YARP
Yet Another Robot Platform
port_power/ex0301_buffered_callback.cpp

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

/*
* Copyright (C) 2006-2018 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 <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;
}