Yet Another Robot Platform

This example shows how to communicate between a pair of buffered ports.

* 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 <yarp/os/Bottle.h>
#include <yarp/os/Time.h>
#include <stdio.h>
using namespace yarp::os;
int main() {
// Initialize YARP - some OSes need network and time service initialization
// Work locally - don't rely on name server (just for this example).
// If you have a YARP name server running, you can remove this line.
// Create two ports that we'll be using to transmit "Bottle" objects.
// The ports are buffered, so that sending and receiving can happen
// in the background.
// we will want to read every message, with no skipping of "old" messages
// when new ones come in
// Name the ports
// Connect the ports so that anything written from /out arrives to /in
// Send one "Bottle" object. The port is responsible for creating
// and reusing/destroying that object, since it needs to be sure
// it exists until communication to all recipients (just one in
// this case) is complete.
Bottle& outBot1 = out.prepare(); // Get the object
outBot1.fromString("hello world"); // Set it up the way we want
printf("Writing bottle 1 (%s)\n", outBot1.toString().c_str());
out.write(); // Now send it on its way
// Send another "Bottle" object
Bottle& outBot2 = out.prepare();
outBot2.fromString("2 3 5 7 11");
printf("Writing bottle 2 (%s)\n", outBot2.toString().c_str());
out.writeStrict(); // writeStrict() will wait for any
// previous communication to finish;
// write() would skip sending if
// there was something being sent
// Read the first object
Bottle *inBot1 = in.read();
printf("Bottle 1 is: %s\n", inBot1->toString().c_str());
// Read the second object
Bottle *inBot2 = in.read();
printf("Bottle 2 is: %s\n", inBot2->toString().c_str());
return 0;