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// Copyright (c) 2021 by Apex.AI Inc. All rights reserved.
//
// 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.
//
// SPDX-License-Identifier: Apache-2.0
#include "iceoryx_hoofs/posix_wrapper/signal_watcher.hpp"
#include "iceoryx_posh/popo/publisher.hpp"
#include "iceoryx_posh/runtime/posh_runtime.hpp"
#include "topic_data.hpp"
#include <chrono>
#include <csignal>
#include <iostream>
constexpr char APP_NAME[] = "iox-cpp-callbacks-publisher";
void sending()
{
iox::runtime::PoshRuntime::initRuntime(APP_NAME);
iox::popo::Publisher<CounterTopic> myPublisherLeft({"Radar", "FrontLeft", "Counter"});
iox::popo::Publisher<CounterTopic> myPublisherRight({"Radar", "FrontRight", "Counter"});
for (uint32_t counter = 0U; !iox::posix::hasTerminationRequested(); ++counter)
{
if (counter % 3 == 0)
{
std::cout << "Radar.FrontLeft.Counter sending : " << counter << std::endl;
myPublisherLeft.publishCopyOf(CounterTopic{counter}).or_else([](auto) {
std::cerr << "Radar.FrontLeft.Counter send failed\n";
});
}
else
{
std::cout << "Radar.FrontRight.Counter sending : " << counter * 2 << std::endl;
myPublisherRight.publishCopyOf(CounterTopic{counter * 2}).or_else([](auto) {
std::cerr << "Radar.FrontRight.Counter send failed\n";
});
}
std::this_thread::sleep_for(std::chrono::seconds(1));
}
}
int main()
{
sending();
return (EXIT_SUCCESS);
}
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