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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
//! [iceoryx includes]
#include "request_and_response_types.hpp"
#include "iceoryx_hoofs/posix_wrapper/signal_watcher.hpp"
#include "iceoryx_posh/popo/client.hpp"
#include "iceoryx_posh/runtime/posh_runtime.hpp"
//! [iceoryx includes]
#include <iostream>
int main()
{
//! [initialize runtime]
constexpr char APP_NAME[] = "iox-cpp-request-response-client-basic";
iox::runtime::PoshRuntime::initRuntime(APP_NAME);
//! [initialize runtime]
//! [create client]
iox::popo::Client<AddRequest, AddResponse> client({"Example", "Request-Response", "Add"});
//! [create client]
//! [send requests in a loop]
uint64_t fibonacciLast = 0;
uint64_t fibonacciCurrent = 1;
int64_t requestSequenceId = 0;
int64_t expectedResponseSequenceId = requestSequenceId;
while (!iox::posix::hasTerminationRequested())
{
//! [send request]
client.loan()
.and_then([&](auto& request) {
request.getRequestHeader().setSequenceId(requestSequenceId);
expectedResponseSequenceId = requestSequenceId;
requestSequenceId += 1;
request->augend = fibonacciLast;
request->addend = fibonacciCurrent;
std::cout << APP_NAME << " Send Request: " << fibonacciLast << " + " << fibonacciCurrent << std::endl;
request.send().or_else(
[&](auto& error) { std::cout << "Could not send Request! Error: " << error << std::endl; });
})
.or_else([](auto& error) { std::cout << "Could not allocate Request! Error: " << error << std::endl; });
//! [send request]
// the client polls with an interval of 150ms
constexpr std::chrono::milliseconds DELAY_TIME{150U};
std::this_thread::sleep_for(DELAY_TIME);
//! [take response]
while (client.take().and_then([&](const auto& response) {
auto receivedSequenceId = response.getResponseHeader().getSequenceId();
if (receivedSequenceId == expectedResponseSequenceId)
{
fibonacciLast = fibonacciCurrent;
fibonacciCurrent = response->sum;
std::cout << APP_NAME << " Got Response : " << fibonacciCurrent << std::endl;
}
else
{
std::cout << "Got Response with outdated sequence ID! Expected = " << expectedResponseSequenceId
<< "; Actual = " << receivedSequenceId << "! -> skip" << std::endl;
}
}))
{
};
//! [take response]
constexpr std::chrono::milliseconds SLEEP_TIME{950U};
std::this_thread::sleep_for(SLEEP_TIME);
}
//! [send requests in a loop]
return EXIT_SUCCESS;
}
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