virtual void onRead(VelocityBuffer & data){
VelocityBuffer * vb = new VelocityBuffer();
vb->setData(data);
bfrMutex.wait();
velBfr.push(vb);
bfrMutex.post();
}
VelocityBuffer * getVelocities(){
VelocityBuffer * res = NULL;
bfrMutex.wait();
if (velBfr.size() > 0){
res = velBfr.front();
velBfr.pop();
}
bfrMutex.post();
return res;
}
virtual bool apply(yarp::os::Bottle& cmd,
yarp::os::Bottle& reply,
yarp::os::Bottle& event,
yarp::os::Contact& remote) {
bool ok = false;
mutex.wait();
printf(" + %s\n", cmd.toString().c_str());
reply.clear();
ConstString tag = cmd.get(0).asString();
if (tag=="register") {
ok = cmdRegister(cmd,reply,remote);
} else if (tag=="unregister") {
ok = cmdUnregister(cmd,reply,remote);
} else if (tag=="query") {
ok = cmdQuery(cmd,reply,remote);
} else if (tag=="list") {
ok = cmdList(cmd,reply,remote);
} else {
reply.addString("old");
reply.addString("I have no idea what you are talking about");
}
mutex.post();
return ok;
}