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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/cxx/vector.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-vector";
int main()
{
// initialize runtime
iox::runtime::PoshRuntime::initRuntime(APP_NAME);
// initialize publisher
//! [create publisher]
iox::popo::Publisher<iox::cxx::vector<double, 5>> publisher({"Radar", "FrontRight", "VectorData"});
//! [create publisher]
uint64_t ct = 0;
// run until interrupted by Ctrl-C
while (!iox::posix::hasTerminationRequested())
{
publisher.loan()
.and_then([&](auto& sample) {
//! [vector emplace_back]
for (uint64_t i = 0U; i < sample->capacity(); ++i)
{
// we can omit the check of the return value since the loop doesn't exceed the capacity of the
// vector
sample->emplace_back(static_cast<double>(ct + i));
}
//! [vector emplace_back]
sample.publish();
})
.or_else([](auto& error) {
// do something with error
std::cerr << "Unable to loan sample, error code: " << error << std::endl;
});
++ct;
std::this_thread::sleep_for(std::chrono::seconds(1));
}
return (EXIT_SUCCESS);
}
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