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// Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
// 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_binding_c/enums.h"
#include "iceoryx_binding_c/notification_info.h"
#include "iceoryx_binding_c/runtime.h"
#include "iceoryx_binding_c/subscriber.h"
#include "iceoryx_binding_c/types.h"
#include "iceoryx_binding_c/user_trigger.h"
#include "iceoryx_binding_c/wait_set.h"
#include "sleep_for.h"
#include "topic_data.h"
#include <signal.h>
#include <stdbool.h>
#include <stdio.h>
#define NUMBER_OF_NOTIFICATIONS 3
#define NUMBER_OF_SUBSCRIBERS 2
iox_user_trigger_storage_t shutdownTriggerStorage;
iox_user_trigger_t shutdownTrigger;
static void sigHandler(int signalValue)
{
(void)signalValue;
iox_user_trigger_trigger(shutdownTrigger);
}
//! [shutdown callback]
void shutdownCallback(iox_user_trigger_t userTrigger)
{
(void)userTrigger;
printf("CTRL+C pressed - exiting now\n");
fflush(stdout);
}
//! [shutdown callback]
// The callback of the trigger. Every callback must have an argument which is
// a pointer to the origin of the Trigger. In our case the trigger origin is
// an iox_sub_t.
//! [subscriber callback]
void subscriberCallback(iox_sub_t const subscriber, void* const contextData)
{
if (contextData == NULL)
{
fprintf(stderr, "aborting subscriberCallback since contextData is a null pointer\n");
return;
}
uint64_t* sumOfAllSamples = (uint64_t*)contextData;
const void* userPayload = NULL;
while (iox_sub_take_chunk(subscriber, &userPayload) == ChunkReceiveResult_SUCCESS)
{
printf("subscriber: %p received %u\n", (void*)subscriber, ((struct CounterTopic*)userPayload)->counter);
fflush(stdout);
iox_sub_release_chunk(subscriber, userPayload);
++(*sumOfAllSamples);
}
}
//! [subscriber callback]
int main()
{
//! [initialization and shutdown handling]
iox_runtime_init("iox-c-waitset-gateway");
iox_ws_storage_t waitSetStorage;
iox_ws_t waitSet = iox_ws_init(&waitSetStorage);
shutdownTrigger = iox_user_trigger_init(&shutdownTriggerStorage);
// attach shutdownTrigger with no callback to handle CTRL+C
iox_ws_attach_user_trigger_event(waitSet, shutdownTrigger, 0U, shutdownCallback);
// register signal after shutdownTrigger since we are using it in the handler
signal(SIGINT, sigHandler);
signal(SIGTERM, sigHandler);
//! [initialization and shutdown handling]
//! [create and attach subscriber]
uint64_t sumOfAllSamples = 0U;
// array where the subscriber are stored
iox_sub_storage_t subscriberStorage[NUMBER_OF_SUBSCRIBERS];
iox_sub_t subscriber[NUMBER_OF_SUBSCRIBERS];
// create subscriber and subscribe them to our service
iox_sub_options_t options;
iox_sub_options_init(&options);
options.historyRequest = 1U;
options.queueCapacity = 256U;
options.nodeName = "iox-c-waitSet-gateway-node";
for (uint64_t i = 0U; i < NUMBER_OF_SUBSCRIBERS; ++i)
{
subscriber[i] = iox_sub_init(&(subscriberStorage[i]), "Radar", "FrontLeft", "Counter", &options);
iox_ws_attach_subscriber_event_with_context_data(
waitSet, subscriber[i], SubscriberEvent_DATA_RECEIVED, 1U, subscriberCallback, &sumOfAllSamples);
}
//! [create and attach subscriber]
//! [event loop]
uint64_t missedElements = 0U;
uint64_t numberOfNotifications = 0U;
// array where all notification infos from iox_ws_wait will be stored
iox_notification_info_t notificationArray[NUMBER_OF_NOTIFICATIONS];
bool keepRunning = true;
while (keepRunning)
{
numberOfNotifications = iox_ws_wait(waitSet, notificationArray, NUMBER_OF_NOTIFICATIONS, &missedElements);
//! [handle events]
for (uint64_t i = 0U; i < numberOfNotifications; ++i)
{
iox_notification_info_t notification = notificationArray[i];
if (iox_notification_info_does_originate_from_user_trigger(notification, shutdownTrigger))
{
// CTRL+C was pressed -> exit
keepRunning = false;
}
else
{
// call the callback which was assigned to the event
iox_notification_info_call(notification);
printf("sum of all samples: %lu\n", (unsigned long)sumOfAllSamples);
fflush(stdout);
}
}
//! [handle events]
}
//! [event loop]
//! [cleanup all resources]
for (uint64_t i = 0U; i < NUMBER_OF_SUBSCRIBERS; ++i)
{
// not mandatory since iox_sub_deinit will detach the subscriber automatically
// only added to present the full API
iox_ws_detach_subscriber_event(waitSet, subscriber[i], SubscriberEvent_DATA_RECEIVED);
iox_sub_deinit(subscriber[i]);
}
iox_ws_deinit(waitSet);
iox_user_trigger_deinit(shutdownTrigger);
//! [cleanup all resources]
return 0;
}
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