Merge pull request eclipse-iceoryx#548 from ApexAI/iox-#350-implement…

…-active-call-set

Iox eclipse-iceoryx#350 implement active call set

doc/website/getting-started/examples/intermediate-examples.md

@@ -1,5 +1,6 @@
 # Intermediate examples
 
+{! ./../iceoryx_examples/callbacks/README.md !}
 {! ./../iceoryx_examples/waitset/README.md !}
 {! ./../iceoryx_examples/waitset_in_c/README.md !}
 {! ./../iceoryx_examples/singleprocess/README.md !}

iceoryx_binding_c/CMakeLists.txt

@@ -72,11 +72,22 @@ target_include_directories(${PROJECT_NAME}
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include/${PREFIX}>
 )
-target_link_libraries(${PROJECT_NAME}
-    PRIVATE
-    iceoryx_posh::iceoryx_posh
-    iceoryx_utils::iceoryx_utils
-)
+
+if(NOT WIN32)
+    target_link_libraries(${PROJECT_NAME}
+      PUBLIC
+        pthread
+      PRIVATE
+        iceoryx_posh::iceoryx_posh
+        iceoryx_utils::iceoryx_utils
+    )
+else()
+    target_link_libraries(${PROJECT_NAME}
+      PRIVATE
+        iceoryx_posh::iceoryx_posh
+        iceoryx_utils::iceoryx_utils
+    )
+endif()
 
 target_compile_options(${PROJECT_NAME} PRIVATE ${ICEORYX_WARNINGS} ${ICEORYX_SANITIZER_FLAGS})
 

iceoryx_binding_c/include/iceoryx_binding_c/types.h

@@ -39,7 +39,7 @@ struct iox_user_trigger_storage_t_
     // the value of the array size is the result of the following formula:
     // sizeof(UserTrigger) / 8
 #if defined(__APPLE__)
-    uint64_t do_not_touch_me[16];
+    uint64_t do_not_touch_me[17];
 #else
     uint64_t do_not_touch_me[14];
 #endif
@@ -51,7 +51,7 @@ struct iox_sub_storage_t_
     // the value of the array size is the result of the following formula:
     // sizeof(cpp2c_Subscriber) / 8
 #if defined(__APPLE__)
-    uint64_t do_not_touch_me[16];
+    uint64_t do_not_touch_me[17];
 #else
     uint64_t do_not_touch_me[14];
 #endif

iceoryx_examples/README.md

@@ -22,6 +22,7 @@ cd someExample
 
 | Example                                                | Description |Level |
 |:-------------------------------------------------------|:------------|:----:|
+|[callbacks](./callbacks/)                           | Implement callbacks which are triggered by events. | Intermediate |
 |[icedelivery](./icedelivery/)                           | You are new to iceoryx then take a look at this example which demonstrates the basics of iceoryx by sending data from one process to another process. | Beginner |
 |[icedelivery_in_c](./icedelivery_in_c/)                 | Shows the same use case as the ice delivery example but with the iceoryx C API  | Beginner |
 |[ice_multi_publisher](./ice_multi_publisher/)           | Shows how multiple publishers can be used to publish on the same topic. | Intermediate |

