YARP  2.3.72
Yet Another Robot Platform

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

* Copyright: (C) 2010 RobotCub Consortium
* Author: Paul Fitzpatrick
* CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
#include <stdio.h>
#include <yarp/os/all.h>
using namespace yarp::os;
class DataPort : public BufferedPort<Bottle> {
virtual void onRead(Bottle& b) {
// process data in b
printf("Got %s\n", b.toString().c_str());
int main() {
DataPort p;
p.useCallback(); // input should go to onRead() callback
p.open("/in"); // Give it a name on the network.
while (true) {
printf("main thread free to do whatever it wants\n");
return 0;