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/*******************************************************************************

* @file talker.cpp

* @brief Example cpp talker node for picoros

* @date 2025-Avg-8

*

* @details This example demonstrates a simple ROS publisher node that

* publishes string messages on the "picoros/chatter" topic.

*

* @copyright Copyright (c) 2025 Ubiquity Robotics

*******************************************************************************/

#include <cstdio>

#include <cstdint>

#include <csignal>

#include "picoros.h"

#include "picoserdes.h"

// Use command line arguments to change default values

constexpr const char* MODE = "client";

constexpr const char* LOCATOR = "tcp/192.168.1.16:7447";

// Common utils

extern "C" int sys_parse_args(int argc, char **argv, picoros_interface_t* ifx);

extern "C" volatile sig_atomic_t picoros_keep_running;

extern "C" void sys_setup_sigint_handler(void);

// Example Publisher

picoros_publisher_t pub_log = {

.topic = {

.name = "picoros/chatter",

.type = ROSTYPE_NAME(ros_String),

.rihs_hash = ROSTYPE_HASH(ros_String),

},

};

// Example node

picoros_node_t node = {

.name = "talker",

};

// Buffer for publication, used from this thread

uint8_t pub_buf[1024];

void publish_log() {

std::printf("Publishing log...\n");

const char* msg = "Hello from Pico-ROS!";

size_t len = ps_serialize(pub_buf, (char**)&msg, 1024);

picoros_publish(&pub_log, pub_buf, len);

}

int main(int argc, char **argv) {

picoros_interface_t ifx = {

.mode = const_cast<char*>(MODE),

.locator = const_cast<char*>(LOCATOR),

};

int ret = sys_parse_args(argc, argv, &ifx);

if (ret != 0) {

return ret;

}

std::printf("Starting pico-ros interface %s %s\n", ifx.mode, ifx.locator);

while (picoros_interface_init(&ifx) == PICOROS_NOT_READY) {

std::printf("Waiting RMW init...\n");

z_sleep_s(1);

}

std::printf("Starting Pico-ROS node %s domain:%d\n", node.name, node.domain_id);

picoros_node_init(&node);

std::printf("Declaring publisher on %s\n", pub_log.topic.name);

picoros_publisher_declare(&node, &pub_log);

sys_setup_sigint_handler();

while (picoros_keep_running) {

publish_log();

z_sleep_s(1);

}

std::printf("Closing interface and cleaning up...\n");

picoros_publisher_drop(&pub_log);

picoros_node_drop(&node);

picoros_interface_close();

return 0;

}