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");
}
void publisherUpdate(NodeArgs& na)
{
std::string topic = fromRosName(na.args.get(0).asString());
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;
}
c.setName("");
// just pass the message along, YARP ports know what to do with it
ContactStyle style;
style.admin = true;
style.carrier = "tcp";
Bottle reply;
if (!NetworkBase::write(c, na.request, reply, style)) {
continue;
}
na.fromExternal(reply);
}
}
void publisherUpdate(NodeArgs& na) {
ConstString topic = na.args.get(0).asString();
Contact c = lookup(topic);
if (!c.isValid()) {
na.fail("Cannot find topic");
return;
}
c = c.addName("");
// just pass the message along, YARP ports know what to do with it
ContactStyle style;
style.admin = true;
style.carrier = "tcp";
Bottle reply;
if (!NetworkBase::write(c,na.request,reply,style)) {
na.fail("Cannot communicate with local port");
return;
}
na.fromExternal(reply);
//printf("DONE with passing on publisherUpdate\n");
}
void requestTopic(NodeArgs& na) {
ConstString topic = na.args.get(0).asString();
Contact c = lookup(topic);
if (!c.isValid()) {
na.fail("Cannot find topic");
return;
}
na.reply.addString("TCPROS");
na.reply.addString(c.getHost());
na.reply.addInt(c.getPort());
na.success();
}