To run the experiment, open a terminal and run:
pixi run pub
and open another terminal and run:
pixi run sub
Last active
July 23, 2024 13:43
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Save traversaro/a195c39d00931bc33c4b3d19e5129fc7 to your computer and use it in GitHub Desktop.
Zenoh Windows Freeze problem
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| # GitHub syntax highlighting | |
| pixi.lock linguist-language=YAML | |
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| # pixi environments | |
| .pixi | |
| *.egg-info | |
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| cmake_minimum_required(VERSION 3.16) | |
| # Set the project name | |
| project(zenoh-cpp-example) | |
| include(FetchContent) | |
| FetchContent_Declare(zenohc GIT_REPOSITORY https://github.com/eclipse-zenoh/zenoh-c GIT_TAG main) | |
| FetchContent_MakeAvailable(zenohc) | |
| FetchContent_Declare(zenohcxx GIT_REPOSITORY https://github.com/eclipse-zenoh/zenoh-cpp GIT_TAG main) | |
| FetchContent_MakeAvailable(zenohcxx) | |
| add_executable(pub pub.cxx) | |
| target_link_libraries(pub PRIVATE zenohcxx::zenohc::lib) | |
| add_executable(sub sub.cxx) | |
| target_link_libraries(sub PRIVATE zenohcxx::zenohc::lib) |
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| version: 5 | |
| environments: | |
| default: | |
| channels: | |
| - url: https://conda.anaconda.org/conda-forge/ | |
| packages: | |
| linux-64: | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2 | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-2_gnu.tar.bz2 | |
| - conda: https://conda.anaconda.org/conda-forge/noarch/_sysroot_linux-64_curr_repodata_hack-3-h69a702a_16.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils-2.40-h4852527_7.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.40-ha1999f0_7.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.40-hb3c18ed_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-h4bc722e_7.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.32.2-h4bc722e_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/c-compiler-1.7.0-hd590300_1.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/ca-certificates-2024.7.4-hbcca054_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-3.30.1-hf8c4bd3_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/compilers-1.7.0-ha770c72_1.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/cxx-compiler-1.7.0-h00ab1b0_1.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/fortran-compiler-1.7.0-heb67821_1.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc-12.4.0-h236703b_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_impl_linux-64-12.4.0-hb2e57f8_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_linux-64-12.4.0-h6b7512a_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/gfortran-12.4.0-h236703b_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/gfortran_impl_linux-64-12.4.0-hc568b83_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/gfortran_linux-64-12.4.0-hd748a6a_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx-12.4.0-h236703b_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx_impl_linux-64-12.4.0-h557a472_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx_linux-64-12.4.0-h8489865_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/noarch/kernel-headers_linux-64-3.10.0-h4a8ded7_16.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/keyutils-1.6.1-h166bdaf_0.tar.bz2 | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/krb5-1.21.3-h659f571_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/ld_impl_linux-64-2.40-hf3520f5_7.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/libcurl-8.8.0-hca28451_1.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/libedit-3.1.20191231-he28a2e2_2.tar.bz2 | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/libev-4.33-hd590300_2.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/libexpat-2.6.2-h59595ed_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/noarch/libgcc-devel_linux-64-12.4.0-ha4f9413_100.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/libgcc-ng-14.1.0-h77fa898_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/libgfortran5-14.1.0-hc5f4f2c_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/libgomp-14.1.0-h77fa898_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/libnghttp2-1.58.0-h47da74e_1.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/libsanitizer-12.4.0-h46f95d5_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/libssh2-1.11.0-h0841786_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/noarch/libstdcxx-devel_linux-64-12.4.0-ha4f9413_100.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-ng-14.1.0-hc0a3c3a_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/libuv-1.48.0-hd590300_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/libzlib-1.3.1-h4ab18f5_1.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/make-4.3-hd18ef5c_1.tar.bz2 | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/ncurses-6.5-h59595ed_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/ninja-1.12.1-h297d8ca_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/openssl-3.3.1-h4bc722e_2.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/pkg-config-0.29.2-h4bc722e_1009.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/rhash-1.4.4-hd590300_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/rust-1.79.0-h0a17960_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/noarch/rust-std-x86_64-unknown-linux-gnu-1.79.0-h2c6d0dc_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/noarch/sysroot_linux-64-2.17-h4a8ded7_16.conda | |
| - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2024a-h0c530f3_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/xz-5.2.6-h166bdaf_0.tar.bz2 | |
| - conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.6-ha6fb4c9_0.conda | |
| win-64: | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/bzip2-1.0.8-h2466b09_7.conda | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/c-compiler-1.7.0-hcfcfb64_1.conda | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/ca-certificates-2024.7.4-h56e8100_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/clangdev-5.0.0-flang_3.tar.bz2 | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/cmake-3.30.1-h400e5d1_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/compilers-1.7.0-h57928b3_1.conda | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/cxx-compiler-1.7.0-h91493d7_1.conda | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/flang-5.0.0-he025d50_20180525.tar.bz2 | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/flang_win-64-5.0.0-h13ae965_20180526.tar.bz2 | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/fortran-compiler-1.7.0-h9655429_1.conda | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/krb5-1.21.3-hdf4eb48_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/libcurl-8.8.0-hd5e4a3a_1.conda | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/libexpat-2.6.2-h63175ca_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/libffi-3.4.2-h8ffe710_5.tar.bz2 | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/libflang-5.0.0-h6538335_20180525.tar.bz2 | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/libglib-2.80.3-h7025463_1.conda | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/libiconv-1.17-hcfcfb64_2.conda | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/libintl-0.22.5-h5728263_2.conda | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/libssh2-1.11.0-h7dfc565_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/libuv-1.48.0-hcfcfb64_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/libzlib-1.3.1-h2466b09_1.conda | |
| - conda: https://conda.anaconda.org/conda-forge/noarch/llvm-meta-5.0.0-0.tar.bz2 | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/m2w64-gcc-libgfortran-5.3.0-6.tar.bz2 | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/m2w64-gcc-libs-5.3.0-7.tar.bz2 | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/m2w64-gcc-libs-core-5.3.0-7.tar.bz2 | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/m2w64-gmp-6.1.0-2.tar.bz2 | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/m2w64-libwinpthread-git-5.0.0.4634.697f757-2.tar.bz2 | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/make-4.3-h3d2af85_1.tar.bz2 | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/msys2-conda-epoch-20160418-1.tar.bz2 | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/ninja-1.12.1-hc790b64_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/openmp-5.0.0-vc14_1.tar.bz2 | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/openssl-3.3.1-h2466b09_2.conda | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/pcre2-10.44-h3d7b363_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/pkg-config-0.29.2-h88c491f_1009.conda | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/rust-1.79.0-hf8d6059_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/noarch/rust-std-x86_64-pc-windows-msvc-1.79.0-h17fc481_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/ucrt-10.0.22621.0-h57928b3_0.tar.bz2 | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/vc-14.3-h8a93ad2_20.conda | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/vc14_runtime-14.40.33810-ha82c5b3_20.conda | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/vs2015_runtime-14.40.33810-h3bf8584_20.conda | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/vs2019_win-64-19.29.30139-he1865b1_20.conda | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/vswhere-3.1.7-h57928b3_0.conda | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/xz-5.2.6-h8d14728_0.tar.bz2 | |
| - conda: https://conda.anaconda.org/conda-forge/win-64/zstd-1.5.6-h0ea2cb4_0.conda | |
| packages: | |
| - kind: conda | |
| name: _libgcc_mutex | |
| version: '0.1' | |
| build: conda_forge | |
| subdir: linux-64 | |
| url: https://conda.anaconda.org/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2 | |
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| size: 2562 | |
| timestamp: 1578324546067 | |
