67 lines
2.1 KiB
Rust
67 lines
2.1 KiB
Rust
use futures::stream::StreamExt;
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use futures::future;
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use tokio::task;
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use std::sync::{Arc, Mutex};
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use r2r;
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#[derive(Debug, Default)]
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struct SharedState {
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pub state: i32
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}
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#[tokio::main]
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async 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 state = Arc::new(Mutex::new(SharedState::default()));
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// task that every other time forwards message to topic2
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let state_t1 = state.clone();
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task::spawn(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 { data: format!("({}): new msg: {}", x, msg.data) }).unwrap();
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} else {
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// update shared state
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state_t1.lock().unwrap().state = x;
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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::<r2r::std_msgs::msg::String>("/topic2")?;
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task::spawn(async move { sub2.for_each(|msg| {
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println!("topic2: new msg: {}", msg.data);
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future::ready(())
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}).await});
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let mut timer = node.create_wall_timer(std::time::Duration::from_millis(2500)).unwrap();
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let state_t2 = state.clone();
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task::spawn(async move {
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loop {
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let time_passed = timer.tick().await.unwrap();
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let x = state_t2.lock().unwrap().state;
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println!("timer event. time passed: {}. shared state is {}", time_passed.as_micros(), x);
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}
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});
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// here we spin the node in its own thread (but we could just busy wait in this thread)
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let handle = std::thread::spawn(move || {
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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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handle.join().unwrap();
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Ok(())
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}
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