talker.cc

/******************************************************************************
 * Copyright 2018 The Apollo Authors. 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.
 *****************************************************************************/

#include <iostream>
#include <sstream>

#include "cyber/cyber.h"
#include "cyber/message/raw_message.h"
#include "cyber/time/rate.h"
#include "cyber/time/time.h"

using apollo::cyber::Rate;
using apollo::cyber::Time;
using apollo::cyber::message::RawMessage;

int main(int argc, char *argv[]) {
  // init cyber framework
  apollo::cyber::Init(argv[0]);
  // create talker node
  auto talker_node = apollo::cyber::CreateNode("talker");
  // create talker
  auto talker = talker_node->CreateWriter<RawMessage>("channel/chatter");

  Rate rate(10.0);
  const std::string foo_content(307200, '+');  // 307200 = 480 * 640
  int count = 0;

  while (apollo::cyber::OK()) {
    auto msg = std::make_shared<RawMessage>();
    msg->message = foo_content;

    std::stringstream ss;
    ss << Time::Now().ToNanosecond();
    msg->message.append(ss.str());

    talker->Write(msg);
    rate.Sleep();

    ++count;
    if (count == 10000) {
      std::cout << "talk over" << std::endl;
      break;
    }
  }

  return 0;
}