| - kind: conda | |
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| version: '4.5' | |
| build: 2_gnu | |
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| subdir: linux-64 | |
| url: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-2_gnu.tar.bz2 | |
| sha256: fbe2c5e56a653bebb982eda4876a9178aedfc2b545f25d0ce9c4c0b508253d22 | |
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| depends: | |
| - _libgcc_mutex 0.1 conda_forge | |
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| constrains: | |
| - openmp_impl 9999 | |
| license: BSD-3-Clause | |
| license_family: BSD | |
| size: 23621 | |
| timestamp: 1650670423406 | |
| - kind: conda | |
| name: _sysroot_linux-64_curr_repodata_hack | |
| version: '3' | |
| build: h69a702a_16 | |
| build_number: 16 | |
| subdir: noarch | |
| noarch: generic | |
| url: https://conda.anaconda.org/conda-forge/noarch/_sysroot_linux-64_curr_repodata_hack-3-h69a702a_16.conda | |
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| license_family: GPL | |
| size: 20798 | |
| timestamp: 1720621358501 | |
| - kind: conda | |
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| version: '2.40' | |
| build: h4852527_7 | |
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| subdir: linux-64 | |
| url: https://conda.anaconda.org/conda-forge/linux-64/binutils-2.40-h4852527_7.conda | |
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| name: binutils_impl_linux-64 | |
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| build: ha1999f0_7 | |
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| subdir: linux-64 | |
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| sha256: 230f3136d17fdcf0e6da3a3ae59118570bc18106d79dd29bf2f341338d2a42c4 | |
| md5: 3f840c7ed70a96b5ebde8044b2f36f32 | |
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| - ld_impl_linux-64 2.40 hf3520f5_7 | |
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| license: GPL-3.0-only | |
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| size: 6250821 | |
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| - kind: conda | |
| name: binutils_linux-64 | |
| version: '2.40' | |
| build: hb3c18ed_0 | |
| subdir: linux-64 | |
| url: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.40-hb3c18ed_0.conda | |
| sha256: 2aadece2933f01b5414285ac9390865b59384c8f3d47f7361664cf511ae33ad0 | |
| md5: f152f00b4c709e88cd88af1fb50a70b4 | |
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| license: BSD-3-Clause | |
| license_family: BSD | |
| size: 29268 | |
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| - kind: conda | |
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| version: 1.0.8 | |
| build: h2466b09_7 | |
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| subdir: win-64 | |
| url: https://conda.anaconda.org/conda-forge/win-64/bzip2-1.0.8-h2466b09_7.conda | |
| sha256: 35a5dad92e88fdd7fc405e864ec239486f4f31eec229e31686e61a140a8e573b | |
| md5: 276e7ffe9ffe39688abc665ef0f45596 | |
| depends: | |
| - ucrt >=10.0.20348.0 | |
| - vc >=14.2,<15 | |
| - vc14_runtime >=14.29.30139 | |
| license: bzip2-1.0.6 | |
| license_family: BSD | |
| size: 54927 | |
| timestamp: 1720974860185 | |
| - kind: conda | |
| name: bzip2 | |
| version: 1.0.8 | |
| build: h4bc722e_7 | |
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| subdir: linux-64 | |
| url: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-h4bc722e_7.conda | |
| sha256: 5ced96500d945fb286c9c838e54fa759aa04a7129c59800f0846b4335cee770d | |
| md5: 62ee74e96c5ebb0af99386de58cf9553 | |
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| - __glibc >=2.17,<3.0.a0 | |
| - libgcc-ng >=12 | |
| license: bzip2-1.0.6 | |
| license_family: BSD | |
| size: 252783 | |
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| - kind: conda | |
| name: c-ares | |
| version: 1.32.2 | |
| build: h4bc722e_0 | |
| subdir: linux-64 | |
| url: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.32.2-h4bc722e_0.conda | |
| sha256: d1b01f9e3d10b97fd09e19fda0caf9bfad3c884a6b19fb3f654a9aed02a70b58 | |
| md5: 8024af1ee7078e37fa3101c0a0296af2 | |
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| - __glibc >=2.17,<3.0.a0 | |
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| license: MIT | |
| license_family: MIT | |
| size: 179740 | |
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| - kind: conda | |
| name: c-compiler | |
| version: 1.7.0 | |
| build: hcfcfb64_1 | |
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| subdir: win-64 | |
| url: https://conda.anaconda.org/conda-forge/win-64/c-compiler-1.7.0-hcfcfb64_1.conda | |
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| timestamp: 1660346797927 | |
| - kind: conda | |
| name: xz | |
| version: 5.2.6 | |
| build: h8d14728_0 | |
| subdir: win-64 | |
| url: https://conda.anaconda.org/conda-forge/win-64/xz-5.2.6-h8d14728_0.tar.bz2 | |
| sha256: 54d9778f75a02723784dc63aff4126ff6e6749ba21d11a6d03c1f4775f269fe0 | |
| md5: 515d77642eaa3639413c6b1bc3f94219 | |
| depends: | |
