1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
|
// 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 subscriber]
#include "iceoryx_posh/popo/subscriber.hpp"
//! [include subscriber]
#include "iceoryx_hoofs/posix_wrapper/signal_watcher.hpp"
#include "iceoryx_posh/runtime/posh_runtime.hpp"
#include <iostream>
constexpr char APP_NAME[] = "iox-cpp-subscriber";
int main()
{
// initialize runtime
iox::runtime::PoshRuntime::initRuntime(APP_NAME);
//! [create subscriber]
iox::popo::Subscriber<RadarObject> subscriber({"Radar", "FrontLeft", "Object"});
//! [create subscriber]
// run until interrupted by Ctrl-C
while (!iox::posix::hasTerminationRequested())
{
subscriber
.take()
//! [sample happy path]
.and_then([](auto& sample) {
//! [print sample info]
std::cout << APP_NAME << " got value: " << sample->x << std::endl;
//! [print sample info]
})
//! [sample happy path]
.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::milliseconds(100));
}
return (EXIT_SUCCESS);
}
|
