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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.hpp"
#include "iceoryx_hoofs/posix_wrapper/signal_watcher.hpp"
#include "iceoryx_posh/popo/publisher.hpp"
#include "iceoryx_posh/runtime/posh_runtime.hpp"
//! [iceoryx includes]
#include <atomic>
#include <iostream>
int main()
{
//! [initialize runtime]
constexpr char APP_NAME[] = "iox-cpp-user-header-publisher";
iox::runtime::PoshRuntime::initRuntime(APP_NAME);
//! [initialize runtime]
//! [create publisher]
iox::popo::Publisher<Data, Header> publisher({"Example", "User-Header", "Timestamp"});
//! [create publisher]
//! [send samples in a loop]
uint64_t timestamp = 42;
uint64_t fibonacciLast = 0;
uint64_t fibonacciCurrent = 1;
while (!iox::posix::hasTerminationRequested())
{
auto fibonacciNext = fibonacciCurrent + fibonacciLast;
fibonacciLast = fibonacciCurrent;
fibonacciCurrent = fibonacciNext;
//! [loan sample]
publisher.loan(Data{fibonacciCurrent})
.and_then([&](auto& sample) {
//! [loan was successful]
sample.getUserHeader().publisherTimestamp = timestamp;
sample.publish();
std::cout << APP_NAME << " sent data: " << fibonacciCurrent << " with timestamp " << timestamp << "ms"
<< std::endl;
//! [loan was successful]
})
.or_else([&](auto& error) {
//! [loan failed]
std::cout << APP_NAME << " could not loan sample! Error code: " << error << std::endl;
//! [loan failed]
});
//! [loan sample]
constexpr uint64_t MILLISECONDS_SLEEP{1000U};
std::this_thread::sleep_for(std::chrono::milliseconds(MILLISECONDS_SLEEP));
timestamp += MILLISECONDS_SLEEP;
}
//! [send samples in a loop]
return EXIT_SUCCESS;
}
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