Minimal example code for a Jetson to publish messages with zmqpp to be received by a RoboRIO with JeroMQ

cpp-publisher.cpp

#include <zmqpp/zmqpp.hpp>

#include <chrono>
#include <iostream>
#include <thread>

int main(int argc, char* argv[])
{
    const std::string publish_endpoint = "tcp://*:5038";

    zmqpp::context context;
    zmqpp::socket_type type = zmqpp::socket_type::publish;
    zmqpp::socket socket(context, type);

    socket.bind(publish_endpoint);

    std::cout << "Bound to " << publish_endpoint << std::endl;

    // Sleep to allow time for the socket to bind.
    std::this_thread::sleep_for(std::chrono::milliseconds(1000));

    while(true)
    {
        zmqpp::message message("Jetson message: Hey look, a target!");
        socket.send(message);

        std::cout << "Sent message to RoboRIO" << std::endl;

        std::this_thread::sleep_for(std::chrono::milliseconds(1000));
    }

    socket.disconnect(publish_endpoint);

    return 0;
}

JavaSubscriber.java

import org.zeromq.*;

public class JavaSubscriber
{
    public static void main(String[] args)
    {
        //
        // Belongs in initialization function
        //

        String endpoint = "tcp://*:5038";
        String filterString = "Jetson message"; // Ignore any message not starting with this

        ZContext context = new ZContext();

        ZMQ.Socket socket = context.createSocket(ZMQ.SUB);
        socket.subscribe(filterString.getBytes());
        socket.connect(endpoint);

        System.out.println("Connected to " + endpoint);

        //
        // Belongs in periodic function
        //

        while(true)
        {
            // Block until a reply is received.
            String message = socket.recvStr(0);

            // Print the message.
            System.out.println("Received: \"" + message + "\"");
        }
    }
}