Merge pull request eclipse-iceoryx#397 from ApexAI/iox-#341-waitset-n…

…ext-gen

Iox eclipse-iceoryx#341 waitset next gen

iceoryx_binding_c/CMakeLists.txt

@@ -1,4 +1,4 @@
-# Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
+# Copyright (c) 2020 by Robert Bosch GmbH, Apex.AI Inc. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -48,14 +48,15 @@ set(${PROJECT_NAME}_DIR ${CMAKE_CURRENT_LIST_DIR}/cmake
 #
 add_library(${PROJECT_NAME}
     STATIC
-    source/c_condition.cpp
-    source/c_guard_condition.cpp
+    source/c_user_trigger.cpp
     source/c_publisher.cpp
     source/c_node.cpp
     source/c_runtime.cpp
     source/c_subscriber.cpp
+    source/c_trigger_info.cpp
     source/c_wait_set.cpp
     source/cpp2c_enum_translation.cpp
+    source/cpp2c_publisher.cpp
     source/cpp2c_subscriber.cpp
 )
 add_library(${PROJECT_NAMESPACE}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})

iceoryx_binding_c/include/iceoryx_binding_c/enums.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
+// Copyright (c) 2020 by Robert Bosch GmbH, Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -15,6 +15,12 @@
 #ifndef IOX_BINDING_C_ENUMS_H
 #define IOX_BINDING_C_ENUMS_H
 
+/// @brief describes events which can be triggered by a subscriber
+enum iox_SubscriberEvent
+{
+    SubscriberEvent_HAS_NEW_SAMPLES,
+};
+
 /// @brief describes the current state of a subscriber
 enum iox_SubscribeState
 {
@@ -46,9 +52,8 @@ enum iox_AllocationResult
 
 enum iox_WaitSetResult
 {
-    WaitSetResult_CONDITION_VECTOR_OVERFLOW,
-    WaitSetResult_CONDITION_VARIABLE_ALREADY_SET,
-    WaitSetResult_CONDITION_VARIABLE_ATTACH_FAILED,
+    WaitSetResult_TRIGGER_VECTOR_OVERFLOW,
+    WaitSetResult_TRIGGER_ALREADY_ACQUIRED,
     WaitSetResult_UNDEFINED_ERROR,
     WaitSetResult_SUCCESS
 };

iceoryx_binding_c/include/iceoryx_binding_c/internal/cpp2c_publisher.hpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
+// Copyright (c) 2020 by Robert Bosch GmbH, Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -19,6 +19,14 @@
 
 struct cpp2c_Publisher
 {
+    cpp2c_Publisher() = default;
+    cpp2c_Publisher(const cpp2c_Publisher&) = delete;
+    cpp2c_Publisher(cpp2c_Publisher&& rhs) noexcept;
+    ~cpp2c_Publisher();
+
+    cpp2c_Publisher& operator=(const cpp2c_Publisher&) = delete;
+    cpp2c_Publisher& operator=(cpp2c_Publisher&& rhs) noexcept;
+
     iox::popo::PublisherPortData* m_portData{nullptr};
 };
 

iceoryx_binding_c/include/iceoryx_binding_c/internal/cpp2c_subscriber.hpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
+// Copyright (c) 2020 by Robert Bosch GmbH, Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -15,15 +15,33 @@
 #ifndef IOX_BINDING_C_CPP2C_SUBSCRIBER_H
 #define IOX_BINDING_C_CPP2C_SUBSCRIBER_H
 
+#include "iceoryx_binding_c/enums.h"
 #include "iceoryx_posh/internal/popo/ports/subscriber_port_user.hpp"
-#include "iceoryx_posh/popo/condition.hpp"
+#include "iceoryx_posh/popo/wait_set.hpp"
 
