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// Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
// Copyright (c) 2020 - 2022 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_binding_c/publisher.h"
#include "iceoryx_binding_c/runtime.h"
#include "sleep_for.h"
#include "topic_data.h"
#include <signal.h>
#include <stdbool.h>
#include <stdio.h>
bool killswitch = false;
static void sigHandler(int signalValue)
{
// Ignore unused variable warning
(void)signalValue;
// caught SIGINT or SIGTERM, now exit gracefully
killswitch = true;
}
void sending()
{
//! [create runtime instance]
const char APP_NAME[] = "iox-c-publisher";
iox_runtime_init(APP_NAME);
//! [create runtime instance]
//! [create publisher port]
iox_pub_options_t options;
iox_pub_options_init(&options);
options.historyCapacity = 10U;
options.nodeName = "iox-c-publisher-node";
iox_pub_storage_t publisherStorage;
iox_pub_t publisher = iox_pub_init(&publisherStorage, "Radar", "FrontLeft", "Object", &options);
//! [create publisher port]
//! [send and print number]
double ct = 0.0;
while (!killswitch)
{
void* userPayload = NULL;
if (AllocationResult_SUCCESS == iox_pub_loan_chunk(publisher, &userPayload, sizeof(struct RadarObject)))
{
struct RadarObject* sample = (struct RadarObject*)userPayload;
sample->x = ct;
sample->y = ct;
sample->z = ct;
printf("%s sent value: %.0f\n", APP_NAME, ct);
fflush(stdout);
iox_pub_publish_chunk(publisher, userPayload);
++ct;
sleep_for(400);
}
else
{
printf("Failed to allocate chunk!");
}
}
//! [send and print number]
//! [cleanup]
iox_pub_deinit(publisher);
//! [cleanup]
}
int main()
{
signal(SIGINT, sigHandler);
signal(SIGTERM, sigHandler);
sending();
return 0;
}
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