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; }
virtual bool read(ConnectionReader& reader) { // called by comms code readBlock.wait(); if (!reader.isValid()) { // termination stateMutex.wait(); if (readDelegate!=NULL) { readResult = readDelegate->read(reader); } stateMutex.post(); produce.post(); readBlock.post(); return false; } // wait for happy consumer - don't want to miss a packet if (!readBackground) { consume.wait(); } if (closed) { YARP_DEBUG(Logger::get(),"Port::read shutting down"); readBlock.post(); return false; } stateMutex.wait(); readResult = false; if (readDelegate!=NULL) { readResult = readDelegate->read(reader); } else { // read and ignore YARP_DEBUG(Logger::get(),"data received in Port, no reader for it"); Bottle b; b.read(reader); } if (!readBackground) { readDelegate = NULL; writeDelegate = NULL; } bool result = readResult; stateMutex.post(); if (!readBackground) { produce.post(); } if (result&&willReply) { consume.wait(); if (closed) { YARP_DEBUG(Logger::get(),"Port::read shutting down"); readBlock.post(); return false; } if (writeDelegate!=NULL) { stateMutex.wait(); ConnectionWriter *writer = reader.getWriter(); if (writer!=NULL) { result = readResult = writeDelegate->write(*writer); } stateMutex.post(); } if (dropDue) { reader.requestDrop(); } produce.post(); } readBlock.post(); return result; }