int main(int argc, char* argv[]) {
zmq::context_t context(1);
zmq::socket_t subscriber(context, ZMQ_SUB);
subscriber.connect("tcp://localhost:5561");
subscriber.setsockopt(ZMQ_SUBSCRIBE, "", 0);
zmq::socket_t syncclient(context, ZMQ_REQ);
syncclient.connect("tcp://localhost:5562");
s_send(syncclient, "");
s_recv(syncclient);
std::cout << "Connected to subscriber" << std::endl;
int update_nbr = 0;
while(1) {
if (s_recv(subscriber).compare("END") == 0) {
std::cout << "FINE" << std::endl;
break;
}
update_nbr++;
}
std::cout << "Received " << update_nbr << "updates" << std::endl;
return 0;
}
bool SocketToTF::syncWithPublisher(zmq::context_t& context) {
if (transform_socket_server_port_sync_ >= 0) {
ROS_INFO("Syncing with the publisher");
zmq::socket_t syncclient(context, ZMQ_REQ);
std::stringstream ss_connection_sync_;
ss_connection_sync_ << transform_socket_server_protocol_ << "://" + transform_socket_server_host_ << ":" << transform_socket_server_port_sync_;
syncclient.connect(ss_connection_sync_.str().c_str());
zmq::message_t send_message(0);
if (!syncclient.send(send_message)) { syncclient.close(); return false; }
zmq::message_t recv_message;
bool recv_status = syncclient.recv(&recv_message);
syncclient.close();
ROS_INFO("Syncing finished");
return recv_status;
} else {
return false;
}
}
int main (int argc, char *argv[])
{
zmq::context_t context(1);
// First, connect our subscriber socket
zmq::socket_t subscriber (context, ZMQ_SUB);
subscriber.connect("tcp://localhost:5561");
subscriber.setsockopt(ZMQ_SUBSCRIBE, "", 0);
// Second, synchronize with publisher
zmq::socket_t syncclient (context, ZMQ_REQ);
syncclient.connect("tcp://localhost:5562");
// - send a synchronization request
s_send (syncclient, "");
// - wait for synchronization reply
std::string *string = s_recv (syncclient);
delete (string);
// Third, get our updates and report how many we got
int update_nbr = 0;
while (1) {
std::string *string = s_recv (subscriber);
if (string->compare("END") == 0) {
delete (string);
break;
}
delete (string);
update_nbr++;
}
std::cout << "Received " << update_nbr << " updates" << std::endl;
return 0;
}
