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iox_subscriber_typed.cpp
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iox_subscriber_typed.cpp
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// Copyright (c) 2020 by Robert Bosch GmbH, Apex.AI. 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.
#include "topic_data.hpp"
#include "iceoryx_posh/popo/typed_subscriber.hpp"
#include "iceoryx_posh/runtime/posh_runtime.hpp"
#include <csignal>
#include <iostream>
bool killswitch = false;
static void sigHandler(int f_sig [[gnu::unused]])
{
// caught SIGINT, now exit gracefully
killswitch = true;
}
int main()
{
// register sigHandler for SIGINT
signal(SIGINT, sigHandler);
// initialize runtime
iox::runtime::PoshRuntime::initRuntime("iox-ex-subscriber-typed");
// initialized subscriber
iox::popo::SubscriberOptions subscriberOptions;
subscriberOptions.queueCapacity = 10U;
iox::popo::TypedSubscriber<RadarObject> typedSubscriber({"Radar", "FrontLeft", "Object"}, subscriberOptions);
typedSubscriber.subscribe();
// run until interrupted by Ctrl-C
while (!killswitch)
{
if (typedSubscriber.getSubscriptionState() == iox::SubscribeState::SUBSCRIBED)
{
typedSubscriber.take()
.and_then([](iox::popo::Sample<const RadarObject>& object) {
std::cout << "Got value: " << object->x << std::endl;
})
.if_empty([] { std::cout << std::endl; })
.or_else([](iox::popo::ChunkReceiveError) { std::cout << "Error receiving chunk." << std::endl; });
}
else
{
std::cout << "Not subscribed!" << std::endl;
}
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
typedSubscriber.unsubscribe();
return (EXIT_SUCCESS);
}