Re: [rc-hackers] Add new port commands

[Paul F. <pau...@al...>]

Hi Truong,

The YARP administrative interface is close to what you want.  It 
duplicates the lower level commands you already found, and is easier to 
add commands to:

   http://wiki.icub.org/yarpdoc/port_admin.html

You can currently send admin messesages by calling setAdminMode(true) on 
a port and using the normal write commands. However, there's no way to 
catch those messages currently without modifying YARP (specifically the 
PortCore::adminBlock method).  If you open an issue I'd be happy to help 
with adding a callback for this -

   https://github.com/robotology/yarp/issues/new

Cheers,
Paul

On 08/13/2014 01:31 PM, Nghiem Xuan Truong wrote:
> Hi all,
>
> I am a newbie to YARP.  From the documentation, I know that ports can receive commands (http://wiki.icub.org/yarpdoc/yarp_protocol.html, when a flag CHAR is not ‘d').  A few commands are already defined by YARP, e.g. /, !, ~.  Can I add a new port command without having to change the YARP source code and recompile everything?
>
> To give the context, I’m building a domain-specific framework on top of YARP, and would like ports to exchange several system commands.  Of course, I can define a data message that embed the system command, but the solution would be cleaner and safer if the system commands could be hidden from the users.  That’s why I want new port commands.
>
> Thanks.
> --
> Truong (Tim) Nghiem
> xua...@ep...
>
>
>
>
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