Merge pull request #119 from DenisBiryukov91/dev/channels

Channels Support
eclipse-zenoh · Jun 10, 2024 · ee8f807 · ee8f807
2 parents 517d42d + dd92de0
commit ee8f807
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Showing 31 changed files with 2,123 additions and 1,342 deletions.
diff --git a/examples/simple/universal/z_simple.cxx b/examples/simple/universal/z_simple.cxx
@@ -136,7 +136,7 @@ class CustomSubscriber {
     }
 
 private:
-    Subscriber _sub;
+    Subscriber<void> _sub;
     void on_receive(const Sample& sample) { 
         CustomStruct s = sample.get_payload().deserialize<CustomStruct>(CustomCodec());
         std::cout << "Received: " << "{" << s.u << ", " << s.d << ", " << s.s  << "}\n"; 

diff --git a/examples/zenohc/z_get_channel.cxx b/examples/zenohc/z_get_channel.cxx
@@ -40,11 +40,11 @@ int _main(int argc, char **argv) {
     auto session = Session::open(std::move(config));
 
     std::cout << "Sending Query '" << expr << "'...\n";
-    auto replies = session.get_reply_fifo_channel<FifoChannelType::Blocking>(
-        keyexpr, "", 16, {.target = QueryTarget::Z_QUERY_TARGET_ALL}
+    auto replies = session.get(
+        keyexpr, "", channels::FifoChannel(16), {.target = QueryTarget::Z_QUERY_TARGET_ALL}
     );
 
-    for (auto reply = replies.get_next_reply(); replies.is_active() && reply; reply = replies.get_next_reply()) {
+    for (auto reply = replies.recv().first; static_cast<bool>(reply); reply = replies.recv().first) {
         const auto& sample = reply.get_ok();
         std::cout << "Received ('" << sample.get_keyexpr().as_string_view() << "' : '"
                   << sample.get_payload().deserialize<std::string>() << "')\n";

diff --git a/examples/zenohc/z_get_channel_non_blocking.cxx b/examples/zenohc/z_get_channel_non_blocking.cxx
@@ -45,11 +45,11 @@ int _main(int argc, char **argv) {
 
     std::cout << "Sending Query '" << expr << "'...\n";
 
-    auto replies = session.get_reply_fifo_channel<FifoChannelType::NonBlocking>(
-        keyexpr, "", 16, {.target = QueryTarget::Z_QUERY_TARGET_ALL}
+    auto replies = session.get(
+        keyexpr, "", channels::FifoChannel(16), {.target = QueryTarget::Z_QUERY_TARGET_ALL}
     );
 
-    for (auto reply = replies.get_next_reply(); replies.is_active(); reply = replies.get_next_reply()) {
+    for (auto [reply, alive] = replies.try_recv(); alive; std::tie(reply, alive) = replies.try_recv()) {
         if (!reply) {
             std::cout << ".";
             std::this_thread::sleep_for(1s);