The RFModule Class

Table of Contents

• Introduction
• Code

In this tutorial we show more details of how to write a YARP module using the module helper class.

Introduction

The RFModule helper class simplify writing a generic module. It provides support for:

• Perform periodic activities
• Handle signals, catch termination and perform smooth shutdown
• Parses messages from a port to monitor module activity and set/get parameters
• Use the ResourceFinder class to handle parameters

You do not need to understand the details of yarp::os::ResourceFinder to proceed with this tutorial. However it may be useful: ResourceFinder Tutorials and Specification.

Code

This is how a module will look like:

See code in: examples/rfmodule/main.cpp