Example for group (group_basic)

Instantiates group device implemented by DeviceGroup.

Collaboration diagram for Example for group (group_basic):

Instantiates group device implemented by DeviceGroup.

# Make a motor and camera device.
# Put the motor device on the network.

device group

[part mymotor]
device fakeMotionControl
GENERAL (Joints 10)

[part mycam]
device fakeFrameGrabber

[part broadcast]
device controlboardwrapper2
subdevice mymotor
name /mymotor

If this text is saved in a file called group_basic.ini then the device can be created by doing:

yarpdev --file group_basic.ini

Of course, the configuration could be passed just as command line options, or as a yarp::os::Property object in a program:

Property p;
p.fromConfigFile("group_basic.ini");
// of course you could construct the Property object on-the-fly
PolyDriver dev;
dev.open(p);
if (dev.isValid()) { /* use the device via view method */ }

Here is a list of properties checked when starting up a device based on this configuration file. Note that which properties are checked can depend on whether other properties are present. In some cases properties can also vary between operating systems. So this is just an example

PROPERTY	DESCRIPTION	DEFAULT
device
part	a list of section names, with each section containing a device
mymotor
mymotor.device
mymotor.wrapped
mymotor.GENERAL
mymotor.GENERAL.Joints	Number of degrees of freedom	1
mymotor.GENERAL.AxisMap
mymotor.GENERAL.AxisName
mymotor.GENERAL.AxisType
mymotor.GENERAL.ampsToSensor
mymotor.GENERAL.fullscalePWM
mymotor.GENERAL.Encoder
mycam
mycam.device
mycam.wrapped
mycam.fakeFrameGrabber_rpc_port	rpc port for the fakeFrameGrabber	/fakeFrameGrabber/rpc
mycam.width	desired width of test image	320
mycam.height	desired height of test image	240
mycam.horizontalFov	desired horizontal fov of test image	1.0
mycam.verticalFov	desired vertical fov of test image	2.0
mycam.mirror	mirroring disabled by default	0
mycam.syncro	syncronize producer and consumer, so that all images are used once and only once	0
mycam.topIsLow	explicitly set the topIsLow field in the images	1
mycam.physFocalLength	Physical focal length of the fakeFrameGrabber	3.0
mycam.focalLengthX	Horizontal component of the focal length of the fakeFrameGrabber	4.0
mycam.focalLengthY	Vertical component of the focal length of the fakeFrameGrabber	5.0
mycam.principalPointX	X coordinate of the principal point of the fakeFrameGrabber	6.0
mycam.principalPointY	Y coordinate of the principal point of the fakeFrameGrabber	7.0
mycam.rectificationMatrix	Matrix that describes the lens' distortion(fake)	1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0
mycam.distortionModel	Reference to group of parameters describing the distortion model of the camera	FishEye
mycam.k1	Radial distortion coefficient of the lens(fake)	8.0
mycam.k2	Radial distortion coefficient of the lens(fake)	9.0
mycam.k3	Radial distortion coefficient of the lens(fake)	10.0
mycam.t1	Tangential distortion of the lens(fake)	11.0
mycam.t2	Tangential distortion of the lens(fake)	12.0
mycam.freq	rate of test images in Hz
mycam.period	period of test images in seconds
mycam.mode	bouncy [ball], scrolly [line], grid [grid], grid multisize [size], random [rand], none [none], time test[time]	line
mycam.src
mycam.timestamp	should write the timestamp in the first bytes of the image
mycam.noise	Should add noise to the image (uses snr)
mycam.snr	Signal noise ratio ([0.0-1.0] default 0.5)	0.5
mycam.bayer	should emit bayer test image?
mycam.mono	should emit a monochrome image?
broadcast
broadcast.device
broadcast.wrapped
broadcast.rootName
broadcast.name
subdevice
broadcast.ROS
rootName	starting '/' if needed.	/
name	prefix for port names	controlboard

See also

DeviceGroup