int main( int argc, char *argv[] )
{
try
{
_2Real::app::Engine engine;
auto threadpool = engine.createThreadpool( _2Real::ThreadpoolPolicy::FIFO );
// additional bundle loaded b/c of custom type
auto customTypeBundle = engine.loadBundle( "TestBundle_CustomTypes" );
auto simpleInfo = customTypeBundle.second.getExportedType( "simpleType" );
std::shared_ptr< _2Real::network::Publisher > publisher = _2Real::network::Publisher::create( "tcp://*:5556", engine, threadpool );
// each topic may only publish a single type of data.
// this restriction makes things a lot easier
_2Real::network::Publisher::Topic_T< int > topic_int = publisher->addTopic< int >( "int" );
_2Real::network::Publisher::Topic_T< float > topic_float = publisher->addTopic< float >( "float" );
_2Real::network::Publisher::Topic_T< _2Real::CustomDataItem > topic_custom = publisher->addTopic( "simpleType", "custom" );
_2Real::CustomDataItem in_custom = simpleInfo.makeCustomData();
int32_t in_custom_int_field = 0;
std::string in_custom_str_field = "";
std::vector< uint16_t > in_custom_vec_field;
int in_int = 0;
float in_float = 0.f;
//auto callback_int = std::bind( []( const int i ){ std::cout << i << std::endl; }, std::placeholders::_1 );
//auto callback_float = std::bind( []( const float f ){ std::cout << f << std::endl; }, std::placeholders::_1 );
//auto callback_custom = std::bind( []( _2Real::CustomDataItem const& c ){ std::cout << c << std::endl; }, std::placeholders::_1 );
//auto testAsyncSubscriber_int = _2Real::network::AsyncSubscriber_T< int >::create( "tcp://localhost:5556", "int", callback_int, engine, threadpool );
//auto testAsyncSubscriber_float = _2Real::network::AsyncSubscriber_T< float >::create( "tcp://localhost:5556", "float", callback_float, engine, threadpool );
//auto testAsyncSubscriber_custom = _2Real::network::AsyncSubscriber_T< _2Real::CustomDataItem >::create( "tcp://localhost:5556", "custom", "simpleType", callback_custom, engine, threadpool );
auto testQueuedSubscriber_int = _2Real::network::QueuedSubscriber_T< int >::create( "tcp://localhost:5556", "int", engine, threadpool );
auto testQueuedSubscriber_float = _2Real::network::QueuedSubscriber_T< float >::create( "tcp://localhost:5556", "float", engine, threadpool );
auto testQueuedSubscriber_custom = _2Real::network::QueuedSubscriber_T< _2Real::CustomDataItem >::create( "tcp://localhost:5556", "custom", "simpleType", engine, threadpool );
while( 1 )
{
std::this_thread::yield();
std::string line;
char lineEnd = '\n';
std::getline( std::cin, line, lineEnd );
if ( line == "q" )
break;
else if ( line == "pub" )
{
in_custom_int_field += 1;
in_custom_str_field.append( "-yay-" );
in_custom_vec_field.push_back( 10 );
in_custom.set( "int_field", in_custom_int_field );
in_custom.set( "string_field", in_custom_str_field );
in_custom.set( "ushort_field", (uint16_t)100 );
in_custom.set( "vector_field", in_custom_vec_field );
in_int += 5;
in_float += 0.1f;
topic_int.publish( in_int );
topic_float.publish( in_float );
topic_custom.publish( in_custom );
while ( testQueuedSubscriber_int->empty() || testQueuedSubscriber_float->empty() || testQueuedSubscriber_custom->empty() )
std::this_thread::yield();
//std::cout << "the int data is " << testQueuedSubscriber_int->getNewest() << std::endl;
//std::cout << "the float data is " << testQueuedSubscriber_float->getNewest() << std::endl;
std::cout << "the custom data is " << testQueuedSubscriber_custom->getNewest() << std::endl;
}
}
publisher.reset(); // <---- absolutely vital! the 'high level' publisher attempts to manipulate ( singlestep ) a framework block
// in a separate thread; clearing the engine in this thread while a block is still in use is a very bad idea
engine.clear();
std::cout << "enter \'q\' to exit the application" << std::endl;
}
catch ( _2Real::Exception &e )
{
std::cout << "-------------exception caught in main------------" << std::endl;
std::cout << e.what() << " " << e.message() << std::endl;
std::cout << "-------------exception caught in main------------" << std::endl;
}
catch ( std::exception const& e )
{
std::cout << "-------------exception caught in main------------" << std::endl;
std::cout << e.what() << std::endl;
std::cout << "-------------exception caught in main------------" << std::endl;
}
while( 1 )
{
std::this_thread::yield();
std::string line;
char lineEnd = '\n';
std::getline( std::cin, line, lineEnd );
if ( line == "q" )
break;
}
return 0;
}
/// Advance the delay line and set the "newest" sample.
inline void put(const TElem &v) { advance(); getNewest() = v; }
