source: libs/SAMGAR V2/Module/ExampleOne.h @ 479

#include "SamClass.h"

/****** SAMGAR V2 EXAMPLES******/

/*
a couple of class's showing how to use SAMGAR, they dont have to be done in header files at all, but it can be better
its easer to have a option of compiling them together or seperately, both of which have there advantages in differnt situatoins


if you want to send imgs there is a class in yarp exactly for that, you can just send a IPL image.
*/


// This class just sends out some data //

class ExampleOneWrite: public SamClass 
{
private:
int myint;
BufferedPort<Bottle> myfirst,myfirst2; // create buffered ports for bottles like this
Network yarp;                                              // make sure the network is ready

public:
        void SamInit(void)
        {
        myint=0;
        RecognisePort("W1");                            // name the port to be shown in the gui
        myfirst.open("/Writer_W1");                     // open the port with MODULENAME_PORTNAME
        myfirst.setReporter(myPortStatus);      // set reporter, this is important
        RecognisePort("W2");                            // name the port to be shown in the gui
        myfirst2.open("/Writer_W2");            // open the port
        myfirst2.setReporter(myPortStatus);     // set reporter


        StartModule("/Writer");                         // we weve addid all ports and are happy then send the module name, this must be done last!!
        puts("started writer");
        }
        void SamIter(void)
        {
        Bottle& B = myfirst.prepare();          // prepare the bottle/port
        B.clear();
        B.addInt(myint++);
        myfirst.write();                                        // add stuff then send
        Bottle& C = myfirst2.prepare();
        C.clear();
        C.addInt(myint+5);
        myfirst2.write();       
        puts("running writer");
        }
};


class ExampleTwoRead: public SamClass
{
private:
int myint;
BufferedPort<Bottle> myfirst;
Network yarp;

public:
        void SamInit(void)
        {
        myint=0;
        RecognisePort("R1");
        myfirst.open("/Reader_R1");
        myfirst.setReporter(myPortStatus);
        StartModule("/Reader");
        puts("started reader");
        }
        void SamIter(void)
        {
                puts("running reader");
                Bottle *input = myfirst.read(false); // get in the input from the port, if you want it to wait use true, else use false
                if(input!=NULL)                                          // check theres data
                {
                puts("got a msg");
                puts(input->toString());
                }
                else{puts("didn't get a msg");}
        }
};

// A very simple data class
class DataForm
{
public:
int x;
int y;
int p;
};


class ExampleThreeSendClass: public SamClass
{
private:
int myint;
BufferedPort<BinPortable<DataForm>> myfirst; // use BinPortable to make a class ready to be used on the network
Network yarp;
public:
        void SamInit(void)
        {
        myint=0;
        RecognisePort("Out");
        myfirst.open("/SClass_Out");
        myfirst.setReporter(myPortStatus);
        StartModule("/SClass");
        }
        void SamIter(void)
        {
                myint++;
                BinPortable<DataForm> &MyData = myfirst.prepare(); // prepare data/port
                MyData.content().x=myint;                                               
                MyData.content().y=myint+5;
                MyData.content().p=myint+10;
                myfirst.write();                                                                   // add stuff and write
        }
};


// a Interupt port, when data hits this port it'll do whatever is onread, be carefull, fast firing interupts can cause big problems as in normal code

class DataPort : public BufferedPort<BinPortable<DataForm>>  
{
     virtual void onRead(BinPortable<DataForm>& b) 
         {
                 printf("X %i Y %i P %i \n",b.content().x,b.content().y,b.content().p);
     }
};
class ExampleFourReciveClassInterupt: public SamClass
{
private:
int myint;
DataPort myfirst;
Network yarp;
public:
        void SamInit(void)
        {
        myint=0;
        RecognisePort("In");
        myfirst.open("/RClass_In");
        myfirst.setReporter(myPortStatus);
        myfirst.useCallback();                          // this tells it to use the onread method
        StartModule("/RClass");
        }
        
};