50 lines
1.4 KiB
Rust
50 lines
1.4 KiB
Rust
use r2r::*;
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use std::thread;
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use std::env;
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use std::collections::HashMap;
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fn main() -> Result<(), ()> {
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let ctx = Context::create()?;
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let mut node = Node::create(ctx, "echo", "")?;
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let args: Vec<String> = env::args().collect();
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let topic = args.get(1).expect("provide a topic!");
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// run for a while to populate the topic list
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let mut count = 0;
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let mut nt = HashMap::new();
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while count < 50 {
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thread::sleep(std::time::Duration::from_millis(10));
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nt = node.get_topic_names_and_types()?;
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if nt.contains_key(topic) { break; }
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count += 1;
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}
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let type_name = nt.get(topic).and_then(|types|types.get(0));
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let type_name = match type_name {
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Some(tn) => tn,
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None => {
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eprintln!("Could not determine the type for the passed topic");
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return Err(());
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},
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};
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println!("topic: {}, type: {}", topic, type_name);
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// create echo topic
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let echo = &format!("{}_echo", topic);
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let echo_pub = node.create_publisher_untyped(echo, type_name)?;
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let cb = move |msg: serde_json::Value | {
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let s = serde_json::to_string_pretty(&msg).unwrap();
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println!("{}\n---\n", &s);
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echo_pub.publish(msg).unwrap();
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};
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let _subref = node.subscribe_untyped(topic, type_name, Box::new(cb))?;
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loop {
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node.spin_once(std::time::Duration::from_millis(100));
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}
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}
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