Use UDP carrier in streaming output, use Contactable::addOutput

Closes #120.
roboticslab-uc3m · Dec 5, 2017 · 082597a · 082597a
1 parent 1cf9cd1
commit 082597a
Showing 1 changed file with 14 additions and 5 deletions.
diff --git a/libraries/YarpPlugins/CartesianControlClient/DeviceDriverImpl.cpp b/libraries/YarpPlugins/CartesianControlClient/DeviceDriverImpl.cpp
@@ -4,7 +4,6 @@
 
 #include <string>
 
-#include <yarp/os/Network.h>
 #include <yarp/os/Time.h>
 
 #include <ColorDebug.hpp>
@@ -24,8 +23,13 @@ bool roboticslab::CartesianControlClient::open(yarp::os::Searchable& config)
     while (tries++ < 10)
     {
         std::string suffix = config.check("transform") ? "/rpc_transform:s" : "/rpc:s";
-        yarp::os::Network::connect(local + "/rpc:c", remote + suffix);
-        if (rpcClient.getOutputCount() > 0) break;
+        rpcClient.addOutput(remote + suffix);
+
+        if (rpcClient.getOutputCount() > 0)
+        {
+            break;
+        }
+
         CD_DEBUG("Wait to connect to remote RPC server, try %d...\n", tries);
         yarp::os::Time::delay(0.5);
     }
@@ -42,8 +46,13 @@ bool roboticslab::CartesianControlClient::open(yarp::os::Searchable& config)
 
     while (tries++ < 10)
     {
-        yarp::os::Network::connect(local + "/command:o", remote + "/command:i");
-        if (commandPort.getOutputCount() > 0) break;
+        commandPort.addOutput(remote + "/command:i", "udp");
+
+        if (commandPort.getOutputCount() > 0)
+        {
+            break;
+        }
+
         CD_DEBUG("Wait to connect to remote command server, try %d...\n", tries);
         yarp::os::Time::delay(0.5);
     }