YARP
Yet Another Robot Platform
port_power/ex0403_bufferedport_callback_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;
class DataProcessor : public TypedReaderCallback<Bottle>, public PortReader {
virtual void onRead(Bottle& b) {
// process data in b
printf("Got one-way message: %s\n", b.toString().c_str());
}
virtual bool read(ConnectionReader& connection) {
Bottle in, out;
in.read(connection);
// process data "in", prepare "out"
printf("Got message to reply to: %s\n", in.toString().c_str());
out.clear();
out.addString("acknowledge");
out.append(in);
ConnectionWriter *returnToSender = connection.getWriter();
if (returnToSender!=NULL) {
out.write(*returnToSender);
}
return true;
}
};
DataProcessor processor;
int main() {
DataProcessor processor;
p.useCallback(processor); // input should go to processor.onRead()
p.setReplier(processor); // input with replt goes to processor.read()
p.open("/in"); // Give it a name on the network.
while (true) {
printf("main thread free to do whatever it wants\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
yarp::sig::file::read
bool read(ImageOf< PixelRgb > &dest, const std::string &src, image_fileformat format=FORMAT_ANY)
Definition: ImageFile.cpp:656
all.h
yarp::os::BufferedPort::setReplier
void setReplier(PortReader &reader) override
If a message is received that requires a reply, use this handler.
Definition: BufferedPort-inl.h:183
main
int main(int argc, char *argv[])
Definition: yarpros.cpp:259
yarp::os::TypedReaderCallback
A callback for typed data from a port.
Definition: TypedReaderCallback.h:30
yarp::os::BufferedPort::useCallback
void useCallback(TypedReaderCallback< T > &callback) override
Set an object whose onRead method will be called when data is available.
Definition: BufferedPort-inl.h:211
yarp::os::BufferedPort
A mini-server for performing network communication in the background.
Definition: BufferedPort.h:63
yarp::os::PortReader
Interface implemented by all objects that can read themselves from the network, such as Bottle object...
Definition: PortReader.h:27
yarp::os::Bottle::write
bool write(ConnectionWriter &writer) const override
Output a representation of the bottle to a network connection.
Definition: Bottle.cpp:233
yarp::os::ConnectionWriter
An interface for writing to a network connection.
Definition: ConnectionWriter.h:39
yarp::os::BufferedPort::open
bool open(const std::string &name) override
Start port operation, with a specific name, with automatically-chosen network parameters.
Definition: BufferedPort-inl.h:41
yarp::os::ConnectionReader::getWriter
virtual ConnectionWriter * getWriter()=0
Gets a way to reply to the message, if possible.
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::ConnectionReader
An interface for reading from a network connection.
Definition: ConnectionReader.h:39
yarp::os
Definition: AbstractCarrier.h:17
yarp::os::Network
Definition: Network.h:781
yarp
Definition: numeric.h:47
yarp::os::Bottle::read
bool read(ConnectionReader &reader) override
Set the bottle's value based on input from a network connection.
Definition: Bottle.cpp:243
yarp::os::Time::delay
void delay(double seconds)
Wait for a certain number of seconds.
Definition: Time.cpp:114
yarp::os::Bottle::append
void append(const Bottle &alt)
Append the content of the given bottle to the current list.
Definition: Bottle.cpp:383