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() {
    Network yarp;
 
    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);
        Time::delay(1);
    }
 
    return 0;
}