Check port interrupt functionality in a rpc communication (see robotology/yarp#752).
We have two modalities:
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Single module:
$ ./test-rpc-interrupt
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Two modules:
$ ./test-rpc-interrupt --as client$ ./test-rpc-interrupt --as server
Last active
March 30, 2017 16:54
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Check port interrupt functionality in a rpc communication
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| # Copyright: (C) 2016 iCub Facility - Istituto Italiano di Tecnologia | |
| # Authors: Ugo Pattacini <[email protected]> | |
| # CopyPolicy: Released under the terms of the GNU GPL v2.0. | |
| cmake_minimum_required(VERSION 2.8.9) | |
| project(test-rpc-interrupt) | |
| find_package(YARP REQUIRED) | |
| include_directories(${YARP_INCLUDE_DIRS}) | |
| add_executable(${PROJECT_NAME} main.cpp) | |
| target_link_libraries(${PROJECT_NAME} ${YARP_LIBRARIES}) |
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| /* | |
| * Copyright (C) 2016 iCub Facility - Istituto Italiano di Tecnologia | |
| * Author: Ugo Pattacini | |
| * email: [email protected] | |
| * Permission is granted to copy, distribute, and/or modify this program | |
| * under the terms of the GNU General Public License, version 2 or any | |
| * later version published by the Free Software Foundation. | |
| * | |
| * A copy of the license can be found at | |
| * http://www.robotcub.org/icub/license/gpl.txt | |
| * | |
| * This program is distributed in the hope that it will be useful, but | |
| * WITHOUT ANY WARRANTY; without even the implied warranty of | |
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General | |
| * Public License for more details | |
| */ | |
| #include <string> | |
| #include <yarp/os/all.h> | |
| using namespace std; | |
| using namespace yarp::os; | |
| class TestRpcInterrupt : public RFModule | |
| { | |
| bool isServer; | |
| bool isClient; | |
| RpcServer server; | |
| RpcClient client; | |
| bool client_go; | |
| public: | |
| bool configure(ResourceFinder &rf) | |
| { | |
| string as=rf.check("as",Value("server+client")).asString(); | |
| isServer=isClient=true; | |
| if (as=="server") | |
| isClient=false; | |
| else if (as=="client") | |
| isServer=false; | |
| if (isServer) | |
| { | |
| server.open("/test-rpc-interrupt/server"); | |
| attach(server); | |
| } | |
| if (isClient) | |
| client.open("/test-rpc-interrupt/client"); | |
| client_go=false; | |
| return true; | |
| } | |
| double getPeriod() | |
| { | |
| return 0.01; | |
| } | |
| bool updateModule() | |
| { | |
| if (isClient) | |
| { | |
| if (!client_go) | |
| { | |
| client_go=Network::connect("/test-rpc-interrupt/client", | |
| "/test-rpc-interrupt/server"); | |
| yInfo()<<"[client]: waiting for server to be up"; | |
| } | |
| else | |
| { | |
| Bottle cmd,rep; | |
| cmd.addString("tag"); | |
| yInfo()<<"[client]: sending "<<cmd.toString(); | |
| rep.addString("null"); | |
| if (client.write(cmd,rep)) | |
| yInfo()<<"[client]: received "<<rep.toString(); | |
| else | |
| yWarning()<<"[client]: something unexpected happened; rep=" | |
| <<rep.toString(); | |
| } | |
| } | |
| return true; | |
| } | |
| bool respond(const Bottle &cmd, Bottle &rep) | |
| { | |
| yInfo()<<"[server]: received "<<cmd.toString(); | |
| yInfo()<<"[server]: waiting for a lapse to expire"; | |
| Time::delay(5.0); | |
| yInfo()<<"[server]: lapse just expired"; | |
| rep=cmd; | |
| return true; | |
| } | |
| bool interruptModule() | |
| { | |
| if (isClient) | |
| { | |
| yInfo()<<"interrupting client"; | |
| client.interrupt(); | |
| yInfo()<<"client interrupted"; | |
| } | |
| return true; | |
| } | |
| bool close() | |
| { | |
| if (client.asPort().isOpen()) | |
| client.close(); | |
| if (server.asPort().isOpen()) | |
| server.close(); | |
| return true; | |
| } | |
| }; | |
| int main(int argc, char *argv[]) | |
| { | |
| Network yarp; | |
| if (!yarp.checkNetwork()) | |
| { | |
| yError()<<"YARP not found"; | |
| return 1; | |
| } | |
| ResourceFinder rf; | |
| rf.configure(argc,argv); | |
| TestRpcInterrupt mod; | |
| return mod.runModule(rf); | |
| } | |
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