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Cognitive Robotics Architecture
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interface.h
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1 //##############################################################################################################################################################################################################//
2 //Aquila - An Open-Source GPU-Accelerated Toolkit for Cognitive and Neuro-Robotics Research //
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4 //Copyright (c) <2012>, <Martin Peniak - www.martinpeniak.com> //
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20 
21 #ifndef INTERFACE_H
22 #define INTERFACE_H
23 
24 #include <string>
25 #include <yarp/os/all.h>
26 
27 using namespace yarp::os;
28 using namespace std;
29 
30 class SOM;
31 
32 class Interface : public yarp::os::RFModule
33 {
34 public:
35  Interface();
36 
37  void sendParameters(float learningRate, int numSubIterations, int numOutputs, int iterationPause);
38  void sendStatus(int status);
39  void sendMap();
40  void sendMessage(string message);
41  void sendGpuDeviceList();
42  void sendNumInputs();
43  void sendTrainingTime();
44  void sendDataPointLimits();
45  void sendProgress(int progress);
46  bool configure(ResourceFinder &rf);
47 
48 private:
49  SOM *som;
50 
51  Port inputPort;
52  Port outputPort;
53  string moduleName;
54  string inputPortName;
55  string outputPortName;
56 
57  int instance;
58 
59  bool updateModule();
60  bool interruptModule();
61  bool close();
62  bool respond(const Bottle& command, Bottle& reply);
63  double getPeriod();
64 };
65 
66 #endif//INTERFACE_H
67 
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