-struct cpp2c_Subscriber : public iox::popo::Condition
+struct cpp2c_Subscriber
 {
-    void setConditionVariable(iox::popo::ConditionVariableData* const conditionVariableDataPtr) noexcept override;
-    bool hasTriggered() const noexcept override;
-    void unsetConditionVariable() noexcept override;
+    cpp2c_Subscriber() = default;
+    cpp2c_Subscriber(const cpp2c_Subscriber&) = delete;
+    cpp2c_Subscriber(cpp2c_Subscriber&& rhs) = delete;
+    ~cpp2c_Subscriber();
+
+    cpp2c_Subscriber& operator=(const cpp2c_Subscriber&) = delete;
+    cpp2c_Subscriber& operator=(cpp2c_Subscriber&& rhs) = delete;
+
+    iox_WaitSetResult attachTo(iox::popo::WaitSet& waitset,
+                               const iox_SubscriberEvent event,
+                               const uint64_t triggerId,
+                               const iox::popo::Trigger::Callback<cpp2c_Subscriber> callback = nullptr) noexcept;
+
+    void detachEvent(const iox_SubscriberEvent event) noexcept;
+
+    void invalidateTrigger(const uint64_t uniqueTriggerId) noexcept;
+
+    bool hasNewSamples() const noexcept;
+
 
     iox::popo::SubscriberPortData* m_portData{nullptr};
+    iox::popo::TriggerHandle m_trigger;
 };
 #endif

iceoryx_binding_c/include/iceoryx_binding_c/runtime.h

@@ -17,9 +17,9 @@
 
 #include "internal/c2cpp_binding.h"
 
-/// @brief registers a new posh runtime with a given name
+/// @brief initializes a new posh runtime with a given name
 /// @param[in] name name of the posh runtime
-void iox_runtime_register(const char* const name);
+void iox_runtime_init(const char* const name);
 
 /// @brief retrieves the instance-name of the current posh runtime instance
 /// @param[in] name char pointer to preallocated memory

iceoryx_binding_c/include/iceoryx_binding_c/subscriber.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
+// Copyright (c) 2020 by Robert Bosch GmbH, Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -21,6 +21,7 @@
 
 /// @brief Subscriber handle
 typedef struct cpp2c_Subscriber* iox_sub_t;
+typedef CLASS WaitSet* iox_ws_t;
 
 /// @brief initialize subscriber handle in the default runtime node
 /// @param[in] self pointer to preallocated memory of size = sizeof(iox_sub_storage_t)
@@ -80,4 +81,25 @@ bool iox_sub_has_new_chunks(iox_sub_t const self);
 /// @return true if there are lost chunks otherwise false
 bool iox_sub_has_lost_chunks(iox_sub_t const self);
 
+/// @brief attaches the subscriber to a waitset
+/// @param[in] self handle to the subscriber
+/// @param[in] waitset handle to the waitset
+/// @param[in] event the type of the event which should be attached to the waitset
+/// @param[in] triggerId the user defined trigger id
+/// @param[in] callback a callback which is attached to the trigger, NULL if no
+///            callback should be set
+/// @return if it was attached successfully it returns WaitSetResult_SUCCESS
+///         otherwise an enum which is describing the error
+ENUM iox_WaitSetResult iox_sub_attach_to_waitset(iox_sub_t const self,
+                                                 iox_ws_t const waitset,
+                                                 const ENUM iox_SubscriberEvent event,
+                                                 const uint64_t triggerId,
+                                                 void (*callback)(iox_sub_t));
+
+/// @brief detaches the subscriber from a waitset
+/// @param[in] self handle to the subscriber
+/// @param[in] event the type of the event which should be detached
+void iox_sub_detach_event(iox_sub_t const self, const ENUM iox_SubscriberEvent event);
+
+
 #endif

