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// Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
// Copyright (c) 2020 - 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 publisher]
#include "iceoryx_posh/popo/publisher.hpp"
//! [include publisher]
#include "iceoryx_hoofs/posix_wrapper/signal_watcher.hpp"
#include "iceoryx_posh/runtime/posh_runtime.hpp"
#include <iostream>
constexpr char APP_NAME[] = "iox-cpp-publisher";
void getRadarObject(RadarObject* const object, const double& val) noexcept
{
*object = RadarObject(val, val, val);
}
int main()
{
iox::runtime::PoshRuntime::initRuntime(APP_NAME);
//! [create publisher]
iox::popo::Publisher<RadarObject> publisher({"Radar", "FrontLeft", "Object"});
//! [create publisher]
double ct = 0.0;
while (!iox::posix::hasTerminationRequested())
{
++ct;
double sampleValue1 = ct + 89;
double sampleValue2 = ct + 144;
double sampleValue3 = ct + 233;
double sampleValue4 = ct + 377;
//! [API Usage #1]
// * Retrieve a typed sample from shared memory.
// * Sample can be held until ready to publish.
// * Data is default constructed during loan
publisher.loan()
.and_then([&](auto& sample) {
sample->x = sampleValue1;
sample->y = sampleValue1;
sample->z = sampleValue1;
sample.publish();
})
.or_else([](auto& error) {
// Do something with error
std::cerr << "Unable to loan sample, error: " << error << std::endl;
});
//! [API Usage #1]
//! [API Usage #2]
// * Retrieve a typed sample from shared memory and construct data in-place
// * Sample can be held until ready to publish.
// * Data is constructed with the arguments provided.
publisher.loan(sampleValue2, sampleValue2, sampleValue2)
.and_then([](auto& sample) { sample.publish(); })
.or_else([](auto& error) {
// Do something with error
std::cerr << "Unable to loan sample, error: " << error << std::endl;
});
//! [API Usage #2]
//! [API Usage #3]
// * Basic copy-and-publish. Useful for smaller data types.
auto object = RadarObject(sampleValue3, sampleValue3, sampleValue3);
publisher.publishCopyOf(object).or_else([](auto& error) {
// Do something with error.
std::cerr << "Unable to publishCopyOf, error: " << error << std::endl;
});
//! [API Usage #3]
//! [API Usage #4]
// * Provide a callable that will be used to populate the loaned sample.
// * The first argument of the callable must be T* and is the location that the callable should
// write its result to.
publisher.publishResultOf(getRadarObject, ct).or_else([](auto& error) {
// Do something with error.
std::cerr << "Unable to publishResultOf, error: " << error << std::endl;
});
publisher
.publishResultOf([&sampleValue4](RadarObject* object) {
*object = RadarObject(sampleValue4, sampleValue4, sampleValue4);
})
.or_else([](auto& error) {
// Do something with error.
std::cerr << "Unable to publishResultOf, error: " << error << std::endl;
});
//! [API Usage #4]
std::cout << APP_NAME << " sent values: " << sampleValue1 << ", " << sampleValue2 << ", " << sampleValue3
<< ", " << ct << ", " << sampleValue4 << std::endl;
std::this_thread::sleep_for(std::chrono::seconds(1));
}
return 0;
}
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