.. _oncilla:

=============
 CCA Oncilla 
=============

The class ``CCAOncilla`` sets up the oncilla resource nodes, the synchronizer
and a proper default configuration, either local or remote (see below).

The interface opens a number of input ports to receive commands as well as
output ports to send its current status.

Input ports to send commands to (currently eight ports, all
:ref:`JointAngles <rci:jointangles>`)::

    /oncilla/cmd/pos/lf/l1 (receiving a joint angle command for the L1 joint of the left fore leg) 
    /oncilla/cmd/pos/rf/l1 (receiving a joint angle command for the L1 joint of the right fore leg) 
    /oncilla/cmd/pos/lh/l1 (receiving a joint angle command for the L1 joint of the left hind leg)
    ... 
    /oncilla/cmd/pos/lf/l2 (receiving a joint angle command for the L2 joint of the left fore leg) 
    ...

Output ports, that send the current robot status (currently eight ports, all
:ref:`JointAngles <rci:jointangles>`)::

    /oncilla/status/pos/lf/l1 (current joint angle of the L1 joint of the left fore leg) 
    /oncilla/status/pos/rf/l1 (current joint angle of the L1 joint of the right fore leg) 
    /oncilla/status/pos/lh/l1 (current joint angle of the L1 joint of the left hind leg)
    ... 
    /oncilla/status/pos/lf/l2 (current joint angle of the L2 joint of the left fore leg) 
    ...

Local Interface
---------------

A local interface can be set up with::

    // A 2 ms beat
    BeatPtr heartbeat = PeriodicBeat::create(2); // 2 ms
    // Instantiate the Oncilla representation in CCA
    CCAOncilla oncilla = CCAOncilla(heartbeat, PortConfiguration::CCALocal);

An example for setting up and using the local interface can be found at
:ref:`ccaexample`.

Remote Interface
----------------

A remote interface can be set up with::

    // A 2 ms beat
    BeatPtr heartbeat = PeriodicBeat::create(2); // 2 ms
    // Instantiate the Oncilla representation in CCA
    CCAOncilla oncilla = CCAOncilla(heartbeat, PortConfiguration::CCARemote);

To reduce the amount of data packages sent remotely over the network, it is
recommended to use CCA :ref:`Collectors <cca:collector>` and
:ref:`Splitters <cca:splitter>`. An example for setting up and using the remote
interface accordingly can be found at :ref:`pythonexample`.