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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 "topic_data.hpp"
#include "iceoryx_hoofs/posix_wrapper/signal_watcher.hpp"
#include "iceoryx_posh/popo/publisher.hpp"
#include "iceoryx_posh/runtime/posh_runtime.hpp"
constexpr char APP_NAME[] = "iox-cpp-publisher-complexdata";
// push_front (list), push (stack), emplace_back (vector) return a bool - true if the insertion succeeded, false
// otherwise
// to keep the example clear, this helper function handles the return values
//! [handle return val]
void handleInsertionReturnVal(const bool success)
{
if (!success)
{
std::cerr << "Failed to insert element." << std::endl;
std::exit(EXIT_FAILURE);
}
}
//! [handle return val]
int main()
{
// initialize runtime
iox::runtime::PoshRuntime::initRuntime(APP_NAME);
// initialize publisher
iox::popo::Publisher<ComplexDataType> publisher({"Group", "Instance", "ComplexDataTopic"});
uint64_t ct = 0;
// run until interrupted by Ctrl-C
while (!iox::posix::hasTerminationRequested())
{
++ct;
publisher.loan()
.and_then([&](auto& sample) {
//! [fill lists]
// forward_list<string<10>, 5>
handleInsertionReturnVal(sample->stringForwardList.push_front("world"));
handleInsertionReturnVal(sample->stringForwardList.push_front("hello"));
// list<uint64_t, 10>;
handleInsertionReturnVal(sample->integerList.push_front(ct));
handleInsertionReturnVal(sample->integerList.push_front(ct * 2));
handleInsertionReturnVal(sample->integerList.push_front(ct + 4));
// list<optional<int32_t>, 15>
handleInsertionReturnVal(sample->optionalList.push_front(42));
handleInsertionReturnVal(sample->optionalList.push_front(nullopt));
//! [fill lists]
// stack<float, 5>
//! [fill stack]
for (uint64_t i = 0U; i < sample->floatStack.capacity(); ++i)
{
handleInsertionReturnVal(sample->floatStack.push(static_cast<float>(ct * i)));
}
//! [fill stack]
// string<20>
//! [assign string]
sample->someString = "hello iceoryx";
//! [assign string]
// vector<double, 5>
//! [fill vectors]
for (uint64_t i = 0U; i < sample->doubleVector.capacity(); ++i)
{
handleInsertionReturnVal(sample->doubleVector.emplace_back(static_cast<double>(ct + i)));
}
// vector<variant<string<10>, double>, 10>;
handleInsertionReturnVal(sample->variantVector.emplace_back(in_place_index<0>(), "seven"));
handleInsertionReturnVal(sample->variantVector.emplace_back(in_place_index<1>(), 8.0));
handleInsertionReturnVal(sample->variantVector.emplace_back(in_place_index<0>(), "nine"));
//! [fill vectors]
sample.publish();
})
.or_else([](auto& error) {
// do something with error
std::cerr << "Unable to loan sample, error code: " << error << std::endl;
});
std::this_thread::sleep_for(std::chrono::seconds(1));
}
return (EXIT_SUCCESS);
}
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