Yet Another Robot Platform

Measure the framerate of a data source. This example was originally designed for images but should work with anything.

* 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 <stdlib.h>
#include <signal.h>
#include <yarp/sig/Image.h>
#include <yarp/os/Time.h>
using namespace yarp::os;
using namespace yarp::sig;
static bool terminated=false;
BufferedPort<Bottle> *iPort=0;
static void handler (int) {
static int ct = 0;
fprintf(stderr, "[try %d of %d] Asking to shut down smoothly\n",ct, 3);
terminated = true;
if (iPort!=0)
if (ct>2)
fprintf(stderr, "[try %d of %d] OK asking to abort...\n", ct, 3);
int main(int argc, char *argv[]) {
Network yarp;
signal(SIGINT, handler);
signal(SIGTERM, handler);
if (argc==1) {
printf("This program checks the framerate of an output port\n");
printf("Call as:\n");
printf(" framerate --remote /port_name --local /local_name --prot protocol\n");
printf("protocol can be for example tcp,udp,mcast\n");
BufferedPort<Bottle> port;
iPort=&port; //give pointer to port to signal handler (used to interrupt port at shutdown
// get options
Property opt;
// name port
Value *val;
Value *prot;
std::string local = "/get_image";
if (opt.check("local",val)) {
local = val->asString().c_str();
// connect port
if (opt.check("remote", val))
if (opt.check("prot", prot))
Network::connect(val->asString(), local.c_str(), prot->asString().c_str());
Network::connect(val->asString(), local.c_str());
// read
double first = Time::now();
double prev = 0;
int ct = 0;
bool spoke = false;
while (!terminated) {
Bottle *bot = port.read(true);
double now = Time::now()-first;
if (now-prev>=2) {
double period = (now-prev)/ct;
printf("Period is %g ms per message, freq is %g (%d mgs in %g secs)\n",
period*1000, 1/period, ct, now-prev);
ct = 0;
prev = now;
spoke = false;
if (bot!=NULL) {
if (!spoke) {
printf("Got something with %d top-level elements\n", bot->size());
spoke = true;
iPort=0; //just in case
return 0;
static bool terminated
Definition: Drivers.cpp:359
static void handler(int sig)
Definition: RFModule.cpp:241
static bool connect(const std::string &src, const std::string &dest, const std::string &carrier="", bool quiet=true)
Request that an output port connect to an input port.
Definition: Network.cpp:682
double now()
Return the current time in seconds, relative to an arbitrary starting point.
Definition: Time.cpp:121
An interface to the operating system, including Port based communication.
Signal processing.
Definition: Image.h:22
The main, catch-all namespace for YARP.
Definition: dirs.h:16
int main(int argc, char *argv[])
Definition: yarpros.cpp:264