YARP
Yet Another Robot Platform
port_power/ex0501_raw_target_sender.cpp

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

/*
* Copyright (C) 2006-2020 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() {
int ct = 0;
Port p; // Create a port.
p.open("/target/raw/out"); // Give it a name on the network.
while (true) {
BinPortable<Target> b; // Make a place to store things.
b.content().x = ct;
b.content().y = 42;
ct++;
p.write(b); // Send the data.
printf("Sent (%d,%d)\n", b.content().x, b.content().y);
}
return 0;
}
all.h
yarp::os::BinPortable::content
T & content()
Get the internal structure that will be read or written.
Definition: BinPortable-inl.h:17
main
int main(int argc, char *argv[])
Definition: yarpros.cpp:261
yarp::os::Port::open
bool open(const std::string &name) override
Start port operation, with a specific name, with automatically-chosen network parameters.
Definition: Port.cpp:82
yarp::os::BinPortable
Class for writing and reading simple binary structures.
Definition: BinPortable.h:30
yarp::os::Port
A mini-server for network communication.
Definition: Port.h:50
yarp::os::Port::write
bool write(const PortWriter &writer, const PortWriter *callback=nullptr) const override
Write an object to the port.
Definition: Port.cpp:430
yarp::os
An interface to the operating system, including Port based communication.
Definition: AbstractCarrier.h:17
yarp::os::Network
Utilities for manipulating the YARP network, including initialization and shutdown.
Definition: Network.h:786
yarp
The main, catch-all namespace for YARP.
Definition: environment.h:18
yarp::os::Time::delay
void delay(double seconds)
Wait for a certain number of seconds.
Definition: Time.cpp:114