Proper usage of NetworkBase::isConnected()

[paliasgh]

Hello,

I was trying to use yarp::os::NetworkBase::isConnected() method to check in my code if two ports are connected, but I could not obtain a desirable behaviour. I have this line in my C++ code:

yarp::os::Network::isConnected("/icub-pli/tagsRight:o","/icub-pli/tagsRight:i",false);

When the two ports are not connected, it prints:

[INFO] |yarp.os.Network| No connection from /icub-pli/tagsRight:o to /icub-pli/tagsRight:i found

Once I connect the ports through the yarpmanager, it prints these two lines, but still returns false:

[INFO] |yarp.os.Network| Connection found between /icub-pli/tagsRight:o and /icub-pli/tagsRight:i using carrier fast_tcp 
[INFO] |yarp.os.Network| No connection from /icub-pli/tagsRight:o to /icub-pli/tagsRight:i found 

Could you please help me with that? Why does the function still return false? Thanks!

[Nicogene]

Hi @paliasgh,

it is a while since I don't work on YARP so my memories could be wrong, but if I recall correctly that isConnected you invoked checks if there is a connection between the src and dst using the default carrier, i.e. tcp.

Your ports are connected using fast_tcp, then you should use this function as follows:

yarp::os::Network::isConnected("/icub-pli/tagsRight:o","/icub-pli/tagsRight:i", "fast_tcp",false);

it is a while that I don't work on YARP so my memories could be wrong, but if I recall correctly that isConnected you invocked checks if there is a connection between the src and dst using the default carrier, i.e. tcp.

Unfortunately, this is not made explicit in the documentation.

cc @traversaro @randaz81

[traversaro]

I tried to fix this in robotology/yarp#3075 .