Bottle NameServer::botify(const Contact& address) {
Bottle result;
if (address.isValid()) {
Bottle bname;
bname.addString("name");
bname.addString(address.getRegName().c_str());
Bottle bip;
bip.addString("ip");
bip.addString(address.getHost().c_str());
Bottle bnum;
bnum.addString("port_number");
bnum.addInt32(address.getPort());
Bottle bcarrier;
bcarrier.addString("carrier");
bcarrier.addString(address.getCarrier().c_str());
result.addString("port");
result.addList() = bname;
result.addList() = bip;
result.addList() = bnum;
result.addList() = bcarrier;
} else {
Bottle bstate;
bstate.addString("error");
bstate.addInt32(-2);
bstate.addString("port not known");
result.addString("port");
result.addList() = bstate;
}
return result;
}
void requestTopic(NodeArgs& na)
{
std::string topic = na.args.get(0).asString();
topic = fromRosName(topic);
std::vector<Contact> contacts = query(topic, "+");
if (contacts.size() < 1) {
na.fail("Cannot find topic");
return;
}
for (std::vector<Contact>::iterator it = contacts.begin(); it != contacts.end(); ++it) {
Contact &c = *it;
if (!c.isValid()) {
continue;
}
Value v;
Bottle* lst = v.asList();
lst->addString("TCPROS");
lst->addString(c.getHost());
lst->addInt32(c.getPort());
na.reply = v;
na.success();
return;
}
na.fail("Cannot find topic");
}
int main(int argc, char *argv[]) {
if (argc<3) {
fprintf(stderr, "Please supply (1) a port name for the client\n");
fprintf(stderr, " (2) a port name for the server\n");
return 1;
}
Network yarp;
const char *client_name = argv[1];
const char *server_name = argv[2];
RpcClient port;
port.open(client_name);
int ct = 0;
while (true) {
if (port.getOutputCount()==0) {
printf("Trying to connect to %s\n", server_name);
yarp.connect(client_name,server_name);
} else {
Bottle cmd;
cmd.addString("COUNT");
cmd.addInt32(ct);
ct++;
printf("Sending message... %s\n", cmd.toString().c_str());
Bottle response;
port.write(cmd,response);
printf("Got response: %s\n", response.toString().c_str());
}
Time::delay(1);
}
}
virtual void run() {
for (int i=0; i<R; i++) {
Bottle b;
b.addString(p.getName());
b.addInt32(i);
printf("Writing %s\n", b.toString().c_str());
p.write(b);
Time::delay(3);
}
}
int main() {
Network yarp;
Port output;
output.open("/sender");
int top = 100;
for (int i=1; i<=top; i++) {
// prepare a message
Bottle bot;
bot.addString("testing");
bot.addInt32(i);
bot.addString("of");
bot.addInt32(top);
// send the message
output.write(bot);
printf("Sent message: %s\n", bot.toString().c_str());
// wait a while
Time::delay(1);
}
output.close();
return 0;
}
bool yarp::os::Node::Helper::read(ConnectionReader& reader)
{
if (!reader.isValid()) {
return false;
}
NodeArgs na;
na.request.read(reader);
//printf("NODE API for %s received %s\n",
//name.c_str(),
//na.request.toString().c_str());
std::string key = na.request.get(0).asString();
na.args = na.request.tail().tail();
if (key=="getBusStats") {
getBusStats(na);
} else if (key=="getBusInfo") {
getBusInfo(na);
} else if (key=="getMasterUri") {
getMasterUri(na);
} else if (key=="shutdown") {
shutdown(na);
} else if (key=="getPid") {
getPid(na);
} else if (key=="getSubscriptions") {
getSubscriptions(na);
} else if (key=="getPublications") {
getPublications(na);
} else if (key=="paramUpdate") {
paramUpdate(na);
} else if (key=="publisherUpdate") {
publisherUpdate(na);
} else if (key=="requestTopic") {
requestTopic(na);
} else {
na.error("I have no idea what you are talking about");
}
if (na.should_drop) {
reader.requestDrop(); // ROS likes to close down.
}
if (reader.getWriter()) {
Bottle full;
full.addInt32(na.code);
full.addString(na.msg);
full.add(na.reply);
//printf("NODE %s <<< %s\n",
//name.c_str(),
//full.toString().c_str());
full.write(*reader.getWriter());
}
return true;
}
void testBackground() {
report(0,"background transmission check...");
expectation = "";
receives = 0;
Contact write = NetworkBase::registerContact(Contact("/write", "tcp", "127.0.0.1", safePort()));
Contact read = NetworkBase::registerContact(Contact("/read", "tcp", "127.0.0.1", safePort()+1));
Contact fake("tcp", "127.0.0.1", safePort()+2);
checkEqual(NetworkBase::queryName("/write").isValid(),true,"name server sanity");
checkEqual(NetworkBase::queryName("/read").isValid(),true,"name server sanity");
PortCore sender;
sender.setWaitBeforeSend(false);
sender.setWaitAfterSend(false);
PortCore receiver;
receiver.setReadHandler(*this);
sender.listen(write);
receiver.listen(read);
sender.start();
receiver.start();
//Time::delay(1);
Bottle bot;
bot.addInt32(0);
bot.addString("Hello world");
report(0,"sending bottle, should received nothing");
expectation = "";
sender.send(bot);
Time::delay(0.3);
checkEqual(receives,0,"nothing received");
NetworkBase::connect("/write", "/read");
Time::delay(0.3);
report(0,"sending bottle, should receive it this time");
expectation = bot.toString();
sender.send(bot);
for (int i=0; i<1000; i++) {
if (receives==1) break;
Time::delay(0.3);
}
checkEqual(receives,1,"something received");
sender.close();
receiver.close();
}
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 b; // Make a place to store things.
b.clear();
b.addString("hello");
b.addString("world");
b.addInt32(ct);
ct++;
p.write(b); // Send the data.
printf("Sent %s\n", b.toString().c_str());
Time::delay(1);
}
return 0;
}
