iox-eclipse-iceoryx#2251 Use loop to take all samples in the listener…

… examples
EgorWeders · Apr 14, 2024 · c41adf0 · c41adf0
1 parent 829578f
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Showing 7 changed files with 32 additions and 15 deletions.
diff --git a/iceoryx_examples/callbacks/README.md b/iceoryx_examples/callbacks/README.md
@@ -165,16 +165,17 @@ void heartbeatCallback(iox::popo::UserTrigger*)
 }
 ```
 
-The `onSampleReceivedCallback` is more complex. We first acquire the received
-sample and check which subscriber signaled the event by acquiring the subscriber's
+The `onSampleReceivedCallback` is more complex. We first acquires all the received
+samples and checks which subscriber signaled the event by acquiring the subscriber's
 service description. If the instance is equal to `FrontLeft` we store the sample
 in the `leftCache` otherwise in the `rightCache`.
 
 <!--[geoffrey][iceoryx_examples/callbacks/ice_callbacks_subscriber.cpp][[subscriber callback][get data]]-->
 ```cpp
 void onSampleReceivedCallback(iox::popo::Subscriber<CounterTopic>* subscriber)
 {
-    subscriber->take().and_then([subscriber](auto& sample) {
+    // take all samples from the subscriber queue
+    while (subscriber->take().and_then([subscriber](auto& sample) {
         auto instanceString = subscriber->getServiceDescription().getInstanceIDString();
 
         // store the sample in the corresponding cache
@@ -188,7 +189,9 @@ void onSampleReceivedCallback(iox::popo::Subscriber<CounterTopic>* subscriber)
         }
 
         std::cout << "received: " << sample->counter << std::endl;
-    });
+    }))
+    {
+    }
     // ...
 }
 ```
@@ -304,7 +307,8 @@ argument, the pointer to the object itself, called `self`.
 ```cpp
 static void onSampleReceivedCallback(iox::popo::Subscriber<CounterTopic>* subscriber, CounterService* self)
 {
-    subscriber->take().and_then([subscriber, self](auto& sample) {
+    // take all samples from the subscriber queue
+    while (subscriber->take().and_then([subscriber, self](auto& sample) {
         auto instanceString = subscriber->getServiceDescription().getInstanceIDString();
 
         // store the sample in the corresponding cache
@@ -318,7 +322,9 @@ static void onSampleReceivedCallback(iox::popo::Subscriber<CounterTopic>* subscr
         }
 
         std::cout << "received: " << sample->counter << std::endl;
-    });
+    }))
+    {
+    }
 
     // if both caches are filled we can process them
     if (self->m_leftCache && self->m_rightCache)

diff --git a/iceoryx_examples/callbacks/ice_callbacks_listener_as_class_member.cpp b/iceoryx_examples/callbacks/ice_callbacks_listener_as_class_member.cpp
@@ -68,7 +68,8 @@ class CounterService
     //! [callback]
     static void onSampleReceivedCallback(iox::popo::Subscriber<CounterTopic>* subscriber, CounterService* self)
     {
-        subscriber->take().and_then([subscriber, self](auto& sample) {
+        // take all samples from the subscriber queue
+        while (subscriber->take().and_then([subscriber, self](auto& sample) {
             auto instanceString = subscriber->getServiceDescription().getInstanceIDString();
 
             // store the sample in the corresponding cache
@@ -82,7 +83,9 @@ class CounterService
             }
 
             std::cout << "received: " << sample->counter << std::endl;
-        });
+        }))
+        {
+        }
 
         // if both caches are filled we can process them
         if (self->m_leftCache && self->m_rightCache)

diff --git a/iceoryx_examples/callbacks/ice_callbacks_subscriber.cpp b/iceoryx_examples/callbacks/ice_callbacks_subscriber.cpp
@@ -42,7 +42,8 @@ void heartbeatCallback(iox::popo::UserTrigger*)
 void onSampleReceivedCallback(iox::popo::Subscriber<CounterTopic>* subscriber)
 {
     //! [get data]
-    subscriber->take().and_then([subscriber](auto& sample) {
+    // take all samples from the subscriber queue
+    while (subscriber->take().and_then([subscriber](auto& sample) {
         auto instanceString = subscriber->getServiceDescription().getInstanceIDString();
 