iceoryx_examples/callbacks/CMakeLists.txt

@@ -0,0 +1,53 @@
+# Copyright (c) 2021 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.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.5)
+project(example_callbacks)
+
+include(GNUInstallDirs)
+
+find_package(iceoryx_posh CONFIG REQUIRED)
+
+get_target_property(ICEORYX_CXX_STANDARD iceoryx_posh::iceoryx_posh CXX_STANDARD)
+if ( NOT ICEORYX_CXX_STANDARD )
+    include(IceoryxPlatform)
+endif ()
+
+add_executable(iox-ex-callbacks-publisher ./ice_callbacks_publisher.cpp)
+target_link_libraries(iox-ex-callbacks-publisher
+    iceoryx_posh::iceoryx_posh
+)
+target_compile_options(iox-ex-callbacks-publisher PRIVATE ${ICEORYX_WARNINGS} ${ICEORYX_SANITIZER_FLAGS})
+
+add_executable(iox-ex-callbacks-subscriber ./ice_callbacks_subscriber.cpp)
+target_link_libraries(iox-ex-callbacks-subscriber
+    iceoryx_posh::iceoryx_posh
+)
+target_compile_options(iox-ex-callbacks-subscriber PRIVATE ${ICEORYX_WARNINGS} ${ICEORYX_SANITIZER_FLAGS})
+
+set_target_properties(
+    iox-ex-callbacks-subscriber
+    iox-ex-callbacks-publisher
+  PROPERTIES
+    CXX_STANDARD_REQUIRED ON
+    CXX_STANDARD ${ICEORYX_CXX_STANDARD}
+    POSITION_INDEPENDENT_CODE ON
+)
+
+install(
+    TARGETS iox-ex-callbacks-publisher iox-ex-callbacks-subscriber 
+    RUNTIME DESTINATION bin
+)

iceoryx_examples/callbacks/README.md

@@ -0,0 +1,2 @@
+# ActiveCallSet - WORK IN PROGRESS -
+

iceoryx_examples/callbacks/ice_callbacks_publisher.cpp

@@ -0,0 +1,60 @@
+// Copyright (c) 2021 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.
+//
+// SPDX-License-Identifier: Apache-2.0
+
+#include "iceoryx_posh/popo/publisher.hpp"
+#include "iceoryx_posh/runtime/posh_runtime.hpp"
+#include "iceoryx_utils/posix_wrapper/signal_handler.hpp"
+#include "topic_data.hpp"
+
+#include <chrono>
+#include <csignal>
+#include <iostream>
+
+bool killswitch = false;
+
+static void sigHandler(int f_sig [[gnu::unused]])
+{
+    killswitch = true;
+}
+
+void sending()
+{
+    iox::runtime::PoshRuntime::initRuntime("iox-ex-callbacks-publisher");
+
+    iox::popo::Publisher<CounterTopic> myPublisher({"Radar", "FrontLeft", "Counter"});
+    myPublisher.offer();
+
+    for (uint32_t counter = 0U; !killswitch; ++counter)
+    {
+        myPublisher.publishCopyOf(CounterTopic{counter});
+        std::cout << "Sending: " << counter << std::endl;
+
+        std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+    }
+
+    myPublisher.stopOffer();
+}
+
+int main()
+{
+    auto signalIntGuard = iox::posix::registerSignalHandler(iox::posix::Signal::INT, sigHandler);
+    auto signalTermGuard = iox::posix::registerSignalHandler(iox::posix::Signal::TERM, sigHandler);
+
+    std::thread tx(sending);
+    tx.join();
+
+    return (EXIT_SUCCESS);
+}

