port_power/ex0500_raw_target_receiver.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;

// define the Target class
#include "TargetVer1.h"

int main() {
    Network yarp;
    
    Port p;            // Create a port.
    p.open("/target/raw/in");     // Give it a name on the network.
    BinPortable<Target> b;          // Make a place to store things.
    while (true) {
        p.read(b);         // Read from the port.  Waits until data arrives.
        // Do something with data.
        printf("Got (%d,%d)\n", b.content().x, b.content().y);
    }
    
    return 0;
}