Yet Another Robot Platform

Part of a series of examples on the different ways of using ports. See Port power tutorial.

* Copyright (C) 2006-2019 Istituto Italiano di Tecnologia (IIT)
* Copyright (C) 2006-2010 RobotCub Consortium
* All rights reserved.
* This software may be modified and distributed under the terms of the
* BSD-3-Clause license. See the accompanying LICENSE file for details.
#include <stdio.h>
#include <yarp/os/all.h>
using namespace yarp::os;
// define the Target class
#include "TargetVer2.h"
int main() {
Port p; // Create a port.
p.open("/target/raw/in"); // Give it a name on the network.
Target t; // Make a place to store things.
while (true) {
p.read(t); // Read from the port. Waits until data arrives.
// Do something with data.
printf("Got (%d,%d)\n", t.x, t.y);
return 0;