49 lines
1.5 KiB
Rust
49 lines
1.5 KiB
Rust
use futures::executor::LocalPool;
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use futures::future;
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use futures::stream::StreamExt;
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use futures::task::LocalSpawnExt;
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fn main() -> Result<(), Box<dyn std::error::Error>> {
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let ctx = r2r::Context::create()?;
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let mut node = r2r::Node::create(ctx, "testnode", "")?;
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let mut sub = node.subscribe::<r2r::std_msgs::msg::String>("/topic")?;
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let p = node.create_publisher::<r2r::std_msgs::msg::String>("/topic2")?;
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let mut pool = LocalPool::new();
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let spawner = pool.spawner();
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// task that every other time forwards message to topic2
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spawner.spawn_local(async move {
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let mut x: i32 = 0;
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loop {
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match sub.next().await {
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Some(msg) => {
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if x % 2 == 0 {
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p.publish(&r2r::std_msgs::msg::String {
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data: format!("({}): new msg: {}", x, msg.data),
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})
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.unwrap();
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}
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}
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None => break,
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}
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x += 1;
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}
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})?;
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// for sub2 we just print the data
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let sub2 = node.subscribe_untyped("/topic2", "std_msgs/msg/String")?;
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spawner.spawn_local(async move {
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sub2.for_each(|msg| {
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println!("topic2: new msg: {}", msg.expect("deserialization error"));
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future::ready(())
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})
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.await
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})?;
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loop {
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node.spin_once(std::time::Duration::from_millis(100));
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pool.run_until_stalled();
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}
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}
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