def __init__(self, input_port_name, output_port_name, display_port_name): yarp.RFModule.__init__(self) # Prepare ports self._input_port = yarp.Port() self._input_port_name = input_port_name self._input_port.open(self._input_port_name) self._output_port = yarp.BufferedPortBottle() self._output_port_name = output_port_name self._output_port.open(self._output_port_name) self._display_port = yarp.Port() self._display_port_name = display_port_name self._display_port.open(self._display_port_name) # Prepare image buffers # Input self._input_buf_image = yarp.ImageRgb() self._input_buf_image.resize(320, 240) self._input_buf_array = np.zeros((240, 320, 3), dtype=np.uint8) self._input_buf_image.setExternal(self._input_buf_array, self._input_buf_array.shape[1], self._input_buf_array.shape[0]) # Output self._display_buf_image = yarp.ImageRgb() self._display_buf_image.resize(320, 240) self._display_buf_array = np.zeros((240, 320, 3), dtype=np.uint8) self._display_buf_image.setExternal(self._display_buf_array, self._display_buf_array.shape[1], self._display_buf_array.shape[0]) self._logger = yarp.Log()
def __init__(self): if YarpLogger._instance != None: raise Exception("This class is a singleton!") else: YarpLogger._instance = self self.__yarp_logger__ = yarp.Log("",0,"") #FIXME: without params I get segfault self.enable_logs()
import scipy.io.wavfile as wavfile import librosa import sys import yarp import numpy as np from CONFIG import * import scipy # subjects_dic = {0: 'NOEMIE', 1: 'BACKGROUND', 2: 'VALERIA', 3:'MELLY', 4: 'JONAS', 5: 'FABIO', 6: 'CARLO', 7: 'GIULIA', # 8: 'MARCO', 9: 'FRANCESCO', 10: 'DARIO', 11: 'LINDA', 12: 'LUCA'} os.environ["CUDA_VISIBLE_DEVICES"] = "-1" yarpLog = yarp.Log() class SpeakeRecognitionModule(yarp.RFModule): """ Description: Class to recognize speaker from the audio Args: input_port : Audio from remoteInterface """ def __init__(self): yarp.RFModule.__init__(self) # handle port for the RFModule
V_rad = yarp.Vector(V.size(), 0.0) for i in range(V.size()): V_rad[i] = V[i] * icub.CTRL_DEG2RAD return V_rad yarp.Network.init() icub.init() name = 'test' robot = 'icubSim' arm_name = 'left_arm' # To use yarp log function log = yarp.Log() props = yarp.Property() props.put("device", "remote_controlboard") props.put("local", "/" + name + "/" + arm_name) props.put("remote", "/" + robot + "/" + arm_name) # create remote driver _armDriver = yarp.PolyDriver(props) # query motor control interfaces _iPos = _armDriver.viewIPositionControl() _iEnc_arm = _armDriver.viewIEncoders() # retrieve number of joints _jnts_arm = _iPos.getAxes()
import yarp import icubclient import sys import time if __name__ == '__main__': yarp.Network.init() logger = yarp.Log() iCub = icubclient.ICubClient("AREiCubClientExample", "icubClient", "example_ARE.ini") rfClient = yarp.ResourceFinder() rfClient.setVerbose(True) rfClient.setDefaultContext("icubClient") rfClient.setDefaultConfigFile("example_ARE.ini") rfClient.configure(sys.argv) # we connect to both ARE and OPC if not iCub.connect(): logger.error() << "[ARE_KARMAiCubClientExample] ARE and/or OPC seems unavailabe!" if rfClient.check("target"): target = rfClient.find("target").asString() logger.info() << "target name set to %s" logger.info() << target else: target = "octopus" logger.info() << "target name set to default, i.e. " logger.info() << target
def __init__(self, logtype=NONE): self.__logtype__ = logtype if not self.__logtype__ is YarpLogger.NONE: self.__yarp_logger__ = yarp.Log()