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// Copyright (c) 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 custom discovery]
#include "discovery_monitor.hpp"
//! [include custom discovery]
#include "iceoryx_hoofs/posix_wrapper/signal_watcher.hpp"
#include "iceoryx_posh/runtime/posh_runtime.hpp"
#include <iostream>
using namespace discovery;
constexpr char APP_NAME[] = "iox-monitor-discovery";
iox::capro::IdString_t service{"Camera"};
iox::capro::IdString_t instance{"FrontLeft"};
iox::capro::IdString_t event{"Image"};
void printSearchResult(const discovery::ServiceContainer& result)
{
std::cout << APP_NAME << " search result:" << (result.empty() ? "empty\n" : "") << std::endl;
for (const auto& entry : result)
{
std::cout << APP_NAME << " " << entry.getServiceIDString() << ", " << entry.getInstanceIDString() << ", "
<< entry.getEventIDString() << "\n"
<< std::endl;
}
}
int main()
{
iox::runtime::PoshRuntime::initRuntime(APP_NAME);
//! [create custom discovery]
// requires the runtime to be created first
Discovery discovery;
//! [create custom discovery]
//! [create monitoring callback]
auto callback = [&](Discovery& discovery) -> void {
auto result = discovery.findService(service, instance, event);
if (!result.empty())
{
std::cout << APP_NAME << " <" << service << ", " << instance << ", " << event << "> available" << std::endl;
}
else
{
std::cout << APP_NAME << " <" << service << ", " << instance << ", " << event << "> unavailable"
<< std::endl;
}
printSearchResult(result);
};
//! [create monitoring callback]
// only one callback allowed, hence we require no handles to deregister
// the callback later
//! [register callback]
discovery.registerCallback(callback);
//! [register callback]
while (!iox::posix::hasTerminationRequested())
{
// here the app would run its functional code while the
// service availability is monitored in the background
}
//! [deregister callback]
discovery.deregisterCallback();
//! [deregister callback]
return (EXIT_SUCCESS);
}
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