Yet Another Robot Platform

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;
class DataProcessor : public TypedReaderCallback<Bottle>, public PortReader {
virtual void onRead(Bottle& b) {
// process data in b
printf("Got one-way message: %s\n", b.toString().c_str());
virtual bool read(ConnectionReader& connection) {
Bottle in, out;
// process data "in", prepare "out"
printf("Got message to reply to: %s\n", in.toString().c_str());
ConnectionWriter *returnToSender = connection.getWriter();
if (returnToSender!=NULL) {
return true;
DataProcessor processor;
int main() {
Network yarp;
DataProcessor processor;
BufferedPort<Bottle> p;
p.useCallback(processor); // input should go to processor.onRead()
p.setReplier(processor); // input with replt goes to processor.read()
p.open("/in"); // Give it a name on the network.
while (true) {
printf("main thread free to do whatever it wants\n");
return 0;
void delay(double seconds)
Wait for a certain number of seconds.
Definition: Time.cpp:111
An interface to the operating system, including Port based communication.
bool read(ImageOf< PixelRgb > &dest, const std::string &src, image_fileformat format=FORMAT_ANY)
Definition: ImageFile.cpp:923
The main, catch-all namespace for YARP.
Definition: dirs.h:16
int main(int argc, char *argv[])
Definition: yarpros.cpp:264