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// 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 "topic_data.hpp"
#include "iceoryx_hoofs/posix_wrapper/signal_watcher.hpp"
#include "iceoryx_posh/popo/subscriber.hpp"
#include "iceoryx_posh/runtime/posh_runtime.hpp"
#include <iostream>
constexpr char APP_NAME[] = "iox-cpp-subscriber-with-options";
int main()
{
// initialize runtime
iox::runtime::PoshRuntime::initRuntime(APP_NAME);
// create subscriber with some options set
iox::popo::SubscriberOptions subscriberOptions;
// the queue can hold 10 samples, on overflow the oldest sample will be replaced with the new arriving one
//! [queue capacity]
subscriberOptions.queueCapacity = 10U;
//! [queue capacity]
// When starting the subscriber late it will miss the first samples which the
// publisher has send. The history request ensures that we at least get the last 5
// samples sent by the publisher when we subscribe (if at least 5 were already sent
// and the publisher has history enabled).
// we do not require the publisher to support the history we request,
// i.e. we will still connect even if its historyCapacity is smaller than what we request
//! [history]
subscriberOptions.historyRequest = 5U;
subscriberOptions.requiresPublisherHistorySupport = false;
//! [history]
// when the subscriber is created, no attempts are made to connect to any publishers that may exist
//! [subscribe on create]
subscriberOptions.subscribeOnCreate = false;
//! [subscribe on create]
// grouping of publishers and subscribers within a process
//! [node name]
subscriberOptions.nodeName = "Sub_Node_With_Options";
//! [node name]
// we request the publisher to wait for space in the queue if it is full. The publisher will be blocked then
//! [queue full policy]
subscriberOptions.queueFullPolicy = iox::popo::QueueFullPolicy::BLOCK_PRODUCER;
//! [queue full policy]
//! [create subscriber with options]
iox::popo::Subscriber<RadarObject> subscriber({"Radar", "FrontLeft", "Object"}, subscriberOptions);
//! [create subscriber with options]
// We have to explicitly call subscribe() otherwise the subscriber will not try to connect to publishers
//! [subscribe]
subscriber.subscribe();
//! [subscribe]
// run until interrupted by Ctrl-C
while (!iox::posix::hasTerminationRequested())
{
subscriber.take().and_then(
[](auto& sample) { std::cout << APP_NAME << " got value: " << sample->x << std::endl; });
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
}
subscriber.unsubscribe();
return (EXIT_SUCCESS);
}
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