// 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 <std_msgs/msg/string.h>

#include <stdio.h>

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

void on_message(const void * msgin)

{

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

printf("I heard: [%s]\n", msg->data.data);

}

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("string_subscriber_c", "");

CUSTOM_ASSERT(node);

rclc_subscription_t * sub =

rclc_create_subscription(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String),

"std_msgs_msg_String", on_message, 1, false);

CUSTOM_ASSERT(sub);

rclc_spin_node(node);

ret = rclc_destroy_subscription(sub);

ret = rclc_destroy_node(node);

return 0;

}