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
|
// 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/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()
{
// 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-individual");
//! [create waitset]
iox::popo::WaitSet<> 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 two subscribers, subscribe to the service and attach them to the waitset
//! [create subscribers]
iox::popo::Subscriber<CounterTopic> subscriber1({"Radar", "FrontLeft", "Counter"});
iox::popo::Subscriber<CounterTopic> subscriber2({"Radar", "FrontLeft", "Counter"});
waitset.attachState(subscriber1, iox::popo::SubscriberState::HAS_DATA).or_else([](auto) {
std::cerr << "failed to attach subscriber1" << std::endl;
std::exit(EXIT_FAILURE);
});
waitset.attachState(subscriber2, iox::popo::SubscriberState::HAS_DATA).or_else([](auto) {
std::cerr << "failed to attach subscriber2" << std::endl;
std::exit(EXIT_FAILURE);
});
//! [create 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]
// process sample received by subscriber1
else if (notification->doesOriginateFrom(&subscriber1))
{
subscriber1.take().and_then(
[&](auto& sample) { std::cout << "subscriber 1 received: " << sample->counter << std::endl; });
}
// dismiss sample received by subscriber2
if (notification->doesOriginateFrom(&subscriber2))
{
// We need to release the samples to reset the trigger hasSamples
// otherwise the WaitSet would notify us in `waitset.wait()` again
// instantly.
subscriber2.releaseQueuedData();
std::cout << "subscriber 2 received something - dont care\n";
}
//! [data path]
}
std::cout << std::endl;
}
//! [event loop]
return (EXIT_SUCCESS);
}
|
