From b0cf3fda5bb288aa6e669d2cdfa81d7ac3f415fa Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bartek=20=C5=81ukawski?= <bwmn.peter@gmail.com>
Date: Sun, 3 Dec 2023 20:53:45 +0100
Subject: [PATCH] Import streamingSharedControl.xml

---
 CMakeLists.txt                                |  2 +-
 share/CMakeLists.txt                          |  2 +
 share/applications/streamingSharedControl.xml | 79 +++++++++++++++++++
 3 files changed, 82 insertions(+), 1 deletion(-)
 create mode 100644 share/CMakeLists.txt
 create mode 100644 share/applications/streamingSharedControl.xml

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0576422..b06bffb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -60,7 +60,7 @@ enable_testing()
 add_subdirectory(libraries)
 #add_subdirectory(programs)
 #add_subdirectory(tests)
-#add_subdirectory(share)
+add_subdirectory(share)
 add_subdirectory(doc)
 #add_subdirectory(examples/cpp)
 
diff --git a/share/CMakeLists.txt b/share/CMakeLists.txt
new file mode 100644
index 0000000..1161377
--- /dev/null
+++ b/share/CMakeLists.txt
@@ -0,0 +1,2 @@
+yarp_install(FILES applications/streamingSharedControl.xml
+             DESTINATION ${AMOR-YARP-DEVICES_APPLICATIONS_INSTALL_DIR}/streamingDeviceController)
\ No newline at end of file
diff --git a/share/applications/streamingSharedControl.xml b/share/applications/streamingSharedControl.xml
new file mode 100644
index 0000000..01881ef
--- /dev/null
+++ b/share/applications/streamingSharedControl.xml
@@ -0,0 +1,79 @@
+<application>
+    <name>haarDetection2D shared control app</name>
+
+    <module>
+        <name>opencv_grabber</name>
+        <parameters>--name /frameGrabber2D --camera 1</parameters>
+        <node>localhost</node>
+        <deployer>yarpdev</deployer>
+    </module>
+
+    <module>
+        <name>haarDetection2D</name>
+        <parameters>--xmlCascade haarcascade_cocacola_can.xml</parameters>
+        <node>localhost</node>
+    </module>
+
+    <module>
+        <name>haarDetection2D</name>
+        <parameters>--xmlCascade haarcascade_frontalface_alt.xml</parameters>
+        <node>localhost</node>
+    </module>
+
+    <module>
+        <name>yarpview</name>
+        <parameters>--name /haarDetection2D/yarpview/img:i --compact</parameters>
+        <node>localhost</node>
+    </module>
+
+    <module>
+        <name>amorSim</name>
+        <node>localhost</node>
+    </module>
+
+    <module>
+        <name>AmorCartesianControl</name>
+        <parameters>--name /amor/CartesianControl --kinematics /usr/local/share/amor/contexts/kinematics/armKinematics.ini</parameters>
+        <node>localhost</node>
+        <deployer>yarpdev</deployer>
+    </module>
+
+    <module>
+        <name>BasicCartesianControl</name>
+        <parameters>--name /amorSim/CartesianControl --from /usr/local/share/amor/contexts/kinematics/armKinematics.ini --local /BasicCartesianControl/amorSim --remote /amorRobot/amorManipulator</parameters>
+        <node>localhost</node>
+        <deployer>yarpdev</deployer>
+    </module>
+
+    <module>
+        <name>SpaceNavigator</name>
+        <parameters>--period 5 --name /spacenavigator --channels 8</parameters>
+        <node>localhost</node>
+        <deployer>yarpdev</deployer>
+    </module>
+
+    <module>
+        <name>streamingDeviceController</name>
+        <parameters>--streamingDevice SpaceNavigator --remoteCartesian /amor/CartesianControl --SpaceNavigator::remote /spacenavigator</parameters>
+    </module>
+
+    <module>
+        <name>streamingDeviceController</name>
+        <parameters>--streamingDevice SpaceNavigator --remoteCartesian /amorSim/CartesianControl --SpaceNavigator::remote /spacenavigator</parameters>
+    </module>
+
+    <module>
+        <name>streamingDeviceController</name>
+        <parameters>--streamingDevice SpaceNavigator --remoteCartesian /amor/CartesianControl --SpaceNavigator::remote /spacenavigator --remoteCentroid /haarDetection2D/state:o --centroidPermTime 1.0</parameters>
+    </module>
+
+    <module>
+        <name>streamingDeviceController</name>
+        <parameters>--streamingDevice SpaceNavigator --remoteCartesian /amorSim/CartesianControl --SpaceNavigator::remote /spacenavigator --remoteCentroid /haarDetection2D/state:o --centroidPermTime 1.0</parameters>
+    </module>
+
+    <connection>
+        <from>/haarDetection2D/img:o</from>
+        <to>/haarDetection2D/yarpview/img:i</to>
+    </connection>
+</application>