// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).

//

// Licensed under the Apache License, Version 2.0 (the "License");

// you may not use this file except in compliance with the License.

// You may obtain a copy of the License at

//

// http://www.apache.org/licenses/LICENSE-2.0

//

// Unless required by applicable law or agreed to in writing, software

// distributed under the License is distributed on an "AS IS" BASIS,

// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

// See the License for the specific language governing permissions and

// limitations under the License.

#include <rclc/rclc.h>

#include <complex_msgs/msg/nested_msg_test.h>

#include <stdio.h>

#define CUSTOM_ASSERT(ptr) if ((ptr) == NULL) {return -1;}

void on_message(const void * msgin)

{

const complex_msgs__msg__NestedMsgTest * msg = (const complex_msgs__msg__NestedMsgTest *)msgin;

printf("I heard:\n");

printf("\tBool: %u\n", msg->data1);

printf("\tuint8_t: %u\n", msg->data2);

printf("\tsigned char: %u\n", msg->data3);

printf("\tfloat: %f\n", msg->data4);

printf("\tdouble: %lf\n", msg->data5);

printf("\tint8_t: %i\n", msg->data6);

printf("\tuint8_t: %u\n", msg->data7);

printf("\tint16_t: %i\n", msg->data8);

printf("\tuint16_t: %u\n", msg->data9);

printf("\tint32_t: %i\n", msg->data10);

printf("\tuint32_t: %u\n", msg->data11);

printf("\tint64_t: %li\n", msg->data12);

printf("\tuint64_t: %lu\n", msg->data13);

printf("\tstring 1: %s\n", msg->data14.data1.data);

printf("\tstring 2: %s\n", msg->data14.data2.data);

printf("\tstring 3: %s\n", msg->data14.data3.data);

printf("\tstring 4: %s\n", msg->data14.data4.data);

printf("\n\n");

}

int main(int argc, char * argv[])

{

(void)argc;

(void)argv;

rclc_ret_t ret;

ret = rclc_init(0, NULL);

if (ret != RCL_RET_OK) {

return -1;

}

rclc_node_t * node = rclc_create_node("complex_msg_subscriber_c", "");

CUSTOM_ASSERT(node);

rclc_subscription_t * sub =

rclc_create_subscription(node, RCLC_GET_MSG_TYPE_SUPPORT(complex_msgs, msg,

NestedMsgTest), "complex_msgs_msg_NestedMsgTest", on_message, 1,

false);

CUSTOM_ASSERT(sub);

rclc_spin_node(node);

ret = rclc_destroy_subscription(sub);

ret = rclc_destroy_node(node);

return 0;

}