| - vc >=14.1,<15 | |
| - vs2015_runtime >=14.16.27033 | |
| license: LGPL-2.1 and GPL-2.0 | |
| size: 217804 | |
| timestamp: 1660346976440 | |
| - kind: conda | |
| name: zstd | |
| version: 1.5.6 | |
| build: h0ea2cb4_0 | |
| subdir: win-64 | |
| url: https://conda.anaconda.org/conda-forge/win-64/zstd-1.5.6-h0ea2cb4_0.conda | |
| sha256: 768e30dc513568491818fb068ee867c57c514b553915536da09e5d10b4ebf3c3 | |
| md5: 9a17230f95733c04dc40a2b1e5491d74 | |
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| - ucrt >=10.0.20348.0 | |
| - vc >=14.2,<15 | |
| - vc14_runtime >=14.29.30139 | |
| license: BSD-3-Clause | |
| license_family: BSD | |
| size: 349143 | |
| timestamp: 1714723445995 | |
| - kind: conda | |
| name: zstd | |
| version: 1.5.6 | |
| build: ha6fb4c9_0 | |
| subdir: linux-64 | |
| url: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.6-ha6fb4c9_0.conda | |
| sha256: c558b9cc01d9c1444031bd1ce4b9cff86f9085765f17627a6cd85fc623c8a02b | |
| md5: 4d056880988120e29d75bfff282e0f45 | |
| depends: | |
| - libgcc-ng >=12 | |
| - libstdcxx-ng >=12 | |
| - libzlib >=1.2.13,<2.0.0a0 | |
| license: BSD-3-Clause | |
| license_family: BSD | |
| size: 554846 | |
| timestamp: 1714722996770 |
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| [project] | |
| name = "zenohmwe" | |
| version = "0.1.0" | |
| description = "Add a short description here" | |
| authors = ["Silvio Traversaro <silvio@traversaro.it>"] | |
| channels = ["conda-forge"] | |
| platforms = ["linux-64", "win-64"] | |
| [tasks] | |
| configure = { cmd = [ | |
| "cmake", | |
| "-DCMAKE_BUILD_TYPE=Release", | |
| "-DBUILD_TESTING:BOOL=ON", | |
| # Use the cross-platform Ninja generator | |
| "-G", | |
| "Ninja", | |
| # The source is in the root directory | |
| "-S", | |
| ".", | |
| # We wanna build in the .build directory | |
| "-B", | |
| ".build", | |
| ]} | |
| build = { cmd = "cmake --build .build --config Release", depends_on = ["configure"] } | |
| pub = { cmd = "./.build/pub", depends_on = ["build"] } | |
| sub = { cmd = "./.build/sub", depends_on = ["build"] } | |
| [dependencies] | |
| compilers = ">=1.7.0,<1.8" | |
| cmake = ">=3.30.1,<3.31" | |
| pkg-config = ">=0.29.2,<0.30" | |
| make = ">=4.3,<5" | |
| ninja = ">=1.12.1,<1.13" | |
| rust = ">=1.79.0,<1.80" |
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| #include "zenoh.hxx" | |
| #include <atomic> | |
| #include <chrono> | |
| #include <thread> | |
| std::atomic<bool> isClosing{false}; | |
| int main(int argc, char** argv) | |
| { | |
| double periodInSec = 0.01; | |
| zenoh::Config config; | |
| auto session = zenoh::expect<zenoh::Session>(open(std::move(config))); | |
| int periodInUs = periodInSec * 1e6; | |
| auto Ts = std::chrono::microseconds(periodInUs); | |
| while (!isClosing) | |
| { | |
| auto startTime = std::chrono::high_resolution_clock::now(); | |
| std::vector<double> accNode = {1.0, 2.0, 3.0}; | |
| std::vector<double> angVelNode = {0.0, 0.0, 0.0}; | |
| std::vector<double> rotNode = {1.0, 0.0, 0.0, 0.0}; | |
| for (int i = 1; i <= 12; i++) | |
| { | |
| session.put("dummyData/IMU" + std::to_string(i) + "/linAcc", accNode); | |
| session.put("dummyData/IMU" + std::to_string(i) + "/angVel", angVelNode); | |
| session.put("dummyData/IMU" + std::to_string(i) + "/orientation", rotNode); | |
| session.put("dummyData/IMU" + std::to_string(i) + "/magnetometer", rotNode); | |
| } | |
| auto endTime = std::chrono::high_resolution_clock::now(); | |
| auto nextTime = startTime + Ts; | |
| auto remaining_ms | |
| = std::chrono::duration_cast<std::chrono::milliseconds>(nextTime - endTime); | |
| if (remaining_ms.count() > 0) | |
| { | |
| std::this_thread::sleep_until(nextTime); | |
| } | |
| } | |
| return 0; | |
| } |
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| #include "zenoh.hxx" | |
| #include <atomic> | |
| #include <chrono> | |
| #include <thread> | |
| std::atomic<bool> isClosing = false; | |
| std::chrono::high_resolution_clock::time_point previousTime; | |
| void data_handler(const zenoh::Sample& sample) | |
| { | |
| std::string keyExprStr(sample.get_keyexpr().as_string_view()); | |
| if (keyExprStr == "dummyData/IMU1/linAcc") | |
| { | |
| auto now = std::chrono::high_resolution_clock::now(); | |
| std::cout | |
| << "Received data from " << keyExprStr << " at " | |
| << std::chrono::duration_cast<std::chrono::milliseconds>(now - previousTime).count() | |
| << " ms" << std::endl; | |
| previousTime = now; | |
| } | |
| } | |
| int main() | |
| { | |
| zenoh::Config config; | |
| std::vector<std::string> jointsList; | |
| auto session = zenoh::expect<zenoh::Session>(open(std::move(config))); | |
| auto subscriber = zenoh::expect<zenoh::Subscriber>( | |
| session.declare_subscriber("dummyData/**", data_handler)); | |
| previousTime = std::chrono::high_resolution_clock::now(); | |
| while (!isClosing) | |
| { | |
| std::this_thread::sleep_for(std::chrono::milliseconds(100)); | |
| } | |
| return 0; | |
| } |
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