/**
*
* Give a reply to a previously read message.
*
*/
YARP_DEFINE(int) yarpPortReply(yarpPortPtr port,
yarpPortablePtr msg) {
YARP_OK(port);
Portable *amsg = MAKE_PORTABLE(msg);
YARP_OK0(amsg);
return YARP_PORT(port).reply(*amsg)?0:-1;
}
/**
*
* Read text from a connection.
*
*/
YARP_DEFINE(int) yarpReaderExpectText(yarpReaderPtr reader,
yarpStringPtr str,
char terminal) {
YARP_OK(reader);
YARP_STRING(str) = YARP_READER(reader).expectText(terminal);
return YARP_READER(reader).isError()?-1:0;
}
/**
*
* Set the port name of a contact.
*
*/
YARP_DEFINE(int) yarpContactSetName(yarpContactPtr contact,
const char *name) {
YARP_OK(contact);
// contact class is very awkward
YARP_CONTACT(contact) = Contact::byName(name);
return 0;
}
/**
*
* Read a floating point number from a connection.
*
*/
YARP_DEFINE(int) yarpReaderExpectDouble(yarpReaderPtr reader, double *data) {
YARP_OK(reader);
double x = YARP_READER(reader).expectDouble();
if (data!=NULL) {
*data = x;
}
return YARP_READER(reader).isError()?-1:0;
}
/**
*
* Read an integer from a connection.
*
*/
YARP_DEFINE(int) yarpReaderExpectInt(yarpReaderPtr reader, int *data) {
YARP_OK(reader);
int x = YARP_READER(reader).expectInt();
if (data!=NULL) {
*data = x;
}
return YARP_READER(reader).isError()?-1:0;
}
/**
*
* Write a message to a port. The write handler of the msg structure
* will be called.
*
*/
YARP_DEFINE(int) yarpPortWrite(yarpPortPtr port,
yarpPortablePtr msg) {
YARP_OK(port);
Portable *amsg = MAKE_PORTABLE(msg);
YARP_OK0(amsg);
int result = YARP_PORT(port).write(*amsg)?0:-1;
return result;
}
/**
*
* Write a message to a port, then wait for a reply.
*
*/
YARP_DEFINE(int) yarpPortWriteWithReply(yarpPortPtr port,
yarpPortablePtr msg,
yarpPortablePtr reply) {
YARP_OK(port);
Portable *amsg = MAKE_PORTABLE(msg);
YARP_OK0(amsg);
Portable *areply = MAKE_PORTABLE(reply);
YARP_OK0(areply);
return YARP_PORT(port).write(*amsg,*areply)?0:-1;
}
/**
*
* Write an integer to a connection.
*
*/
YARP_DEFINE(int) yarpWriterAppendInt(yarpWriterPtr writer, int data) {
YARP_OK(writer);
YARP_WRITER(writer).appendInt(data);
return YARP_WRITER(writer).isError()?-1:0;
}
/**
*
* Check if connection is text-mode
*
*/
YARP_DEFINE(int) yarpReaderIsTextMode(yarpReaderPtr reader) {
YARP_OK(reader);
return YARP_READER(reader).isTextMode();
}
/**
*
* Read a block of data from a connection.
*
*/
YARP_DEFINE(int) yarpReaderExpectBlock(yarpReaderPtr reader,
const char *data,
int len) {
YARP_OK(reader);
return !YARP_READER(reader).expectBlock(data,len);
}
/**
*
* Close a port.
*
*/
YARP_DEFINE(int) yarpPortClose(yarpPortPtr port) {
YARP_OK(port);
YARP_PORT(port).close();
return 0;
}
/**
*
* Open a port, using advanced contact information.
*
*/
YARP_DEFINE(int) yarpPortOpenEx(yarpPortPtr port, yarpContactPtr contact) {
YARP_OK(port);
YARP_OK(contact);
bool ok = YARP_PORT(port).open(YARP_CONTACT(contact));
return ok?0:-1;
}
/**
*
* Open a port, assigning it a name.
*
*/
YARP_DEFINE(int) yarpPortOpen(yarpPortPtr port, const char *name) {
YARP_OK(port);
bool ok = YARP_PORT(port).open(name);
return ok?0:-1;
}
/**
*
* Configure a port to write messages in the background, so calls to
* write messages may return immediately.
*
*/
YARP_DEFINE(int) yarpPortEnableBackgroundWrite(yarpPortPtr port,
int writeInBackgroundFlag) {
YARP_OK(port);
YARP_PORT(port).enableBackgroundWrite(writeInBackgroundFlag);
return 0;
}