format.hpp>


  		




  
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#include <boost/lexical_cast.hpp>


  		




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#include <algorithm>


  		




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#include <string>


  		




  ......




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    std::string emotion_scope = scope + "/face/raw/in";


  		




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    cout << "opening connection to '"<< emotion_scope << "'\n";


  		




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    bool init_ok = true;


  		




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    for (int i = 0; i < 4; i++) {


  		




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        // strange, if we use one output port only the first command is executed?! flushing issues?


  		




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        std::string emotion_port_out = "/emotionwriter" + std::to_string((unsigned long long)i);


  		




  
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        std::string emotion_port_out = "/emotionwriter" + boost::lexical_cast<std::string>(i);


  		




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        if (!emotion_port[i].open(emotion_port_out.c_str())) {


  		




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            cerr << "ERROR: failed to open emotion port '" << emotion_port_out << "'\n";


  		




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            exit(EXIT_FAILURE);


  		




  
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            init_ok = false;


  		




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        }


  		




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        if (!Network::connect(emotion_port_out.c_str(), emotion_scope.c_str())) {


  		




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            cerr << "ERROR: failed to connect to emotion port '" << emotion_port_out << "'\n";


  		




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            exit(EXIT_FAILURE);


  		




  
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            init_ok = false;


  		




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        }


  		




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    }


  		




  
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    if (!init_ok) {


  		




  
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        cerr << "ERROR: failed to set up emotion component\n";


  		




  
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        cerr << "       please make sure that the faceExpressions yarpdev is started\n";


  		




  
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        cerr << "       (e.g.  yarpdev --name /icub/face/raw --device serial ... is running)\n";


  		




  
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        exit(EXIT_FAILURE);


  		




  
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    }


  		




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}


  		




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//! destructor


  		




  ......




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        std::string cmd_s;


  		




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        if (id == iCubJointInterface::ICUB_ID_EYES_LEFT_BROW) {


  		




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            cmd_s = "L0" + std::to_string((unsigned long long)icub_val);


  		




  
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            cmd_s = "L0" + boost::lexical_cast<std::string>(icub_val);


  		




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        } else {


  		




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            cmd_s = "R0" + std::to_string((unsigned long long)icub_val);


  		




  
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            cmd_s = "R0" + boost::lexical_cast<std::string>(icub_val);


  		




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        }


  		




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        cout << "SETTING EYEBROW " << id << " (" << angle << " -> " << cmd_s << ")\n";


  		












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