port_power/TargetVer3.h

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.
 */
 
#ifndef TARGETVER3_INC
#define TARGETVER3_INC
 
#include <yarp/os/Portable.h>
 
class Target : public yarp::os::Portable {
public:
  int x;
  int y;
  bool write(yarp::os::ConnectionWriter& connection) const override {
      connection.appendInt32(BOTTLE_TAG_LIST+BOTTLE_TAG_INT32);
      connection.appendInt32(2); // two elements
      connection.appendInt32(x);
      connection.appendInt32(y);
      connection.convertTextMode(); // if connection is text-mode, convert!
      return true;
  }
  bool read(yarp::os::ConnectionReader& connection) override {
      connection.convertTextMode(); // if connection is text-mode, convert!
      int tag = connection.expectInt32();
      x = y = -1;
      if (tag!=BOTTLE_TAG_LIST+BOTTLE_TAG_INT32) return false;
      int ct = connection.expectInt32();
      if (ct!=2) return false;
      x = connection.expectInt32();
      y = connection.expectInt32();
      return true;
  }
};
 
#endif