relay.cpp

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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#include <yarp/os/all.h>
#include <iostream>
 
using namespace std;
using namespace yarp::os;
 
int main(int argc, char **argv) {
    Network yarp;
    BufferedPort<Bottle> inPort;
    inPort.open("/relay/in");
 
    BufferedPort<Bottle> outPort;
    outPort.open("/relay/out");
 
    while (true) {
        cout << "waiting for input" << endl;
        Bottle *input = inPort.read();
        if (input!=NULL) 
        {
            Bottle& output = outPort.prepare();
            output=*input;
            
            cout << "writing " << output.toString() << endl;
            outPort.write();
        }
    }
    return 0;
}