Tutorial on Thrift IDL

This tutorial will guide you to understand the concept of IDL and develop a simple module using yarp thrift IDL.

Build and Install the code

Follow these steps to build and properly install your module:

• regenerate the cpp files from thrift idl

$ cd tutorial_RFModule/src/idl
$ yarpidl_thrift --gen yarp --out . memory.thrift

The yarpidl_thrift parse the memory.thrift interface file and generate the related code into tutotial_RFModule/src/idl/generated

• compile and build

$ cd tutorial_RFModule
$ mkdir build; cd build
$ cmake ../
$ make
$ make install

the make install will install your module (binary, xml files, etc) in the icub Contrib folder which is already setup on your machine.

Run and test the module

open a terminal and connect to the /MemoryModule/rpc port using yarp rpc command:

$ yarp rpc /mymodule
>>push "hello" "ciao"
Response: [ok]
>>get "hello"
Response: [fail]
>>get_answer "hello"
Response: ciao
>>show_list
Response: [ok]
>>clear
Response: [ok]