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// Copyright (c) 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]
#include "topic_data.hpp"
//! [include topic]
//! [include sig watcher]
#include "iceoryx_hoofs/posix_wrapper/signal_watcher.hpp"
//! [include sig watcher]
//! [include]
#include "iceoryx_posh/popo/publisher.hpp"
#include "iceoryx_posh/runtime/posh_runtime.hpp"
//! [include]
#include <iostream>
int main()
{
//! [initialize runtime]
constexpr char APP_NAME[] = "iox-cpp-publisher-helloworld";
iox::runtime::PoshRuntime::initRuntime(APP_NAME);
//! [initialize runtime]
//! [create publisher]
iox::popo::Publisher<RadarObject> publisher({"Radar", "FrontLeft", "Object"});
//! [create publisher]
double ct = 0.0;
//! [wait for term]
while (!iox::posix::hasTerminationRequested())
//! [wait for term]
{
++ct;
// Retrieve a sample from shared memory
//! [loan]
auto loanResult = publisher.loan();
//! [loan]
//! [publish]
if (!loanResult.has_error())
{
auto& sample = loanResult.value();
// Sample can be held until ready to publish
sample->x = ct;
sample->y = ct;
sample->z = ct;
sample.publish();
}
//! [publish]
//! [error]
else
{
auto error = loanResult.get_error();
// Do something with error
std::cerr << "Unable to loan sample, error code: " << error << std::endl;
}
//! [error]
//! [msg]
std::cout << APP_NAME << " sent value: " << ct << std::endl;
std::this_thread::sleep_for(std::chrono::seconds(1));
//! [msg]
}
return 0;
}
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