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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/untyped_server.hpp"
#include "iceoryx_posh/runtime/posh_runtime.hpp"
//! [iceoryx includes]
#include <iostream>
int main()
{
//! [initialize runtime]
constexpr char APP_NAME[] = "iox-cpp-request-response-server-untyped";
iox::runtime::PoshRuntime::initRuntime(APP_NAME);
//! [initialize runtime]
//! [create server]
iox::popo::UntypedServer server({"Example", "Request-Response", "Add"});
//! [create server]
//! [process requests in a loop]
while (!iox::posix::hasTerminationRequested())
{
//! [take request]
server.take().and_then([&](auto& requestPayload) {
auto request = static_cast<const AddRequest*>(requestPayload);
std::cout << APP_NAME << " Got Request: " << request->augend << " + " << request->addend << std::endl;
//! [send response]
auto requestHeader = iox::popo::RequestHeader::fromPayload(requestPayload);
server.loan(requestHeader, sizeof(AddResponse), alignof(AddResponse))
.and_then([&](auto& responsePayload) {
auto response = static_cast<AddResponse*>(responsePayload);
response->sum = request->augend + request->addend;
std::cout << APP_NAME << " Send Response: " << response->sum << std::endl;
server.send(response).or_else(
[&](auto& error) { std::cout << "Could not send Response! Error: " << error << std::endl; });
})
.or_else(
[&](auto& error) { std::cout << "Could not allocate Response! Error: " << error << std::endl; });
//! [send response]
server.releaseRequest(request);
});
//! [take request]
constexpr std::chrono::milliseconds SLEEP_TIME{100U};
std::this_thread::sleep_for(SLEEP_TIME);
}
//! [process requests in a loop]
return EXIT_SUCCESS;
}
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