YARP
Yet Another Robot Platform
 
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port_power/ex0200_polling.cpp

Part of a series of examples on the different ways of using ports.

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

/*
* SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
* SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
* SPDX-License-Identifier: BSD-3-Clause
*/
#include <stdio.h>
#include <yarp/os/all.h>
using namespace yarp::os;
int main() {
BufferedPort<Bottle> p; // Create a port.
p.open("/in"); // Give it a name on the network.
while (true) {
Bottle *b = p.read(false); // Read from the port. Don't wait
if (b!=NULL) {
printf("Got %s\n", b->toString().c_str());
} else {
printf("No data yet...\n");
Time::delay(0.5);
}
}
return 0;
}
A simple collection of objects that can be described and transmitted in a portable way.
Definition Bottle.h:64
std::string toString() const override
Gives a human-readable textual representation of the bottle.
Definition Bottle.cpp:211
A mini-server for performing network communication in the background.
bool open(const std::string &name) override
Start port operation, with a specific name, with automatically-chosen network parameters.
T * read(bool shouldWait=true) override
Read an available object from the port.
Utilities for manipulating the YARP network, including initialization and shutdown.
Definition Network.h:706
An interface to the operating system, including Port based communication.
The main, catch-all namespace for YARP.
Definition dirs.h:16