Add the findFile method

icub-tech-iit · Mar 29, 2023 · ceb29d8 · ceb29d8
1 parent 1ca1865
commit ceb29d8
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Showing 3 changed files with 13 additions and 21 deletions.
diff --git a/src/modules/ergoCubEmotions/config.ini b/src/modules/ergoCubEmotions/config.ini
@@ -4,19 +4,19 @@ num_expressions 4
 [expression_0]
 name angry
 type image
-file /expressions/images/exp_img_0.png
+file expressions/images/exp_img_0.png
 
 [expression_1]
 name happy
 type image
-file /expressions/images/exp_img_1.png
+file expressions/images/exp_img_1.png
 
 [expression_2]
 name neutral
 type image
-file /expressions/images/exp_img_2.png
+file expressions/images/exp_img_2.png
 
 [expression_3]
 name shy
 type image
-file /expressions/images/exp_img_3.png
+file expressions/images/exp_img_3.png
diff --git a/src/modules/ergoCubEmotions/ergoCubEmotions.cpp b/src/modules/ergoCubEmotions/ergoCubEmotions.cpp
@@ -35,19 +35,8 @@ bool ErgoCubEmotions::configure(ResourceFinder& rf)
 {
     cmdPort.open("/ergoCubEmotions/rpc");
     attach(cmdPort);
-
-    auto filePath = rf.findPath("config.ini");
-    auto last_slash_idx = filePath.rfind('/');
-    if (std::string::npos != last_slash_idx)
-    {
-        path = filePath.substr(0, last_slash_idx);
-    }
-
-    else {
-        yError() <<"Cannot find config.ini";
-        return false;
-    }
-
+
+    this->rf=&rf;
     Bottle &bGroup = rf.findGroup("general");
     nexpressions = bGroup.find("num_expressions").asInt32();
     for (int i = 0; i < nexpressions; i++)
@@ -65,10 +54,11 @@ bool ErgoCubEmotions::configure(ResourceFinder& rf)
 
     namedWindow("emotion", WND_PROP_FULLSCREEN);
     setWindowProperty("emotion", WND_PROP_FULLSCREEN, WINDOW_FULLSCREEN);
-    Mat start_img = imread(path + "/expressions/images/exp_img_2.png");
+    path = rf.findFile("expressions/images/exp_img_2.png");
+    Mat start_img = imread(path);
     if(start_img.empty())
     {
-        yError() << "Could not read the image in"<<path;
+        yError() << "Could not read the image";
         return false;
     }
 
@@ -104,7 +94,8 @@ bool ErgoCubEmotions::setEmotion(const std::string& command)
         {    
             if(it->first.second == "image")
             {
-                Mat img = imread(path + it->second);
+                path = rf->findFile(it->second);
+                Mat img = imread(path);
                 if(img.empty())
                 {
                     yDebug() << "Could not read the image!";

diff --git a/src/modules/ergoCubEmotions/ergoCubEmotions.h b/src/modules/ergoCubEmotions/ergoCubEmotions.h
@@ -39,7 +39,8 @@ constexpr  yarp::conf::vocab32_t EMOTION_VOCAB_CUN = yarp::os::createVocab32('c'
 
 // ergoCubEmotions class definition
 class ErgoCubEmotions : public yarp::os::RFModule, public ergoCubEmotions_IDL {
-    private:
+    protected:
+        yarp::os::ResourceFinder *rf;
 
     public:
         ErgoCubEmotions();