YARP
Yet Another Robot Platform
port_power/ex0401_give_reply.cpp

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

/*
* Copyright (C) 2006-2018 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() {
Port p; // Create a port.
p.open("/in"); // Give it a name on the network.
Bottle in, out; // Make places to store things.
while (true) {
p.read(in,true); // Read from the port, warn that we'll be replying.
printf("Got %s\n", in.toString().c_str());
out.clear();
out.addString("acknowledge");
out.append(in);
p.reply(out); // send reply.
}
}