iceoryx_binding_c/include/iceoryx_binding_c/trigger_info.h

@@ -0,0 +1,57 @@
+// Copyright (c) 2020 by Apex.AI Inc. All rights reserved.
+//
+// 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.
+
+#ifndef IOX_BINDING_C_TRIGGER_INFO_H
+#define IOX_BINDING_C_TRIGGER_INFO_H
+
+#include "iceoryx_binding_c/internal/c2cpp_binding.h"
+#include "iceoryx_binding_c/subscriber.h"
+#include "iceoryx_binding_c/user_trigger.h"
+
+/// @brief trigger state handle
+typedef CLASS TriggerInfo* iox_trigger_info_t;
+
+/// @brief returns the id of the trigger
+/// @param[in] self handle to trigger state
+/// @return triggerId
+uint64_t iox_trigger_info_get_trigger_id(iox_trigger_info_t const self);
+
+/// @brief does the trigger originate from a certain subscriber
+/// @param[in] self handle to trigger state
+/// @param[in] subscriber handle to the subscriber in question
+/// @return true if the trigger originates from the subscriber, otherwise false
+bool iox_trigger_info_does_originate_from_subscriber(iox_trigger_info_t const self, iox_sub_t const subscriber);
+
+/// @brief does the trigger originate from a certain user trigger
+/// @param[in] self handle to trigger state
+/// @param[in] user_trigger handle to the user trigger in question
+/// @return true if the trigger originates from the user trigger, otherwise false
+bool iox_trigger_info_does_originate_from_user_trigger(iox_trigger_info_t const self,
+                                                       iox_user_trigger_t const user_trigger);
+
+/// @brief acquires the handle of the subscriber origin
+/// @param[in] self handle to trigger state
+/// @return the handle to the subscriber if the trigger originated from a subscriber, otherwise NULL
+iox_sub_t iox_trigger_info_get_subscriber_origin(iox_trigger_info_t const self);
+
+/// @brief acquires the handle of the user trigger origin
+/// @param[in] self handle to trigger state
+/// @return the handle to the user trigger if the trigger originated from a user trigger, otherwise NULL
+iox_user_trigger_t iox_trigger_info_get_user_trigger_origin(iox_trigger_info_t const self);
+
+/// @brief calls the callback of the trigger
+/// @param[in] self handle to trigger state
+void iox_trigger_info_call(iox_trigger_info_t const self);
+
+#endif

iceoryx_binding_c/include/iceoryx_binding_c/types.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
+// Copyright (c) 2020 by Robert Bosch GmbH, Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -28,27 +28,31 @@ struct iox_ws_storage_t_
 {
     // the value of the array size is the result of the following formula:
     // sizeof(WaitSet) / 8
-    uint64_t do_not_touch_me[133];
+    uint64_t do_not_touch_me[2308];
 };
 typedef struct iox_ws_storage_t_ iox_ws_storage_t;
 
-struct iox_guard_cond_storage_t_
+struct iox_user_trigger_storage_t_
 {
     // the value of the array size is the result of the following formula:
-    // sizeof(GuardCondition) / 8
+    // sizeof(UserTrigger) / 8
 #if defined(__APPLE__)
-    uint64_t do_not_touch_me[12];
+    uint64_t do_not_touch_me[16];
 #else
-    uint64_t do_not_touch_me[9];
+    uint64_t do_not_touch_me[13];
 #endif
 };
-typedef struct iox_guard_cond_storage_t_ iox_guard_cond_storage_t;
+typedef struct iox_user_trigger_storage_t_ iox_user_trigger_storage_t;
 
 struct iox_sub_storage_t_
 {
     // the value of the array size is the result of the following formula:
     // sizeof(cpp2c_Subscriber) / 8
-    uint64_t do_not_touch_me[3];
+#if defined(__APPLE__)
+    uint64_t do_not_touch_me[16];
+#else
+    uint64_t do_not_touch_me[13];
+#endif
 };
 typedef struct iox_sub_storage_t_ iox_sub_storage_t;
 
@@ -60,5 +64,13 @@ struct iox_pub_storage_t_
 };
 typedef struct iox_pub_storage_t_ iox_pub_storage_t;
 
+struct iox_trigger_info_storage_t_
+{
+    // the value of the array size is the result of the following formula:
+    // sizeof(cpp2c_Publisher) / 8
+    uint64_t do_not_touch_me[7];
+};
+typedef struct iox_trigger_info_storage_t_ iox_trigger_info_storage_t;
+
 
 #endif