1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
|
// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
/**
* @file HelloWorld_main.cpp
*
*/
#include "HelloWorldPublisher.h"
#include "HelloWorldSubscriber.h"
#include <fastrtps/Domain.h>
#include <fastrtps/log/Log.h>
using namespace eprosima;
using namespace fastrtps;
using namespace rtps;
int main(
int argc,
char** argv)
{
std::cout << "Starting " << std::endl;
int type = 1;
int count = 10;
long sleep = 100;
if (argc > 1)
{
if (strcmp(argv[1], "publisher") == 0)
{
type = 1;
if (argc >= 3)
{
count = atoi(argv[2]);
if (argc == 4)
{
sleep = atoi(argv[3]);
}
}
}
else if (strcmp(argv[1], "subscriber") == 0)
{
type = 2;
}
else if (strcmp(argv[1], "both") == 0)
{
type = 3;
}
}
else
{
std::cout << "publisher, subscriber or both argument needed" << std::endl;
Log::Reset();
return 0;
}
switch (type)
{
case 1:
{
HelloWorldPublisher mypub;
if (mypub.init())
{
mypub.run(count, sleep);
}
break;
}
case 2:
{
HelloWorldSubscriber mysub;
if (mysub.init())
{
mysub.run();
}
break;
}
case 3:
{
std::thread thread_sub([]
{
HelloWorldSubscriber mysub;
if (mysub.init())
{
mysub.run();
}
});
std::thread thread_pub([&]
{
HelloWorldPublisher mypub;
if (mypub.init())
{
mypub.run(count, sleep);
}
});
thread_sub.join();
thread_pub.join();
break;
}
}
Domain::stopAll();
Log::Reset();
return 0;
}
|
