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) 2010 RobotCub Consortium
 * Author: Paul Fitzpatrick
 * CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
 */

#include <stdio.h>
#include <yarp/os/all.h>
using namespace yarp::os;

int main() {
    Network yarp;

    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.add("acknowledge");
        out.append(in);
        p.reply(out);    // send reply.
    }
}