iox_automotive_skeleton.cpp

// Copyright (c) 2022 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_watcher.hpp"
//! [include skeleton]
#include "minimal_skeleton.hpp"
//! [include skeleton]

#include "owl/runtime.hpp"

#include <iostream>

using namespace owl;

constexpr char APP_NAME[] = "iox-cpp-automotive-skeleton";

int main()
{
    //! [create runtime]
    Runtime::GetInstance(APP_NAME);
    //! [create runtime]

    //! [create skeleton]
    kom::InstanceIdentifier instanceIdentifier{iox::cxx::TruncateToCapacity, "ExampleInstance"};
    MinimalSkeleton skeleton{instanceIdentifier};

    skeleton.Offer();
    //! [create skeleton]

    uint32_t counter = 0;
    while (!iox::posix::hasTerminationRequested())
    {
        ++counter;

        //! [send event]
        auto sample = skeleton.m_event.Loan();
        if (!sample)
        {
            std::exit(EXIT_FAILURE);
        }
        sample->counter = counter;
        sample->sendTimestamp = std::chrono::steady_clock::now();
        skeleton.m_event.Send(std::move(sample));
        //! [send event]
        std::cout << "Event: value " << counter << " sent" << std::endl;

        //! [send field]
        if (counter > 30)
        {
            Topic field{counter};
            if (!skeleton.m_field.Update(field))
            {
                std::exit(EXIT_FAILURE);
            }
            std::cout << "Field: updated value to " << counter << std::endl;
        }
        //! [send field]

        std::this_thread::sleep_for(std::chrono::seconds(1));
    }

    skeleton.StopOffer();

    return 0;
}