iceoryx_examples/callbacks/ice_callbacks_subscriber.cpp

@@ -0,0 +1,77 @@
+// Copyright (c) 2021 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.
+//
+// SPDX-License-Identifier: Apache-2.0
+
+#include "iceoryx_posh/popo/active_call_set.hpp"
+#include "iceoryx_posh/popo/subscriber.hpp"
+#include "iceoryx_posh/popo/user_trigger.hpp"
+#include "iceoryx_posh/runtime/posh_runtime.hpp"
+#include "iceoryx_utils/posix_wrapper/semaphore.hpp"
+#include "iceoryx_utils/posix_wrapper/signal_handler.hpp"
+#include "topic_data.hpp"
+
+#include <chrono>
+#include <csignal>
+#include <iostream>
+
+iox::popo::UserTrigger shutdownTrigger;
+iox::posix::Semaphore mainLoopBlocker =
+    iox::posix::Semaphore::create(iox::posix::CreateUnnamedSingleProcessSemaphore, 0).value();
+
+std::atomic_bool keepRunning{true};
+
+static void sigHandler(int f_sig [[gnu::unused]])
+{
+    shutdownTrigger.trigger();
+}
+
+void shutdownTriggerCallback(iox::popo::UserTrigger*)
+{
+    keepRunning.store(false);
+}
+
+void onSampleReceived(iox::popo::Subscriber<CounterTopic>* subscriber)
+{
+    subscriber->take().and_then([](auto& sample) { printf("received: %d\n", sample->counter); });
+}
+
+int main()
+{
+    auto signalIntGuard = iox::posix::registerSignalHandler(iox::posix::Signal::INT, sigHandler);
+    auto signalTermGuard = iox::posix::registerSignalHandler(iox::posix::Signal::TERM, sigHandler);
+
+    iox::runtime::PoshRuntime::initRuntime("iox-ex-callbacks-subscriber");
+
+    iox::popo::ActiveCallSet callSet;
+
+    // attach shutdownTrigger to handle CTRL+C
+    callSet.attachEvent(shutdownTrigger, shutdownTriggerCallback);
+
+    iox::popo::Subscriber<CounterTopic> subscriber({"Radar", "FrontLeft", "Counter"});
+
+    subscriber.subscribe();
+
+    callSet.attachEvent(subscriber, iox::popo::SubscriberEvent::HAS_DATA, onSampleReceived);
+
+    while (keepRunning)
+    {
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    }
+
+    callSet.detachEvent(shutdownTrigger);
+    callSet.detachEvent(subscriber, iox::popo::SubscriberEvent::HAS_DATA);
+
+    return (EXIT_SUCCESS);
+}

iceoryx_examples/callbacks/topic_data.hpp

@@ -0,0 +1,27 @@
+// Copyright (c) 2021 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.
+//
+// SPDX-License-Identifier: Apache-2.0
+
+#ifndef IOX_EXAMPLES_WAITSET_TOPIC_DATA_HPP
+#define IOX_EXAMPLES_WAITSET_TOPIC_DATA_HPP
+
+#include <cstdint>
+
+struct CounterTopic
+{
+    uint32_t counter;
+};
+
+#endif // IOX_EXAMPLES_WAITSET_TOPIC_DATA_HPP

iceoryx_examples/icedelivery_in_c/CMakeLists.txt

@@ -31,7 +31,6 @@ endif ()
 add_executable(iox-c-publisher ./ice_c_publisher.c)
 set_source_files_properties(./ice_c_publisher.c PROPERTIES LANGUAGE C)
 target_link_libraries(iox-c-publisher
-    iceoryx_posh::iceoryx_posh
     iceoryx_binding_c::iceoryx_binding_c
 )
 set_target_properties(iox-c-publisher PROPERTIES
@@ -42,7 +41,6 @@ target_compile_options(iox-c-publisher PRIVATE ${ICEORYX_WARNINGS} ${ICEORYX_SAN
 add_executable(iox-c-subscriber ./ice_c_subscriber.c)
 set_source_files_properties(./ice_c_subscriber.c PROPERTIES LANGUAGE C)
 target_link_libraries(iox-c-subscriber
-    iceoryx_posh::iceoryx_posh
     iceoryx_binding_c::iceoryx_binding_c
 )
 set_target_properties(iox-c-subscriber PROPERTIES

iceoryx_examples/waitset_in_c/CMakeLists.txt

@@ -28,35 +28,30 @@ endif ()
 
 add_executable(iox-ex-c-waitset-publisher ./ice_c_waitset_publisher.c)
 target_link_libraries(iox-ex-c-waitset-publisher
-    iceoryx_posh::iceoryx_posh
     iceoryx_binding_c::iceoryx_binding_c
 )
 target_compile_options(iox-ex-c-waitset-publisher PRIVATE ${ICEORYX_WARNINGS} ${ICEORYX_SANITIZER_FLAGS})
 
