main.cpp

#include <yarp/os/Network.h>
#include <yarp/os/Port.h>
#include <yarp/os/Bottle.h>
#include <yarp/os/LogStream.h>
#include <yarp/os/ConnectionReader.h>
#include <yarp/sig/Vector.h>

#include <thread>
#include <chrono>
using namespace std::chrono_literals;

class DataProcessor :
        public yarp::os::PortReader
{
    bool read(yarp::os::ConnectionReader& connection) override
    {
        // Read whatever is sent
        yarp::os::Bottle b;
        bool ok = b.read(connection);
        if (!ok) {
            return false;
        }
        yDebug() << b.toString();

        // Reply with a vector
        yarp::os::ConnectionWriter* writer = connection.getWriter();
        yarp::sig::Vector v{0.0, 1.0, 2.0, 3.0, 4.0, 5.0, 6.0};
        if (!v.write(*writer)) {
            return false;
        }

        return true;
    }
};


int main(int argc, char *argv[])
{
    yarp::os::Network yarp;

    yarp::os::Port port;
    DataProcessor processor;
    port.setReader(processor);

    port.open("/test");

    while (true) {
        std::this_thread::sleep_for(1s);
    }
    return 0;
}