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ice_waitset_gateway.cpp
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ice_waitset_gateway.cpp
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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();
}
//! [shutdown callback]
void shutdownCallback(iox::popo::UserTrigger*)
{
std::cout << "CTRL+C pressed - exiting now" << std::endl;
}
//! [shutdown callback]
// The callback of the event. Every callback must have an argument which is
// a pointer to the origin of the Trigger. In our case the event origin is
// the untyped subscriber.
//! [subscriber callback]
void subscriberCallback(iox::popo::UntypedSubscriber* const subscriber, uint64_t* const sumOfAllSamples)
{
while (subscriber->hasData())
{
subscriber->take().and_then([&](auto& userPayload) {
auto chunkHeader = iox::mepoo::ChunkHeader::fromUserPayload(userPayload);
auto flags = std::cout.flags();
std::cout << "subscriber: " << std::hex << subscriber << " length: " << std::dec
<< chunkHeader->userPayloadSize() << " ptr: " << std::hex << chunkHeader->userPayload()
<< std::dec << std::endl;
std::cout.setf(flags);
});
// no nullptr check required since it is guaranteed != nullptr
++(*sumOfAllSamples);
}
}
//! [subscriber callback]
int main()
{
constexpr uint64_t NUMBER_OF_SUBSCRIBERS = 2U;
constexpr uint64_t ONE_SHUTDOWN_TRIGGER = 1U;
// register sigHandler
auto signalIntGuard =
iox::posix::registerSignalHandler(iox::posix::Signal::INT, sigHandler).expect("failed to register SIGINT");
auto signalTermGuard =
iox::posix::registerSignalHandler(iox::posix::Signal::TERM, sigHandler).expect("failed to register SIGTERM");
iox::runtime::PoshRuntime::initRuntime("iox-cpp-waitset-gateway");
//! [create waitset]
iox::popo::WaitSet<NUMBER_OF_SUBSCRIBERS + ONE_SHUTDOWN_TRIGGER> waitset;
// attach shutdownTrigger to handle CTRL+C
waitset.attachEvent(shutdownTrigger, iox::popo::createNotificationCallback(shutdownCallback)).or_else([](auto) {
std::cerr << "failed to attach shutdown trigger" << std::endl;
std::exit(EXIT_FAILURE);
});
//! [create waitset]
//! [configure]
uint64_t sumOfAllSamples = 0U;
// create subscribers and subscribe them to our service
iox::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"});
auto& subscriber = subscriberVector.back();
/// important: the user has to ensure that the contextData (sumOfAllSamples) lives as long as
/// the subscriber with its callback is attached to the listener
waitset
.attachEvent(subscriber,
iox::popo::SubscriberEvent::DATA_RECEIVED,
0,
createNotificationCallback(subscriberCallback, sumOfAllSamples))
.or_else([&](auto) {
std::cerr << "failed to attach subscriber" << i << std::endl;
std::exit(EXIT_FAILURE);
});
}
//! [configure]
//! [event loop]
while (keepRunning)
{
auto notificationVector = waitset.wait();
for (auto& notification : notificationVector)
{
if (notification->doesOriginateFrom(&shutdownTrigger))
{
(*notification)();
keepRunning = false;
}
else
{
// call the callback which was assigned to the notification
(*notification)();
}
}
auto flags = std::cout.flags();
std::cout << "sum of all samples: " << std::dec << sumOfAllSamples << std::endl;
std::cout.setf(flags);
}
//! [event loop]
return (EXIT_SUCCESS);
}