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// 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/posix_wrapper/signal_handler.hpp"
#include "iceoryx_posh/popo/untyped_subscriber.hpp"
#include "iceoryx_posh/popo/user_trigger.hpp"
#include "iceoryx_posh/popo/wait_set.hpp"
#include "iceoryx_posh/runtime/posh_runtime.hpp"
#include "topic_data.hpp"
#include <chrono>
#include <iostream>
std::atomic_bool keepRunning{true};
iox::popo::UserTrigger shutdownTrigger;
static void sigHandler(int f_sig IOX_MAYBE_UNUSED)
{
shutdownTrigger.trigger();
}
int main()
{
constexpr uint64_t NUMBER_OF_SUBSCRIBERS = 4U;
constexpr uint64_t ONE_SHUTDOWN_TRIGGER = 1U;
// register sigHandler
auto signalIntGuard = iox::posix::registerSignalHandler(iox::posix::Signal::INT, sigHandler);
auto signalTermGuard = iox::posix::registerSignalHandler(iox::posix::Signal::TERM, sigHandler);
iox::runtime::PoshRuntime::initRuntime("iox-cpp-waitset-grouping");
//! [create waitset]
iox::popo::WaitSet<NUMBER_OF_SUBSCRIBERS + ONE_SHUTDOWN_TRIGGER> waitset;
// attach shutdownTrigger to handle CTRL+C
waitset.attachEvent(shutdownTrigger).or_else([](auto) {
std::cerr << "failed to attach shutdown trigger" << std::endl;
std::exit(EXIT_FAILURE);
});
//! [create waitset]
// create subscriber and subscribe them to our service
//! [create subscribers]
iox::cxx::vector<iox::popo::UntypedSubscriber, NUMBER_OF_SUBSCRIBERS> subscriberVector;
for (auto i = 0U; i < NUMBER_OF_SUBSCRIBERS; ++i)
{
subscriberVector.emplace_back(iox::capro::ServiceDescription{"Radar", "FrontLeft", "Counter"});
}
//! [create subscribers]
constexpr uint64_t FIRST_GROUP_ID = 123U;
constexpr uint64_t SECOND_GROUP_ID = 456U;
//! [configure subscribers]
// attach the first two subscribers to waitset with a id of FIRST_GROUP_ID
for (auto i = 0U; i < NUMBER_OF_SUBSCRIBERS / 2; ++i)
{
waitset.attachState(subscriberVector[i], iox::popo::SubscriberState::HAS_DATA, FIRST_GROUP_ID)
.or_else([&](auto) {
std::cerr << "failed to attach subscriber" << i << std::endl;
std::exit(EXIT_FAILURE);
});
}
// attach the remaining subscribers to waitset with a id of SECOND_GROUP_ID
for (auto i = NUMBER_OF_SUBSCRIBERS / 2; i < NUMBER_OF_SUBSCRIBERS; ++i)
{
waitset.attachState(subscriberVector[i], iox::popo::SubscriberState::HAS_DATA, SECOND_GROUP_ID)
.or_else([&](auto) {
std::cerr << "failed to attach subscriber" << i << std::endl;
std::exit(EXIT_FAILURE);
});
}
//! [configure subscribers]
//! [event loop]
while (keepRunning)
{
auto notificationVector = waitset.wait();
for (auto& notification : notificationVector)
{
//! [shutdown path]
if (notification->doesOriginateFrom(&shutdownTrigger))
{
keepRunning = false;
}
//! [shutdown path]
//! [data path]
// we print the received data for the first group
else if (notification->getNotificationId() == FIRST_GROUP_ID)
{
auto subscriber = notification->getOrigin<iox::popo::UntypedSubscriber>();
subscriber->take().and_then([&](auto& userPayload) {
const CounterTopic* data = static_cast<const CounterTopic*>(userPayload);
auto flags = std::cout.flags();
std::cout << "received: " << std::dec << data->counter << std::endl;
std::cout.setf(flags);
subscriber->release(userPayload);
});
}
// dismiss the received data for the second group
else if (notification->getNotificationId() == SECOND_GROUP_ID)
{
std::cout << "dismiss data\n";
auto subscriber = notification->getOrigin<iox::popo::UntypedSubscriber>();
// We need to release the data to reset the trigger hasData
// otherwise the WaitSet would notify us in `waitset.wait()` again
// instantly.
subscriber->releaseQueuedData();
}
//! [data path]
}
std::cout << std::endl;
}
//! [event loop]
return (EXIT_SUCCESS);
}
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