int main() { Network yarp; DataProcessor processor; BufferedPort<Bottle> p; p.useCallback(processor); // input should go to processor.onRead() p.setReplier(processor); // input with replt goes to processor.read() p.open("/in"); // Give it a name on the network. while (true) { printf("main thread free to do whatever it wants\n"); Time::delay(10); } return 0; }