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// 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
//! [iceoryx includes]
#include "user_header_and_payload_types.h"
//! [additional include for user-header]
#include "iceoryx_binding_c/chunk.h"
//! [additional include for user-header]
#include "iceoryx_binding_c/publisher.h"
#include "iceoryx_binding_c/runtime.h"
#include "sleep_for.h"
//! [iceoryx includes]
#include <signal.h>
#include <stdio.h>
//! [signal handling]
#ifdef _WIN32
/// @todo iox-#33 needs proper fix but it seems MSVC doesn't have stdatomic.h
volatile bool killswitch = false;
#else
#include <stdatomic.h>
atomic_bool killswitch = false;
#endif
static void sigHandler(int signalValue)
{
// Ignore unused variable warning
(void)signalValue;
// caught SIGINT or SIGTERM, now exit gracefully
killswitch = true;
}
//! [signal handling]
int main()
{
//! [register sigHandler]
signal(SIGINT, sigHandler);
signal(SIGTERM, sigHandler);
//! [register sigHandler]
//! [initialize runtime]
const char* APP_NAME = "iox-c-user-header-publisher";
iox_runtime_init(APP_NAME);
//! [initialize runtime]
//! [create publisher]
iox_pub_storage_t publisherStorage;
iox_pub_t publisher = iox_pub_init(&publisherStorage, "Example", "User-Header", "Timestamp", NULL);
//! [create publisher]
//! [send samples in a loop]
uint64_t timestamp = 37;
uint64_t fibonacciLast = 0;
uint64_t fibonacciCurrent = 1;
while (!killswitch)
{
uint64_t fibonacciNext = fibonacciCurrent + fibonacciLast;
fibonacciLast = fibonacciCurrent;
fibonacciCurrent = fibonacciNext;
//! [loan chunk]
void* userPayload;
const uint32_t ALIGNMENT = 8;
enum iox_AllocationResult res = iox_pub_loan_aligned_chunk_with_user_header(
publisher, &userPayload, sizeof(Data), ALIGNMENT, sizeof(Header), ALIGNMENT);
//! [loan chunk]
if (res == AllocationResult_SUCCESS)
{
//! [loan was successful]
iox_chunk_header_t* chunkHeader = iox_chunk_header_from_user_payload(userPayload);
Header* header = (Header*)iox_chunk_header_to_user_header(chunkHeader);
header->publisherTimestamp = timestamp;
Data* data = (Data*)userPayload;
data->fibonacci = fibonacciCurrent;
iox_pub_publish_chunk(publisher, userPayload);
// explicit cast to unsigned long since on macOS an uint64_t is a different built-in type than on Linux
printf("%s sent data: %lu with timestamp %ldms\n",
APP_NAME,
(unsigned long)fibonacciCurrent,
(unsigned long)timestamp);
fflush(stdout);
//! [loan was successful]
}
else
{
//! [loan failed]
printf("Failed to allocate chunk! Error code: %d\n", res);
fflush(stdout);
//! [loan failed]
}
const uint32_t MILLISECONDS_SLEEP = 1000;
sleep_for(MILLISECONDS_SLEEP);
timestamp += MILLISECONDS_SLEEP;
}
//! [send samples in a loop]
return 0;
}
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