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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"
#include "iceoryx_binding_c/chunk.h"
#include "iceoryx_binding_c/runtime.h"
#include "iceoryx_binding_c/subscriber.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-subscriber";
iox_runtime_init(APP_NAME);
//! [initialize runtime]
//! [create subscriber]
iox_sub_storage_t subscriberStorage;
iox_sub_t subscriber = iox_sub_init(&subscriberStorage, "Example", "User-Header", "Timestamp", NULL);
//! [create subscriber]
//! [poll subscriber for samples in a loop]
while (!killswitch)
{
//! [take chunk]
const void* userPayload;
if (iox_sub_take_chunk(subscriber, &userPayload) == ChunkReceiveResult_SUCCESS)
{
const iox_chunk_header_t* chunkHeader = iox_chunk_header_from_user_payload_const(userPayload);
const Header* header = (const Header*)(iox_chunk_header_to_user_header_const(chunkHeader));
const Data* data = (const Data*)userPayload;
// explicit cast to unsigned long since on macOS an uint64_t is a different built-in type than on Linux
printf("%s got value: %lu with timestamp %ldms\n",
APP_NAME,
(unsigned long)data->fibonacci,
(unsigned long)header->publisherTimestamp);
fflush(stdout);
iox_sub_release_chunk(subscriber, userPayload);
}
//! [take chunk]
const uint32_t MILLISECONDS_SLEEP = 100;
sleep_for(MILLISECONDS_SLEEP);
}
//! [poll subscriber for samples in a loop]
return 0;
}
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