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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/runtime.h"
#include "iceoryx_binding_c/subscriber.h"
#include "iceoryx_binding_c/types.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 receiving()
{
//! [create runtime instance]
const char APP_NAME[] = "iox-c-subscriber";
iox_runtime_init(APP_NAME);
//! [create runtime instance]
// When starting the subscriber late it will miss the first samples which the
// publisher has send. The history ensures that we at least get the last 10
// samples sent by the publisher when we subscribe.
//! [create subscriber port]
iox_sub_options_t options;
iox_sub_options_init(&options);
options.historyRequest = 10U;
options.queueCapacity = 50U;
options.nodeName = "iox-c-subscriber-node";
iox_sub_storage_t subscriberStorage;
iox_sub_t subscriber = iox_sub_init(&subscriberStorage, "Radar", "FrontLeft", "Object", &options);
//! [create subscriber port]
//! [receive and print data]
while (!killswitch)
{
if (SubscribeState_SUBSCRIBED == iox_sub_get_subscription_state(subscriber))
{
const void* userPayload = NULL;
// we will receive more than one sample here since the publisher is sending a
// new sample every 400 ms and we check for new samples only every second
while (ChunkReceiveResult_SUCCESS == iox_sub_take_chunk(subscriber, &userPayload))
{
const struct RadarObject* sample = (const struct RadarObject*)(userPayload);
printf("%s got value: %.0f\n", APP_NAME, sample->x);
fflush(stdout);
iox_sub_release_chunk(subscriber, userPayload);
}
printf("\n");
}
else
{
printf("Not subscribed!\n");
}
sleep_for(1000);
}
//! [receive and print data]
//! [cleanup]
iox_sub_deinit(subscriber);
//! [cleanup]
}
int main()
{
signal(SIGINT, sigHandler);
signal(SIGTERM, sigHandler);
receiving();
return 0;
}
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