static void Main(string[] args)
{
Network.init();
BufferedPortBottle p = new BufferedPortBottle();
if (!p.open("/csharp")) System.Environment.Exit(1);
p.close();
Network.fini();
}
static void Main(string[] args)
{
Network.init();
BufferedPortBottle p = new BufferedPortBottle();
p.open("/csharp");
p.close();
Network.fini();
}
public static void Main(string[] args)
{
var serviceProvider = BuildDIContainer();
// Initialize Yarp
Network.init();
using (var videoSource = serviceProvider.GetRequiredService <IVideoSource>())
using (var audioSource = serviceProvider.GetRequiredService <IAudioSource>())
using (var videoPort = new BufferedPortImageRgb())
using (var audioPort = new BufferedPortBottle())
using (var videoFrameRgbBuffer = new Image <Rgb, byte>(640, 480))
{
// Stream the video frames to a yarp port
videoPort.open("/camera");
videoSource.FrameReady += (_, frame) =>
{
using (var msg = videoPort.prepare())
{
// Convert the incoming image which is BGR to RGB
var bits = frame.Image.LockBits(new Rectangle(0, 0, frame.Image.Width, frame.Image.Height), ImageLockMode.ReadOnly, PixelFormat.Format24bppRgb);
using (var videoFrameBgr = new Image <Bgr, byte>(frame.Image.Width, frame.Image.Height, bits.Stride, bits.Scan0))
CvInvoke.CvtColor(videoFrameBgr, videoFrameRgbBuffer, ColorConversion.Bgr2Rgb);
frame.Image.UnlockBits(bits);
// Send the RGB image over yarp
var handle = GCHandle.Alloc(videoFrameRgbBuffer.Bytes, GCHandleType.Pinned);
msg.setExternal(new SWIGTYPE_p_void(handle.AddrOfPinnedObject(), true), (uint)frame.Image.Width, (uint)frame.Image.Height);
videoPort.write();
videoPort.waitForWrite();
handle.Free();
}
};
// Stream the audio samples to a yarp port
audioPort.open("/microphone");
audioSource.SampleReady += (_, sample) =>
{
using (var bottle = audioPort.prepare())
{
var handle = GCHandle.Alloc(sample.Data, GCHandleType.Pinned);
bottle.clear();
bottle.add(Value.makeBlob(new SWIGTYPE_p_void(handle.AddrOfPinnedObject(), true), sample.Data.Length));
audioPort.write();
audioPort.waitForWrite();
handle.Free();
}
};
// Run the sample application
RunDemoApplication(videoSource, audioSource);
}
// Explicitely shutdown NLog and Yarp
Network.fini();
NLog.LogManager.Shutdown();
}
static void Main(string[] args)
{
Network.init();
BufferedPortBottle p = new BufferedPortBottle();
p.open("/csharp");
p.close();
Network.fini();
}
// Use this for initialization
void Start()
{
Network.init();
p = new BufferedPortBottle();
p.open ("/unityYarp");
// globalRed = 1.0f;
// globalBlue = 0.5f;
// globalGreen = 0.2f;
}
// Use this for initialization
void Start()
{
Network.init();
p = new BufferedPortBottle();
//while(p.getOutputCount == 0)
//{
p.open ("/unityYarp");
//}
Network.connect("/unityYarp", destPortName);
}
static void Main(string[] args)
{
Network.init();
BufferedPortBottle p = new BufferedPortBottle();
if (!p.open("/csharp"))
{
System.Environment.Exit(1);
}
p.close();
Network.fini();
}
public override void Initialise()
{
portReal = new BufferedPortBottle();
portPredicted = new BufferedPortBottle();
portPerceived = new BufferedPortBottle();
portReal.open("/" + mapName + "/" + name + "/real:i");
portPredicted.open("/" + mapName + "/" + name + "/predicted:o");
portPerceived.open("/" + mapName + "/" + name + "/perceived:o");
if (autoconnect_source != null)
{
Network.connect(autoconnect_source, YarpModalityVector.getRealPortName(mapName, name));
}
base.Initialise();
}
/// <summary>
///
/// </summary>
/// <param name="nameInputPort"></param>
/// <param name="nameOutputPort"></param>
public void openReceiver(string nameOutputPort,string nameInputPort)
{
if (!String.IsNullOrEmpty(nameInputPort) && !String.IsNullOrEmpty(nameOutputPort))
{
Network.init();
input = new BufferedPortBottle();
input.open(nameInputPort);
style = new ContactStyle();
style.persistent=true;
if(Network.isConnected(nameOutputPort,nameInputPort,style))
Network.disconnect(nameOutputPort,nameInputPort,style);
if (Network.connect(nameOutputPort, nameInputPort, style))
Console.WriteLine(nameInputPort + " port is connected to " + nameOutputPort);
}
}
static void Main(string[] args)
{
Network.init();
BufferedPortBottle p = new BufferedPortBottle();
p.open("/csharp");
int top = 100;
for (int i=1; i<top; i++) {
Bottle bottle = p.prepare();
bottle.clear();
bottle.addString("count");
bottle.addInt(i);
bottle.addString("of");
bottle.addInt(top);
Console.WriteLine("Sending " + bottle.toString());
p.write();
Time.delay(0.5);
}
p.close();
Network.fini();
}
static void Main(string[] args)
{
Network.init();
BufferedPortBottle p = new BufferedPortBottle();
p.open("/csharp");
int top = 100;
for (int i = 1; i < top; i++)
{
Bottle bottle = p.prepare();
bottle.clear();
bottle.addString("count");
bottle.addInt32(i);
bottle.addString("of");
bottle.addInt32(top);
Console.WriteLine("Sending " + bottle.toString());
p.write();
Time.delay(0.5);
}
p.close();
Network.fini();
}
internal static HandleRef getCPtr(BufferedPortBottle obj)
{
return (obj == null) ? new HandleRef(null, IntPtr.Zero) : obj.swigCPtr;
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(BufferedPortBottle obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
// Use this for initialization
void Start()
{
Network.init();
p = new BufferedPortBottle();
p.open ("/unityYarp");
}
// Use this for initialization
void Start()
{
//open all ports
Network.init();
rightLegState = new BufferedPortBottle();
leftLegState = new BufferedPortBottle();
rightArmState = new BufferedPortBottle();
leftArmState = new BufferedPortBottle();
headState = new BufferedPortBottle();
torsoState = new BufferedPortBottle();
rightLegState.open (rLegPortName);
leftLegState.open (lLegPortName);
rightArmState.open (rArmPortName);
leftArmState.open (lArmPortName);
headState.open (headPortName);
torsoState.open (torsoPortName);
portCheckIter = 0;
bottleTagInt = yarp.BOTTLE_TAG_INT;
bottleTagString = yarp.BOTTLE_TAG_STRING;
bottleTagDouble = yarp.BOTTLE_TAG_DOUBLE;
bottleTagList = yarp.BOTTLE_TAG_LIST;
Debug.Log ("INT: " + bottleTagInt + " DOUBLE: " + bottleTagDouble + " STRING: " + bottleTagString);
}
public void openInputPort(string namePort)
{
if (!String.IsNullOrEmpty(namePort))
{
Network.init();
input = new BufferedPortBottle();
input.open(namePort);
}
}