static yarpPortableCallbacksPtr __bottleCallbacks() {
static int init = 0;
static yarpPortableCallbacks callbacks;
if (!init) {
yarpPortableCallbacksInit(&callbacks);
callbacks.write = __yarpBottleWrite;
callbacks.read = __yarpBottleRead;
init = 1;
}
return &callbacks;
}
int main(int argc, char *argv[]) {
int result = 0;
printf("This test creates two ports and writes from one to the other.\n");
printf("Make sure no other YARP programs are running.\n");
printf("(or else remove the yarpNetworkSetLocalMode line)\n");
yarpNetworkPtr network = yarpNetworkCreate();
if (network==NULL) return -1;
// assume no other YARP programs are running, including the name server
result = yarpNetworkSetLocalMode(network,1);
if (result<0) return -1;
yarpPortPtr port1 = yarpPortCreateOpen(network,"/test1");
if (port1==NULL) return -1;
yarpPortPtr port2 = yarpPortCreateOpen(network,"/test2");
if (port2==NULL) return -1;
result = yarpNetworkConnect(network,"/test1","/test2",NULL);
if (result<0) return -1;
result = yarpPortEnableBackgroundWrite(port1,1);
if (result<0) return -1;
yarpPortableCallbacks wcallbacks, rcallbacks;
yarpPortableCallbacksInit(&wcallbacks);
yarpPortableCallbacksInit(&rcallbacks);
wcallbacks.write = testWrite;
rcallbacks.read = testRead;
yarpPortable writer, reader;
yarpPortableInit(&writer,&wcallbacks);
yarpPortableInit(&reader,&rcallbacks);
printf("Writing (in background)...\n");
result = yarpPortWrite(port1,&writer);
if (result<0) return -1;
printf("Reading...\n");
result = yarpPortRead(port2,&reader,0);
if (result<0) return -1;
printf("After read, received %d\n", testResult);
if (testResult==15) {
printf("Correct!\n");
} else {
printf("That's not right, something failed.\n");
}
result = yarpPortClose(port1);
if (result<0) return -1;
result = yarpPortClose(port2);
if (result<0) return -1;
yarpPortableFini(&writer);
yarpPortableFini(&reader);
yarpPortFree(port1);
port1 = NULL;
yarpPortFree(port2);
port2 = NULL;
yarpNetworkFree(network);
network = NULL;
return 0;
}
