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#include "../build/dora-node-api.h"
#include "../build/dora-ros2-bindings.h"
#include <iostream>
#include <vector>
#include <random>
int main()
{
std::cout << "HELLO FROM C++" << std::endl;
auto dora_node = init_dora_node();
auto merged_events = dora_events_into_combined(std::move(dora_node.events));
auto qos = qos_default();
qos.durability = Ros2Durability::Volatile;
qos.liveliness = Ros2Liveliness::Automatic;
qos.reliable = true;
qos.max_blocking_time = 0.1;
auto ros2_context = init_ros2_context();
auto node = ros2_context->new_node("/ros2_demo", "turtle_teleop");
auto vel_topic = node->create_topic_geometry_msgs_Twist("/turtle1", "cmd_vel", qos);
auto vel_publisher = node->create_publisher(vel_topic, qos);
auto pose_topic = node->create_topic_turtlesim_Pose("/turtle1", "pose", qos);
auto pose_subscription = node->create_subscription(pose_topic, qos, merged_events);
std::random_device dev;
std::default_random_engine gen(dev());
std::uniform_real_distribution<> dist(0., 1.);
auto service_qos = qos_default();
service_qos.reliable = true;
service_qos.max_blocking_time = 0.1;
service_qos.keep_last = 1;
auto add_two_ints = node->create_client_example_interfaces_AddTwoInts("/", "add_two_ints", service_qos, merged_events);
add_two_ints->wait_for_service(node);
auto received_ticks = 0;
auto responses_received = 0;
for (int i = 0; i < 1000; i++)
{
auto event = merged_events.next();
if (event.is_dora())
{
auto dora_event = downcast_dora(std::move(event));
auto ty = event_type(dora_event);
if (ty == DoraEventType::AllInputsClosed)
{
break;
}
else if (ty == DoraEventType::Input)
{
auto input = event_as_input(std::move(dora_event));
received_ticks += 1;
std::cout << "Received input " << std::string(input.id) << std::endl;
geometry_msgs::Twist twist = {
.linear = {.x = dist(gen) + 1, .y = 0, .z = 0},
.angular = {.x = 0, .y = 0, .z = (dist(gen) - 0.5) * 5.0}};
vel_publisher->publish(twist);
example_interfaces::AddTwoInts_Request request = {.a = 4, .b = 5};
add_two_ints->send_request(request);
}
else
{
std::cerr << "Unknown event type " << static_cast<int>(ty) << std::endl;
}
if (received_ticks > 20)
{
break;
}
}
else if (pose_subscription->matches(event))
{
auto pose = pose_subscription->downcast(std::move(event));
std::cout << "Received pose x:" << pose.x << ", y:" << pose.y << std::endl;
}
else if (add_two_ints->matches(event))
{
auto response = add_two_ints->downcast(std::move(event));
assert(response.sum == 9);
std::cout << "Received correct sum response from add_two_ints" << std::endl;
responses_received += 1;
}
else
{
std::cout << "received unexpected event" << std::endl;
}
}
std::cout << "Received " << responses_received << " service responses" << std::endl;
assert(responses_received > 0);
// try to access a constant for testing
assert((sensor_msgs::const_NavSatStatus_STATUS_NO_FIX() == -1));
std::cout << "GOODBYE FROM C++ node (using Rust API)" << std::endl;
return 0;
}
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