test_thrift_return_vector

Bar.cpp

#include "Bar.h"

bool Bar::configure(yarp::os::ResourceFinder &rf)
{
    if (!rpcService.open("/test_thrift_return_vector")) {
        return false;
    }
    return this->yarp().attachAsServer(rpcService);
}

double Bar::getPeriod()
{
    return 1.0;
}

bool Bar::updateModule()
{
    return true;
}

bool Bar::close()
{
    if (rpcService.asPort().isOpen()) {
        rpcService.close();
    }
    return true;
}

yarp::sig::Vector Bar::foo()
{
    return {0.0, 1.0, 2.0, 3.0, 4.0};
}

yarp::sig::VectorOf<int> Bar::foo_int()
{
    return {0, 1, 2, 3, 4};
}

yarp::sig::VectorOf<double> Bar::foo_double()
{
    return {0.0, 1.0, 2.0, 3.0, 4.0};
}

Bar.h

#include "Foo.h"
#include <yarp/os/RFModule.h>
#include <yarp/os/RpcServer.h>
#include <yarp/os/ResourceFinder.h>

class Bar :
        public yarp::os::RFModule,
        public Foo
{
    yarp::os::RpcServer rpcService;

public:
    bool configure(yarp::os::ResourceFinder &rf) override;
    double getPeriod() override;
    bool updateModule() override;
    bool close() override;

    yarp::sig::Vector foo() override;
    yarp::sig::VectorOf<int> foo_int() override;
    yarp::sig::VectorOf<double> foo_double() override;
};

CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(test_thrift_return_vector)

set(CMAKE_CXX_EXTENSIONS OFF)
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED 11)

find_package(YARP 3.1 REQUIRED)


yarp_add_idl(IDL_GEN_FILES Foo.thrift)
add_executable(test_thrift_return_vector main.cpp Bar.cpp Bar.h Foo.thrift ${IDL_GEN_FILES})

target_link_libraries(test_thrift_return_vector
  YARP::YARP_OS
  YARP::YARP_init
  YARP::YARP_sig)

Foo.thrift

struct Vector
{
} (
    yarp.name = "yarp::sig::Vector"
    yarp.includefile="yarp/sig/Vector.h"
)

struct Vector_int
{
} (
    yarp.name = "yarp::sig::VectorOf<int>"
    yarp.includefile="yarp/sig/Vector.h"
)

struct Vector_double
{
} (
    yarp.name = "yarp::sig::VectorOf<double>"
    yarp.includefile="yarp/sig/Vector.h"
)

service Foo
{
    Vector foo();
    Vector_int foo_int();
    Vector_double foo_double();
}

main.cpp

#include "Bar.h"
#include <yarp/os/Network.h>
#include <yarp/os/ResourceFinder.h>

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

    Bar bar;
    return bar.runModule(rf);
}