vision_receiver_example.cpp File Reference

Example to read data published from vision adapter. More...

#include <iostream>
#include <string>
#include <google/protobuf/util/json_util.h>
#include <google/protobuf/text_format.h>
#include "packet.pb.h"
#include "travesim_adapters/udp/multicast_receiver.hpp"

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Macros
#define	BUFFER_SIZE   1024U

Functions
int	main (int argc, char *argv[])

Detailed Description

Example to read data published from vision adapter.

Author

Lucas Haug lucas.nosp@m..hau.nosp@m.g@thu.nosp@m.nera.nosp@m.tz.or.nosp@m.g

Lucas Schneider lucas.nosp@m..sch.nosp@m.neide.nosp@m.r@th.nosp@m.unera.nosp@m.tz.o.nosp@m.rg

Felipe Gomes de Melo felip.nosp@m.e.go.nosp@m.mes@t.nosp@m.hune.nosp@m.ratz..nosp@m.org

Date

04/2021

Copyright

MIT License - Copyright (c) 2021 ThundeRatz

Definition in file vision_receiver_example.cpp.

Macro Definition Documentation

BUFFER_SIZE

#define BUFFER_SIZE   1024U

Definition at line 27 of file vision_receiver_example.cpp.

Function Documentation

main()

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 33 of file vision_receiver_example.cpp.

                                 {
    const std::string listen_address_str = "0.0.0.0";
    const std::string multicast_address_str = "224.0.0.1";
    const short multicast_port = 10002;

    char data_buff[BUFFER_SIZE];

    try {
        travesim::udp::MulticastReceiver my_receiver(multicast_address_str, multicast_port);

        size_t data_size = 0;

        for (long int i = 0;; i++) {
            data_size = my_receiver.receive(data_buff, BUFFER_SIZE);

            if (data_size > 0) {
                fira_message::sim_to_ref::Environment env_data;
                env_data.ParseFromString(data_buff);

                std::string parsed_msg;

                google::protobuf::util::JsonPrintOptions options;
                options.add_whitespace = true;
                options.always_print_primitive_fields = true;

                google::protobuf::util::MessageToJsonString(env_data, &parsed_msg, options);

                std::cout << parsed_msg << std::endl;
            }

            if (i % 100000 == 0) {
                std::cout << "Loop count: " << i << std::endl;
            }
        }
    } catch (std::exception& e) {
        std::cerr << "Exception: " << e.what() << "\n";
    }

    return 0;
}

References BUFFER_SIZE, and travesim::udp::Receiver::receive().

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