The samples folder is present to show various features and scenarios of the Heex SDK and demonstrates some basic and more advanced functionalities. We have provided basic samples in both c++ and python. The advanced samples are currently only provided in c++.

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Python API

All the available python methods and structures from our SDK are available in this page

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Monitor

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basicSampleMonitor

We have created a basic sample monitors that:
  • Create an instance of a monitor
  • The call to awaitReady() which will set the implementation in a waiting state until it connect to the kernel.
  • Several section demonstrating how to use the template functions updateValue and updateValueBySignalName for the supported types. You can find it under the samples/cpp or samples/python folder.

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advancedSampleMonitor_ConfChangedCallback

The advancedSampleMonitor_ConfChangedCallback demonstrates how to create a Configurable-by-Value Monitor that overloads the onConfigurationChangedCallback function in order to access or run specific code during an implementation’s reconfiguration. In our sample, we print out the the content of all the MonitoringSignal whenever there is a reconfiguration (also at initial configuration).
  • The sample uses a Monitor to overload the onConfigurationChangedCallback function
  • The rest of the sample will call update with random boolean value in a loop.

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advancedSampleMonitor_CustomSignal

This sample demonstrate how you can use CUSTOM signals to apply specific custom behavior for monitors, when basic monitoring signals may be unsufficient in your use case.

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Recorders

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basicSampleRecorder

The basicSampleRecorder demonstrates how to create a Recorder that provides the Label position and generates an event recording part in the form of a file that contains the timestamp of the event. The file is created for the event and demonstrate how to use some information contained in the event query.
  • When run, the recorder gets initialized, connects to Core with ID, exposes the Labels and Event Recording Part generation to the Core for identifier ID. It stops only on SIGKILL (Ctrl-C).

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advancedSampleRecorders

The advancedSampleRecorders are samples that are showing off a specific feature.

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advancedSampleRecorder_ConfChangedCallback

The advancedSampleRecorder_ConfChangedCallback demonstrates how to create a Configurable-by-Value Recorder that overloads the onConfigurationChangedCallback function in order to access or run specific code during an implementation’s reconfiguration. In our sample, we print out the the content of all the RecordingSignal whenever there is a reconfiguration (also at initial configuration). The rest of the behavior is very similar to the basicSampleRecorder

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Specific Middleware samples

Explore ready-to-use sample code located in the samples folder. Feel free to modify the ID or use the provided code as a starting point for your implementation.

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1. ROS2

This project is the example of the recommended SDK usage for a ROS2 package that implements Monitors and Recorders.
It implements logics of monitoring and recording that interface with ROS2 middleware.

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2. MCAP

This directory contains several samples demonstrating how to use MCAP file as input or output for your implementation. MCAP files can be directly analyse on the Heex Cloud without the need of downloading the recording.