bool close()
{
if (!portOut.isClosed())
portOut.close();
if (!portIn.isClosed())
portIn.close();
return true;
}
void terminate()
{
if (!imgInPort.isClosed())
imgInPort.close();
if (!imgOutPort.isClosed())
imgOutPort.close();
if (drvGaze.isValid())
drvGaze.close();
if (drvCart.isValid())
drvCart.close();
if (drvArm.isValid())
drvArm.close();
if (drvAnalog.isValid())
drvAnalog.close();
}
void testReopen() {
report(0,"checking opening/closing/reopening ports...");
BufferedPort<Bottle> port2;
port2.open("/test2");
BufferedPort<Bottle> port;
port.open("/test");
Network::connect("/test2", "/test");
Network::sync("/test");
Network::sync("/test2");
port2.prepare().fromString("1 msg");
port2.write();
while (port.getPendingReads()<1) {
Time::delay(0.1);
}
checkFalse(port.isClosed(),"port tagged as open");
port.close();
checkTrue(port.isClosed(),"port tagged as closed");
port.open("/test");
checkFalse(port.isClosed(),"port tagged as open");
Bottle *bot = port.read(false);
checkTrue(bot==NULL,"reader correctly reset");
Network::connect("/test2", "/test");
Network::sync("/test");
Network::sync("/test2");
port2.prepare().fromString("2 msg");
port2.write();
bot = port.read();
checkFalse(bot==NULL,"reader working");
if (bot) {
checkEqual(bot->get(0).asInt(),2,"reader read correct message");
}
}