port_power/ex0400_expect_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;
 
int main() {
    Network yarp;
 
    int ct = 0;
    Port p;            // Create a port.
    p.open("/out");    // Give it a name on the network.
    while (true) {
        Bottle in,out;   // Make places to store things.
        // prepare command "out".
        out.clear();
        out.addString("hello");
        out.addString("world");
        out.addInt32(ct);
        ct++;
        p.write(out,in); // send command, wait for reply.
        // process response "in".
        if (in.size()>0) {
            printf("Got response: %s\n", in.toString().c_str());
        } else {
            printf("No response\n");
        }
        Time::delay(1);
    }
 
    return 0;
}