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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 "iceoryx_hoofs/posix_wrapper/signal_watcher.hpp"
#include "iceoryx_posh/runtime/posh_runtime.hpp"
//! [include ServiceDiscovery]
#include "iceoryx_posh/runtime/service_discovery.hpp"
//! [include ServiceDiscovery]
#include <iostream>
constexpr char APP_NAME[] = "iox-find-service";
//! [print function to be applied to search results]
void printSearchResult(const iox::capro::ServiceDescription& service)
{
std::cout << "- " << service << std::endl;
}
//! [print function to be applied to search results]
int main()
{
iox::runtime::PoshRuntime::initRuntime(APP_NAME);
//! [create ServiceDiscovery object]
iox::runtime::ServiceDiscovery serviceDiscovery;
//! [create ServiceDiscovery object]
while (!iox::posix::hasTerminationRequested())
{
std::cout << "\n=========================================" << std::endl;
std::cout << "\nSearched for {'Radar', 'FrontLeft', 'Image'}. Found the following services:" << std::endl;
//! [search for unique service]
serviceDiscovery.findService(iox::capro::IdString_t{"Radar"},
iox::capro::IdString_t{"FrontLeft"},
iox::capro::IdString_t{"Image"},
printSearchResult,
iox::popo::MessagingPattern::PUB_SUB);
//! [search for unique service]
std::cout << "\nSearched for {'Radar', *, *}. Found the following services:" << std::endl;
serviceDiscovery.findService(iox::capro::IdString_t{"Radar"},
iox::capro::Wildcard,
iox::capro::Wildcard,
printSearchResult,
iox::popo::MessagingPattern::PUB_SUB);
std::cout << "\nSearched for {*, 'FrontLeft', *}. Found the following services:" << std::endl;
serviceDiscovery.findService(iox::capro::Wildcard,
iox::capro::IdString_t{"FrontLeft"},
iox::capro::Wildcard,
printSearchResult,
iox::popo::MessagingPattern::PUB_SUB);
std::cout << "\nSearched for {*, 'FrontRight', 'Image'}. Found the following services:" << std::endl;
serviceDiscovery.findService(iox::capro::Wildcard,
iox::capro::IdString_t{"FrontRight"},
iox::capro::IdString_t{"Image"},
printSearchResult,
iox::popo::MessagingPattern::PUB_SUB);
std::cout << "\nSearched for {'Camera', *, *}. Found the following services:" << std::endl;
//! [search for all Camera services]
serviceDiscovery.findService(iox::capro::IdString_t{"Camera"},
iox::capro::Wildcard,
iox::capro::Wildcard,
printSearchResult,
iox::popo::MessagingPattern::PUB_SUB);
//! [search for all Camera services]
std::this_thread::sleep_for(std::chrono::seconds(1));
}
return (EXIT_SUCCESS);
}
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