YARP
Yet Another Robot Platform
port_power/ex0400_expect_reply.cpp

Part of a series of examples on the different ways of using ports. See Port power tutorial.

/*
* Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
* Copyright (C) 2006-2010 RobotCub Consortium
* All rights reserved.
*
* This software may be modified and distributed under the terms of the
* BSD-3-Clause license. See the accompanying LICENSE file for details.
*/
#include <stdio.h>
#include <yarp/os/all.h>
using namespace yarp::os;
int main() {
int ct = 0;
Port p; // Create a port.
p.open("/out"); // Give it a name on the network.
while (true) {
Bottle in,out; // Make places to store things.
// prepare command "out".
out.clear();
out.addString("hello");
out.addString("world");
out.addInt32(ct);
ct++;
p.write(out,in); // send command, wait for reply.
// process response "in".
if (in.size()>0) {
printf("Got response: %s\n", in.toString().c_str());
} else {
printf("No response\n");
}
}
return 0;
}
yarp::os::Bottle
A simple collection of objects that can be described and transmitted in a portable way.
Definition: Bottle.h:72
yarp::os::Bottle::toString
std::string toString() const override
Gives a human-readable textual representation of the bottle.
Definition: Bottle.cpp:214
yarp::os::Bottle::clear
void clear()
Empties the bottle of any objects it contains.
Definition: Bottle.cpp:124
all.h
yarp::os::Bottle::size
size_type size() const
Gets the number of elements in the bottle.
Definition: Bottle.cpp:254
main
int main(int argc, char *argv[])
Definition: yarpros.cpp:259
yarp::os::Port::open
bool open(const std::string &name) override
Start port operation, with a specific name, with automatically-chosen network parameters.
Definition: Port.cpp:81
yarp::os::Port
Definition: Port.h:49
yarp::os::Bottle::addInt32
void addInt32(std::int32_t x)
Places a 32-bit integer in the bottle, at the end of the list.
Definition: Bottle.cpp:143
yarp::os::Bottle::addString
void addString(const char *str)
Places a string in the bottle, at the end of the list.
Definition: Bottle.cpp:173
yarp::os::Port::write
bool write(const PortWriter &writer, const PortWriter *callback=nullptr) const override
Write an object to the port.
Definition: Port.cpp:429
yarp::os
Definition: AbstractCarrier.h:17
yarp::os::Network
Definition: Network.h:781
yarp
Definition: numeric.h:47
yarp::os::Time::delay
void delay(double seconds)
Wait for a certain number of seconds.
Definition: Time.cpp:114