port_power/ex0402_port_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 PortReader {
    virtual bool read(ConnectionReader& connection) {
        Bottle in, out;
        in.read(connection);
        // process data "in", prepare "out"
        printf("Got %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() {
    Network yarp;
 
    Port p;            // Create a port.
    p.open("/in");     // Give it a name on the network.
    p.setReader(processor);  // no need to call p.read() on port any more.
 
    while (true) {
        printf("main thread free to do whatever it wants\n");
        Time::delay(10);
    }
 
    return 0;
}