yarp::robotinterface YARP RobotInterface library

The libYARP_robotinterface library is useful to programatically launch YARP devices from C++ code using the same xml files used with the yarprobotinterface tool, that are described in YARP robotinterface XML files . More...

Collaboration diagram for yarp::robotinterface YARP RobotInterface library:

Modules
	yarprobotinterface: Start multiple YARP devices as specified in an xml file.
	YARP robotinterface XML files
	This tutorial covers how to write and read XML files that are used by yarprobotinterface tool and by the libYARP_robotinterface C++ library.

Classes
class	yarp::robotinterface::XMLReaderResult
	Result of the parsing of yarp::robotinterface::XMLReader. More...
class	yarp::robotinterface::XMLReader
	Class to read an XML file. More...

Detailed Description

The libYARP_robotinterface library is useful to programatically launch YARP devices from C++ code using the same xml files used with the yarprobotinterface tool, that are described in YARP robotinterface XML files .

An example of use of this library is:

// Load the XML configuration file
std::string pathToXmlConfigurationFile = ...;
yarp::robotinterface::XMLReader reader;
yarp::robotinterface::XMLReaderResult result = reader.getRobotFromFile(pathToXmlConfigurationFile);
 
if (!result.parsingIsSuccessful) {
    // Handle error
    // ...
}
 
// Optional: specify externally created devices to which robotinterface's devices can attach
// It is assumed that the devices contained in externalDriverList will remain valid and open until
// result.robot.enterPhase(yarp::robotinterface::ActionPhaseShutdown) will be called
// bool ok = result.robot.setExternalDevices(externalDriverList);
 
// Enter the startup phase, that will open all the devices and  call attach if necessary
bool ok = result.robot.enterPhase(yarp::robotinterface::ActionPhaseStartup);
 
if (!ok) {
    // Handle error
    // ...
}
 
 
// At this point, the system is running and the thread that called the
// enterPhase methods does not need to do anything else
 
// This code need to be executed when you want to close the robot
// Close robot, that will close all the devices and  call detach if necessary
ok = result.robot.enterPhase(yarp::robotinterface::ActionPhaseInterrupt1);
ok = ok && result.robot.enterPhase(yarp::robotinterface::ActionPhaseShutdown);
if (!ok) {
    // Handle error
    // ...
}