os/portable_pair/portable_pair.cpp

Show use of the yarp::os::PortablePair class, to send messages of mixed type. If the component types follow the YARP network data format, then their composition will also.

/*
 * 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 <yarp/os/Bottle.h>
#include <yarp/os/Network.h>
#include <yarp/os/Port.h>
#include <yarp/os/PortablePair.h>
#include <yarp/os/Time.h>
 
#include <yarp/sig/Vector.h>
 
using yarp::os::Bottle;
using yarp::os::Network;
using yarp::os::Port;
using yarp::os::PortablePair;
using yarp::sig::Vector;
 
constexpr double loop_delay = 0.25;
 
int main(int argc, char* argv[])
{
    YARP_UNUSED(argc);
    YARP_UNUSED(argv);
 
    Network yarp;
    Port port;
    PortablePair<Bottle, Vector> pp;
    port.open("/pp");
    pp.head.fromString("this is the bottle part");
    int ct = 1;
    int ct2 = 1;
    while (true) {
        Vector v(3);
        v[0] = ct;
        v[1] = ct2;
        v[2] = ct * ct2;
        pp.body = v;
        port.write(pp);
        printf("Sent output to %s...\n", port.getName().c_str());
        ct++;
        if (ct > 10) {
            ct2 = 1 + (ct2 + 1) % 10;
            ct = 1;
        }
        yarp::os::Time::delay(loop_delay);
    }
    return 0;
}