Merge pull request #2434 from randaz81/yarp_repeat

yarp repeat
robotology · Jan 8, 2021 · b834e56 · b834e56
2 parents 6b64518 + 0f303f7
commit b834e56
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diff --git a/doc/release/master/yarp_repeat.md b/doc/release/master/yarp_repeat.md
@@ -0,0 +1,9 @@
+yarp_repeat {#master}
+-------------------------
+
+## Important Changes
+
+### Yarp companion
+
+#### added command `yarp repeat`
+* `yarp repeat` repeats in an output port all data received in an input port. The command is useful to control stream flows on a wifi/mobile connection.
diff --git a/src/libYARP_companion/src/CMakeLists.txt b/src/libYARP_companion/src/CMakeLists.txt
@@ -39,6 +39,7 @@ set(YARP_companion_IMPL_SRCS yarp/companion/impl/Companion.cpp
                              yarp/companion/impl/Companion.cmdResource.cpp
                              yarp/companion/impl/Companion.cmdRead.cpp
                              yarp/companion/impl/Companion.cmdReadWrite.cpp
+                             yarp/companion/impl/Companion.cmdRepeat.cpp
                              yarp/companion/impl/Companion.cmdRpc.cpp
                              yarp/companion/impl/Companion.cmdRpcServer.cpp
                              yarp/companion/impl/Companion.cmdSample.cpp

diff --git a/src/libYARP_companion/src/yarp/companion/impl/Companion.cmdRepeat.cpp b/src/libYARP_companion/src/yarp/companion/impl/Companion.cmdRepeat.cpp
@@ -0,0 +1,62 @@
+/*
+ * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
+ * All rights reserved.
+ *
+ * This software may be modified and distributed under the terms of the
+ * BSD-3-Clause license. See the accompanying LICENSE file for details.
+ */
+
+#include <yarp/companion/impl/Companion.h>
+
+#include <yarp/os/Bottle.h>
+#include <yarp/os/BufferedPort.h>
+#include <yarp/os/Network.h>
+#include <yarp/os/Property.h>
+
+using yarp::companion::impl::Companion;
+using yarp::os::Bottle;
+using yarp::os::BufferedPort;
+using yarp::os::NetworkBase;
+using yarp::os::Property;
+
+int Companion::cmdRepeat(int argc, char *argv[])
+{
+    BufferedPort<Bottle> port;
+
+    Property options;
+    options.fromCommand(argc, argv, false);
+    if (argc==0 || options.check("help"))
+    {
+        yCInfo(COMPANION, "This is yarp repeat. Syntax:");
+        yCInfo(COMPANION, "  yarp repeat /port");
+        yCInfo(COMPANION, "/port is both the input port and the output port which repeats data");
+        return 1;
+    }
+
+    if (argc==1)
+    {
+        if (!port.open(argv[0]))
+        {
+            yCError(COMPANION, "Failed to open port: %s", argv[0]);
+            return 1;
+        }
+    }
+    else
+    {
+        yCError(COMPANION, "Invalid command syntax");
+        return 1;
+    }
+
+    while (true)
+    {
+        Bottle *bot = port.read();
+        if (!bot) continue;
+        if (port.getOutputCount()>0)
+        {
+            port.prepare() = *bot;
+            port.write();
+        }
+    }
+
+    return 0;
+}
diff --git a/src/libYARP_companion/src/yarp/companion/impl/Companion.cpp b/src/libYARP_companion/src/yarp/companion/impl/Companion.cpp
@@ -154,6 +154,7 @@ Companion::Companion() :
     add("priority-qos",    &Companion::cmdPriorityQos,    "set/get the packet priority for a given connection");
     add("read",            &Companion::cmdRead,           "read from the network and print to standard output");
     add("readwrite",       &Companion::cmdReadWrite,      "read from the network and print to standard output, write to the network from standard input");
+    add("repeat",          &Companion::cmdRepeat,         "repeats on the output port the same data received in the input port");
     add("resource",        &Companion::cmdResource,       "locates resource files (see ResourceFinder class)");
     add("rpc",             &Companion::cmdRpc,            "write commands to a port, and read replies");
     add("rpcserver",       &Companion::cmdRpcServer,      "make a test RPC server to receive and reply to Bottle-format messages");

diff --git a/src/libYARP_companion/src/yarp/companion/impl/Companion.h b/src/libYARP_companion/src/yarp/companion/impl/Companion.h
@@ -110,6 +110,9 @@ class YARP_companion_API Companion
     // Defined in Companion.cmdReadWrite.cpp
     int cmdReadWrite(int argc, char *argv[]);
 
+    // Defined in Companion.cmdRepeat.cpp
+    int cmdRepeat(int argc, char* argv[]);
+
     // Defined in Companion.cmdResource.cpp
     int cmdResource(int argc, char *argv[]);