         // store the sample in the corresponding cache
@@ -56,7 +57,9 @@ void onSampleReceivedCallback(iox::popo::Subscriber<CounterTopic>* subscriber)
         }
 
         std::cout << "received: " << sample->counter << std::endl;
-    });
+    }))
+    {
+    }
     //! [get data]
 
     //! [process data]

diff --git a/iceoryx_examples/callbacks_in_c/README.md b/iceoryx_examples/callbacks_in_c/README.md
@@ -158,17 +158,18 @@ void heartbeatCallback(iox_user_trigger_t userTrigger)
 }
 ```
 
-The `onSampleReceivedCallback` is a little bit more complex. First we acquire
-the chunk and then we have to find out which subscriber received the chunk. For that
+The `onSampleReceivedCallback` is a little bit more complex. First we acquire all
+the chunks and also have to find out which subscriber received the chunk. For that
 we acquire the service description of the subscriber and if its instance equals
 `FrontLeft` we store the chunk value in the `leftCache` otherwise in the `rightCache`.
 
 <!--[geoffrey][iceoryx_examples/callbacks_in_c/ice_c_callbacks_subscriber.c][[subscriber callback][get data]]-->
 ```c
 void onSampleReceivedCallback(iox_sub_t subscriber)
 {
+    // take all samples from the subscriber queue
     const struct CounterTopic* userPayload;
-    if (iox_sub_take_chunk(subscriber, (const void**)&userPayload) == ChunkReceiveResult_SUCCESS)
+    while (iox_sub_take_chunk(subscriber, (const void**)&userPayload) == ChunkReceiveResult_SUCCESS)
     {
         iox_service_description_t serviceDescription = iox_sub_get_service_description(subscriber);
         if (strcmp(serviceDescription.instanceString, "FrontLeft") == 0)

diff --git a/iceoryx_examples/callbacks_in_c/ice_c_callbacks_subscriber.c b/iceoryx_examples/callbacks_in_c/ice_c_callbacks_subscriber.c
@@ -75,8 +75,9 @@ void* cyclicHeartbeatTrigger(void* dontCare)
 void onSampleReceivedCallback(iox_sub_t subscriber)
 {
     //! [get data]
+    // take all samples from the subscriber queue
     const struct CounterTopic* userPayload;
-    if (iox_sub_take_chunk(subscriber, (const void**)&userPayload) == ChunkReceiveResult_SUCCESS)
+    while (iox_sub_take_chunk(subscriber, (const void**)&userPayload) == ChunkReceiveResult_SUCCESS)
     {
         iox_service_description_t serviceDescription = iox_sub_get_service_description(subscriber);
         if (strcmp(serviceDescription.instanceString, "FrontLeft") == 0)

diff --git a/iceoryx_examples/callbacks_in_c/ice_c_callbacks_with_context_data.c b/iceoryx_examples/callbacks_in_c/ice_c_callbacks_with_context_data.c
@@ -63,7 +63,8 @@ void onSampleReceivedCallback(iox_sub_t subscriber, void* contextData)
 
     //! [get data]
     const struct CounterTopic* userPayload;
-    if (iox_sub_take_chunk(subscriber, (const void**)&userPayload) == ChunkReceiveResult_SUCCESS)
+    // take all samples from the subscriber queue
+    while (iox_sub_take_chunk(subscriber, (const void**)&userPayload) == ChunkReceiveResult_SUCCESS)
     {
         iox_service_description_t serviceDescription = iox_sub_get_service_description(subscriber);
         if (strcmp(serviceDescription.instanceString, "FrontLeft") == 0)

diff --git a/iceoryx_examples/ice_access_control/README.md b/iceoryx_examples/ice_access_control/README.md
@@ -81,6 +81,8 @@ Do the following to configure shared memory segments when building a custom RouD
 <!--[geoffrey][iceoryx_examples/ice_access_control/roudi_main_static_segments.cpp][config]-->
 ```cpp
 iox::IceoryxConfig config;
+static_cast<iox::config::RouDiConfig&>(config) = cmdLineArgs.value().roudiConfig;
+
 
 // Create Mempool Config
 iox::mepoo::MePooConfig mepooConfig;