1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
|
// Copyright (c) 2020 - 2021 by Robert Bosch GmbH All rights reserved.
// Copyright (c) 2020 - 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_hoofs/cxx/convert.hpp"
#include "iceoryx_hoofs/log/logmanager.hpp"
#include "iceoryx_hoofs/posix_wrapper/signal_watcher.hpp"
#include "iceoryx_posh/iceoryx_posh_config.hpp"
#include "iceoryx_posh/iceoryx_posh_types.hpp"
#include "iceoryx_posh/internal/roudi/roudi.hpp"
#include "iceoryx_posh/popo/publisher.hpp"
#include "iceoryx_posh/popo/subscriber.hpp"
#include "iceoryx_posh/roudi/iceoryx_roudi_components.hpp"
#include "iceoryx_posh/runtime/posh_runtime_single_process.hpp"
#include <atomic>
#include <chrono>
#include <cstdint>
#include <iostream>
#include <mutex>
#include <thread>
struct TransmissionData_t
{
uint64_t counter;
};
constexpr std::chrono::milliseconds CYCLE_TIME{100};
void consoleOutput(const char* source, const char* arrow, const uint64_t counter)
{
static std::mutex consoleOutputMutex;
std::lock_guard<std::mutex> lock(consoleOutputMutex);
std::cout << source << arrow << counter << std::endl;
}
void publisher()
{
//! [publisher]
iox::popo::PublisherOptions publisherOptions;
publisherOptions.historyCapacity = 10U;
iox::popo::Publisher<TransmissionData_t> publisher({"Single", "Process", "Demo"}, publisherOptions);
//! [publisher]
//! [send]
uint64_t counter{0};
constexpr const char GREEN_RIGHT_ARROW[] = "\033[32m->\033[m ";
while (!iox::posix::hasTerminationRequested())
{
publisher.loan().and_then([&](auto& sample) {
sample->counter = counter++;
consoleOutput("Sending ", GREEN_RIGHT_ARROW, sample->counter);
sample.publish();
});
std::this_thread::sleep_for(CYCLE_TIME);
}
//! [send]
}
void subscriber()
{
//! [subscriber]
iox::popo::SubscriberOptions options;
options.queueCapacity = 10U;
options.historyRequest = 5U;
iox::popo::Subscriber<TransmissionData_t> subscriber({"Single", "Process", "Demo"}, options);
//! [subscriber]
//! [receive]
constexpr const char ORANGE_LEFT_ARROW[] = "\033[33m<-\033[m ";
while (!iox::posix::hasTerminationRequested())
{
if (iox::SubscribeState::SUBSCRIBED == subscriber.getSubscriptionState())
{
bool hasMoreSamples{true};
do
{
subscriber.take()
.and_then([&](auto& sample) { consoleOutput("Receiving ", ORANGE_LEFT_ARROW, sample->counter); })
.or_else([&](auto& result) {
hasMoreSamples = false;
if (result != iox::popo::ChunkReceiveResult::NO_CHUNK_AVAILABLE)
{
std::cout << "Error receiving chunk." << std::endl;
}
});
} while (hasMoreSamples);
}
std::this_thread::sleep_for(CYCLE_TIME);
}
//! [receive]
}
int main()
{
// set the log level to error to see the essence of the example
//! [log level]
iox::log::LogManager::GetLogManager().SetDefaultLogLevel(iox::log::LogLevel::kError);
//! [log level]
//! [roudi config]
iox::RouDiConfig_t defaultRouDiConfig = iox::RouDiConfig_t().setDefaults();
iox::roudi::IceOryxRouDiComponents roudiComponents(defaultRouDiConfig);
//! [roudi config]
//! [roudi]
constexpr bool TERMINATE_APP_IN_ROUDI_DTOR_FLAG = false;
iox::roudi::RouDi roudi(
roudiComponents.rouDiMemoryManager,
roudiComponents.portManager,
iox::roudi::RouDi::RoudiStartupParameters{iox::roudi::MonitoringMode::OFF, TERMINATE_APP_IN_ROUDI_DTOR_FLAG});
//! [roudi]
// create a single process runtime for inter thread communication
//! [runtime]
iox::runtime::PoshRuntimeSingleProcess runtime("singleProcessDemo");
//! [runtime]
//! [run]
std::thread publisherThread(publisher), subscriberThread(subscriber);
iox::posix::waitForTerminationRequest();
publisherThread.join();
subscriberThread.join();
std::cout << "Finished" << std::endl;
//! [run]
}
|
