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// Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
// 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 "iceoryx.hpp"
#include <chrono>
#include <thread>
Iceoryx::Iceoryx(const iox::capro::IdString_t& publisherName, const iox::capro::IdString_t& subscriberName) noexcept
: m_publisher({"IcePerf", publisherName, "C++-API"}, iox::popo::PublisherOptions{1U})
, m_subscriber({"IcePerf", subscriberName, "C++-API"}, iox::popo::SubscriberOptions{1U, 1U})
{
}
void Iceoryx::initLeader() noexcept
{
init();
}
void Iceoryx::initFollower() noexcept
{
init();
}
void Iceoryx::init() noexcept
{
std::cout << "Waiting for: subscription" << std::flush;
while (m_subscriber.getSubscriptionState() != iox::SubscribeState::SUBSCRIBED)
{
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
std::cout << ", subscriber" << std::flush;
while (!m_publisher.hasSubscribers())
{
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
std::cout << " [ success ]" << std::endl;
}
void Iceoryx::shutdown() noexcept
{
m_subscriber.unsubscribe();
std::cout << "Waiting for: unsubscribe " << std::flush;
while (!m_publisher.hasSubscribers())
{
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
// with stopOffer we disconnect all subscribers and the publisher is no more visible
m_publisher.stopOffer();
std::cout << " [ finished ]" << std::endl;
}
void Iceoryx::sendPerfTopic(const uint32_t payloadSizeInBytes, const RunFlag runFlag) noexcept
{
m_publisher.loan(payloadSizeInBytes).and_then([&](auto& userPayload) {
auto sendSample = static_cast<PerfTopic*>(userPayload);
sendSample->payloadSize = payloadSizeInBytes;
sendSample->runFlag = runFlag;
sendSample->subPackets = 1;
m_publisher.publish(userPayload);
});
}
PerfTopic Iceoryx::receivePerfTopic() noexcept
{
bool hasReceivedSample{false};
PerfTopic receivedSample;
do
{
m_subscriber.take().and_then([&](const void* data) {
receivedSample = *(static_cast<const PerfTopic*>(data));
hasReceivedSample = true;
m_subscriber.release(data);
});
} while (!hasReceivedSample);
return receivedSample;
}
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