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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/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>
iox::popo::UserTrigger shutdownTrigger;
static void sigHandler(int f_sig IOX_MAYBE_UNUSED)
{
shutdownTrigger.trigger();
}
//! [cyclic run]
class SomeClass
{
public:
static void cyclicRun(iox::popo::UserTrigger*)
{
std::cout << "activation callback\n";
}
};
//! [cyclic run]
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-sync");
std::atomic_bool keepRunning{true};
//! [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 and attach the cyclicTrigger with a callback to
// SomeClass::cyclicRun
//! [create trigger]
iox::popo::UserTrigger cyclicTrigger;
waitset.attachEvent(cyclicTrigger, 0U, createNotificationCallback(SomeClass::cyclicRun)).or_else([](auto) {
std::cerr << "failed to attach cyclic trigger" << std::endl;
std::exit(EXIT_FAILURE);
});
//! [create trigger]
// start a thread which triggers cyclicTrigger every second
//! [cyclic thread]
std::thread cyclicTriggerThread([&] {
while (keepRunning.load())
{
cyclicTrigger.trigger();
std::this_thread::sleep_for(std::chrono::seconds(1));
}
});
//! [cyclic thread]
//! [event loop]
while (keepRunning.load())
{
auto notificationVector = waitset.wait();
for (auto& notification : notificationVector)
{
//! [shutdown path]
if (notification->doesOriginateFrom(&shutdownTrigger))
{
// CTRL+C was pressed -> exit
keepRunning.store(false);
}
//! [shutdown path]
//! [data path]
else
{
// call SomeClass::cyclicRun
(*notification)();
}
//! [data path]
}
std::cout << std::endl;
}
//! [event loop]
cyclicTriggerThread.join();
return (EXIT_SUCCESS);
}
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