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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_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 5
#define NUMBER_OF_SUBSCRIBERS 4
iox_user_trigger_storage_t shutdownTriggerStorage;
iox_user_trigger_t shutdownTrigger;
static void sigHandler(int signalValue)
{
// Ignore unused variable warning
(void)signalValue;
iox_user_trigger_trigger(shutdownTrigger);
}
int main()
{
//! [initialization and shutdown handling]
iox_runtime_init("iox-c-waitset-grouping");
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, NULL);
// register signal after shutdownTrigger since we are using it in the handler
signal(SIGINT, sigHandler);
signal(SIGTERM, sigHandler);
//! [initialization and shutdown handling]
//! [create subscriber]
// array where the subscribers 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-grouping-node";
for (uint64_t i = 0U; i < NUMBER_OF_SUBSCRIBERS; ++i)
{
subscriber[i] = iox_sub_init(&(subscriberStorage[i]), "Radar", "FrontLeft", "Counter", &options);
}
//! [create subscriber]
//! [attach subscriber]
const uint64_t FIRST_GROUP_ID = 123U;
const uint64_t SECOND_GROUP_ID = 456U;
// attach the first two subscribers to the waitset with a triggerid of FIRST_GROUP_ID
for (uint64_t i = 0U; i < 2U; ++i)
{
iox_ws_attach_subscriber_state(waitSet, subscriber[i], SubscriberState_HAS_DATA, FIRST_GROUP_ID, NULL);
}
// attach the remaining subscribers to the waitset with a triggerid of SECOND_GROUP_ID
for (uint64_t i = 2U; i < 4U; ++i)
{
iox_ws_attach_subscriber_state(waitSet, subscriber[i], SubscriberState_HAS_DATA, SECOND_GROUP_ID, NULL);
}
//! [attach subscriber]
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];
//! [event loop]
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;
}
// we print the received data for the first group
else if (iox_notification_info_get_notification_id(notification) == FIRST_GROUP_ID)
{
iox_sub_t subscriber = iox_notification_info_get_subscriber_origin(notification);
const void* userPayload;
if (iox_sub_take_chunk(subscriber, &userPayload))
{
printf("received: %u\n", ((struct CounterTopic*)userPayload)->counter);
fflush(stdout);
iox_sub_release_chunk(subscriber, userPayload);
}
}
// dismiss the received data for the second group
else if (iox_notification_info_get_notification_id(notification) == SECOND_GROUP_ID)
{
printf("dismiss data\n");
iox_sub_t subscriber = iox_notification_info_get_subscriber_origin(notification);
// We need to release the samples to reset the event hasSamples
// otherwise the WaitSet would notify us in `iox_ws_wait()` again
// instantly.
iox_sub_release_queued_chunks(subscriber);
}
}
//! [handle events]
}
//! [event loop]
//! [cleanup all resources]
for (uint64_t i = 0U; i < NUMBER_OF_SUBSCRIBERS; ++i)
{
iox_sub_deinit(subscriber[i]);
}
iox_ws_deinit(waitSet);
iox_user_trigger_deinit(shutdownTrigger);
//! [cleanup all resources]
return 0;
}
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