[eclipse-iceoryx#264] Implement C++ publish subscribe example

examples/cxx/publish_subscribe/src/publisher.cpp

@@ -10,9 +10,15 @@
 //
 // SPDX-License-Identifier: Apache-2.0 OR MIT
 
+#include <iostream>
+
+#include "iox/duration.hpp"
 #include "iox2/node.hpp"
 #include "transmission_data.hpp"
 
+constexpr iox::units::Duration CYCLE_TIME =
+    iox::units::Duration::fromSeconds(1);
+
 int main() {
     using namespace iox2;
     auto node = NodeBuilder().template create<ServiceType::Ipc>().expect(
@@ -28,9 +34,20 @@ int main() {
     auto publisher = service.publisher_builder().create().expect(
         "successful publisher creation");
 
-    // Node<NodeType::ZERO_COPY>::list(
-    //     Config{}, [](auto) { return iox::ok(CallbackProgression::Continue);
-    //     });
+    auto counter = 0;
+    while (node.wait(CYCLE_TIME) == NodeEvent::Tick) {
+        counter += 1;
+        auto sample = publisher.loan_uninit().expect("acquire sample");
+
+        sample.write_payload(TransmissionData{
+            .x = counter, .y = counter * 3, .funky = counter * 812.12});
+
+        send_sample(std::move(sample)).expect("send successful");
+
+        std::cout << "Send sample " << counter << "..." << std::endl;
+    }
+
+    std::cout << "exit" << std::endl;
 
     return 0;
 }

examples/cxx/publish_subscribe/src/subscriber.cpp

@@ -10,8 +10,39 @@
 //
 // SPDX-License-Identifier: Apache-2.0 OR MIT
 
+#include <iostream>
+
+#include "iox/duration.hpp"
 #include "iox2/node.hpp"
+#include "transmission_data.hpp"
+
+constexpr iox::units::Duration CYCLE_TIME =
+    iox::units::Duration::fromSeconds(1);
 
 int main() {
+    using namespace iox2;
+    auto node = NodeBuilder().template create<ServiceType::Ipc>().expect(
+        "successful node creation");
+
+    auto service =
+        node.service_builder(ServiceName::create("My/Funk/ServiceName")
+                                 .expect("valid service name"))
+            .publish_subscribe<TransmissionData>()
+            .open_or_create()
+            .expect("successful service creation/opening");
+
+    auto subscriber = service.subscriber_builder().create().expect(
+        "successful publisher creation");
+
+    while (node.wait(CYCLE_TIME) == NodeEvent::Tick) {
+        auto sample = subscriber.receive().expect("receive succeeds");
+        while (sample.has_value()) {
+            std::cout << "received: " << sample->payload() << std::endl;
+            sample = subscriber.receive().expect("receive succeeds");
+        }
+    }
+
+    std::cout << "exit" << std::endl;
+
     return 0;
 }

examples/cxx/publish_subscribe/src/transmission_data.hpp

@@ -13,11 +13,19 @@
 #define IOX2_EXAMPLES_TRANSMISSION_DATA_HPP_
 
 #include <cstdint>
+#include <iostream>
 
 struct TransmissionData {
     std::int32_t x;
     std::int32_t y;
     double funky;
 };
 
+inline std::ostream& operator<<(std::ostream& stream,
+                                const TransmissionData& value) {
+    std::cout << "TransmissionData { x: " << value.x << ", y: " << value.y
+              << ", funky: " << value.funky << "}";
+    return stream;
+}
+
 #endif

iceoryx2-ffi/cxx/include/iox2/node.hpp

@@ -12,14 +12,13 @@
 #ifndef IOX2_NODE_HPP_
 #define IOX2_NODE_HPP_
 
-#include <iox/builder.hpp>
-#include <iox/expected.hpp>
-#include <iox/function.hpp>
-#include <iox/optional.hpp>
-
 #include "callback_progression.hpp"
 #include "config.hpp"
 #include "internal/iceoryx2.hpp"
+#include "iox/builder.hpp"
+#include "iox/duration.hpp"
+#include "iox/expected.hpp"
+#include "iox/function.hpp"
 #include "node_id.hpp"
 #include "node_name.hpp"
 #include "node_state.hpp"
@@ -28,12 +27,22 @@
 #include "service_type.hpp"
 
 namespace iox2 {
+enum class NodeEvent {
+    /// The timeout passed.
+    Tick,
+    /// SIGTERM signal was received
+    TerminationRequest,
+    /// SIGINT signal was received
+    InterruptSignal,
+};
+
 template <ServiceType T>
 class Node {
    public:
     NodeName& name() const {}
     NodeId& id() const {}
     ServiceBuilder<T> service_builder(const ServiceName& name) const {}
+    NodeEvent wait(const iox::units::Duration& cycle_time) const {}
 
     static iox::expected<void, NodeListFailure> list(
         const Config& config,

iceoryx2-ffi/cxx/include/iox2/sample.hpp

@@ -17,6 +17,7 @@
 #include "unique_port_id.hpp"
 
 namespace iox2 {
+
 template <ServiceType, typename Payload, typename UserHeader>
 class Sample {
    public:
@@ -25,6 +26,15 @@ class Sample {
     const HeaderPublishSubscribe& header() const {}
     UniquePublisherId origin() const {}
 };
+
+template <ServiceType S, typename Payload>
+class Sample<S, Payload, void> {
+   public:
+    const Payload& payload() const {}
+    const HeaderPublishSubscribe& header() const {}
+    UniquePublisherId origin() const {}
+};
+
 }  // namespace iox2
 
 #endif

iceoryx2-ffi/cxx/include/iox2/sample_mut.hpp

@@ -45,10 +45,22 @@ class SampleMut {
     UserHeader& user_header_mut() {}
     const Payload& payload() const {}
     Payload& payload_mut() {}
+    void write_payload(const Payload& payload) {}
+};
 
-    static iox::expected<uint64_t, PublisherSendError> send(
-        SampleMut&& sample) {}
+template <ServiceType S, typename Payload>
+class SampleMut<S, Payload, void> {
+   public:
+    const HeaderPublishSubscribe& header() const {}
+    const Payload& payload() const {}
+    Payload& payload_mut() {}
+    void write_payload(const Payload& payload) {}
 };
+
+template <ServiceType S, typename Payload, typename UserHeader>
+iox::expected<uint64_t, PublisherSendError> send_sample(
+    SampleMut<S, Payload, UserHeader>&& sample) {}
+
 }  // namespace iox2
 
 #endif