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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/cxx/string.hpp"
#include "iceoryx_hoofs/posix_wrapper/signal_watcher.hpp"
#include "iceoryx_posh/popo/subscriber.hpp"
#include "iceoryx_posh/runtime/posh_runtime.hpp"
constexpr char APP_NAME[] = "iox-cpp-subscriber-complexdata";
int main()
{
// initialize runtime
iox::runtime::PoshRuntime::initRuntime(APP_NAME);
// initialize subscriber
iox::popo::Subscriber<ComplexDataType> subscriber({"Group", "Instance", "ComplexDataTopic"});
// run until interrupted by Ctrl-C
while (!iox::posix::hasTerminationRequested())
{
subscriber.take()
.and_then([](auto& sample) {
std::stringstream s;
s << APP_NAME << " got values:";
const char* separator = " ";
s << std::endl << "stringForwardList:";
for (const auto& entry : sample->stringForwardList)
{
s << separator << entry;
separator = ", ";
}
s << std::endl << "integerList:";
separator = " ";
for (const auto& entry : sample->integerList)
{
s << separator << entry;
separator = ", ";
}
s << std::endl << "optionalList:";
separator = " ";
//! [read optional list]
for (const auto& entry : sample->optionalList)
{
(entry.has_value()) ? s << separator << entry.value() : s << separator << "optional is empty";
separator = ", ";
}
//! [read optional list]
s << std::endl << "floatStack:";
separator = " ";
//! [read stack]
auto stackCopy = sample->floatStack;
while (stackCopy.size() > 0U)
{
auto result = stackCopy.pop();
s << separator << result.value();
separator = ", ";
}
//! [read stack]
s << std::endl << "someString: " << sample->someString;
s << std::endl << "doubleVector:";
separator = " ";
for (const auto& entry : sample->doubleVector)
{
s << separator << entry;
separator = ", ";
}
s << std::endl << "variantVector:";
separator = " ";
//! [read variant vector]
for (const auto& i : sample->variantVector)
{
switch (i.index())
{
case 0:
s << separator << *i.template get_at_index<0>();
break;
case 1:
s << separator << *i.template get_at_index<1>();
break;
case INVALID_VARIANT_INDEX:
s << separator << "variant does not contain a type";
break;
default:
s << separator << "this is a new type";
}
separator = ", ";
}
//! [read variant vector]
std::cout << s.str() << std::endl << std::endl;
})
.or_else([](auto& result) {
// only has to be called if the alternative is of interest,
// i.e. if nothing has to happen when no data is received and
// a possible error alternative is not checked or_else is not needed
if (result != iox::popo::ChunkReceiveResult::NO_CHUNK_AVAILABLE)
{
std::cout << "Error receiving chunk." << std::endl;
}
});
std::this_thread::sleep_for(std::chrono::seconds(1));
}
return (EXIT_SUCCESS);
}
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