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// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// 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.
/*!
* @file testmain.cxx
* This file acts as a main entry point to the application.
*
* This file was generated by the tool fastddsgen.
*/
#include <csignal>
#include <cstring>
#include <functional>
#include <iostream>
#include <stdexcept>
#include <thread>
#include <chrono>
#include "test.hpp"
#include "manager/IPC.h"
using eprosima::fastdds::dds::Log;
volatile sig_atomic_t keep_running = 1;
std::function<void(int)> stop_handler;
void signal_handler(
int signum)
{
keep_running = 0;
stop_handler(signum);
}
std::string parse_signal(
const int& signum)
{
switch (signum)
{
case SIGINT:
return "SIGINT";
case SIGTERM:
return "SIGTERM";
#ifndef _WIN32
case SIGQUIT:
return "SIGQUIT";
case SIGHUP:
return "SIGHUP";
#endif // _WIN32
default:
return "UNKNOWN SIGNAL";
}
}
int main(
int argc,
char** argv)
{
eprosima::fastdds::dds::Log::SetVerbosity(eprosima::fastdds::dds::Log::Info);
// 获取日志输出的文件句柄，如果需要的话
// eprosima::fastdds::dds::Log::SetCategoryFilter(eprosima::fastdds::dds::Log::Kind::Info, "my_log_file.txt");
//EPROSIMA_LOG_INFO(TEST, "LOG INFO start 1 ...........");
auto ret = EXIT_SUCCESS;
int domain_id = 0;
if (argc != 2 || (strcmp(argv[1], "p") != 0 && strcmp(argv[1], "s") != 0))
{
std::cout << "Error: Incorrect arguments." << std::endl;
std::cout << "Usage: " << std::endl << std::endl;
std::cout << argv[0] << " publisher|subscriber" << std::endl << std::endl;
ret = EXIT_FAILURE;
}
else
{
// 发布者
if(strcmp(argv[1], "p") == 0) {
IPCPublisherInstance.createPublisher<HelloSecurity>("Topic1", 10);
IPCPublisherInstance.createPublisher<OneMessage>("Topic2", 10);
}
// 观察者
if(strcmp(argv[1], "s") == 0) {
auto commandSubscriber = IPCSubscriberInstance.createSubscriber<HelloSecurity>("Topic1", 10);
commandSubscriber->setDataHandler([](const HelloSecurity& sample){
cout << "---------------recv message: "<< sample.securityData() << endl;
});
auto commandSubscriber1 = IPCSubscriberInstance.createSubscriber<OneMessage>("Topic2", 0);
commandSubscriber1->setDataHandler([](const OneMessage& sample){
cout << "-------------recv message: a = " << sample.a() << " b = " << sample.b() <<
" --- vector size = " << sample.sequenceTest().size() << endl;
});
}
stop_handler = [&](int signum)
{
std::cout << "\n" << parse_signal(signum) << " received, stopping " << argv[1]
<< " execution." << std::endl;
IPCPublisherInstance.stopAll();
IPCSubscriberInstance.stopAll();
};
signal(SIGINT, signal_handler);
signal(SIGTERM, signal_handler);
signal(SIGQUIT, signal_handler);
signal(SIGHUP, signal_handler);
//thread.join();
}
while (keep_running)
{
std::this_thread::sleep_for(std::chrono::milliseconds(2000));
if(strcmp(argv[1], "p") == 0) {
HelloSecurity msg;
msg.securityData("123456");
IPCPublisherInstance.getPublisherByTopic<HelloSecurity>("Topic1")->publish(msg);
OneMessage msg1;
msg1.a(1);
msg1.b(2);
std::vector<int16_t> vec{1,2,3,4,5};
msg1.sequenceTest(vec);
IPCPublisherInstance.getPublisherByTopic<OneMessage>("Topic2")->publish(msg1);
}
}
Log::Reset();
return ret;
}