 add_executable(iox-ex-c-waitset-gateway ./ice_c_waitset_gateway.c)
 target_link_libraries(iox-ex-c-waitset-gateway
-    iceoryx_posh::iceoryx_posh
     iceoryx_binding_c::iceoryx_binding_c
 )
 target_compile_options(iox-ex-c-waitset-gateway PRIVATE ${ICEORYX_WARNINGS} ${ICEORYX_SANITIZER_FLAGS})
 
 add_executable(iox-ex-c-waitset-grouping ./ice_c_waitset_grouping.c)
 target_link_libraries(iox-ex-c-waitset-grouping
-    iceoryx_posh::iceoryx_posh
     iceoryx_binding_c::iceoryx_binding_c
 )
 target_compile_options(iox-ex-c-waitset-grouping PRIVATE ${ICEORYX_WARNINGS} ${ICEORYX_SANITIZER_FLAGS})
 
 add_executable(iox-ex-c-waitset-individual ./ice_c_waitset_individual.c)
 target_link_libraries(iox-ex-c-waitset-individual
-    iceoryx_posh::iceoryx_posh
     iceoryx_binding_c::iceoryx_binding_c
 )
 target_compile_options(iox-ex-c-waitset-individual PRIVATE ${ICEORYX_WARNINGS} ${ICEORYX_SANITIZER_FLAGS})
 
 add_executable(iox-ex-c-waitset-sync ./ice_c_waitset_sync.c)
 target_link_libraries(iox-ex-c-waitset-sync
-    iceoryx_posh::iceoryx_posh
     iceoryx_binding_c::iceoryx_binding_c
 )
 target_compile_options(iox-ex-c-waitset-sync PRIVATE ${ICEORYX_WARNINGS} ${ICEORYX_SANITIZER_FLAGS})

iceoryx_meta/CMakeLists.txt

@@ -1,4 +1,5 @@
-# Copyright (c) 2019, 2020 by Robert Bosch GmbH, Apex.AI Inc. All rights reserved.
+# Copyright (c) 2019 - 2020 by Robert Bosch GmbH. All rights reserved.
+# Copyright (c) 2020 - 2021 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.
@@ -64,6 +65,7 @@ if(EXAMPLES)
         add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../iceoryx_examples/iceperf ${CMAKE_BINARY_DIR}/iceoryx_examples/iceperf)
     endif()
     add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../iceoryx_examples/waitset ${CMAKE_BINARY_DIR}/iceoryx_examples/waitset)
+    add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../iceoryx_examples/callbacks ${CMAKE_BINARY_DIR}/iceoryx_examples/callbacks)
     add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../iceoryx_examples/singleprocess ${CMAKE_BINARY_DIR}/iceoryx_examples/singleprocess)
     add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../iceoryx_examples/ice_multi_publisher ${CMAKE_BINARY_DIR}/iceoryx_examples/ice_multi_publisher)
 endif()

iceoryx_posh/CMakeLists.txt

@@ -102,12 +102,16 @@ add_library(iceoryx_posh
     source/popo/building_blocks/condition_variable_data.cpp    
     source/popo/building_blocks/condition_variable_signaler.cpp
     source/popo/building_blocks/condition_variable_waiter.cpp
+    source/popo/building_blocks/event_variable_data.cpp    
+    source/popo/building_blocks/event_listener.cpp    
+    source/popo/building_blocks/event_notifier.cpp    
     source/popo/building_blocks/locking_policy.cpp
     source/popo/building_blocks/typed_unique_id.cpp
-    source/popo/user_trigger.cpp
+    source/popo/active_call_set.cpp
+    source/popo/event_info.cpp
     source/popo/trigger.cpp
     source/popo/trigger_handle.cpp
-    source/popo/event_info.cpp
+    source/popo/user_trigger.cpp
     source/version/version_info.cpp
     source/runtime/ipc_interface_base.cpp
     source/runtime/ipc_interface_user.cpp

iceoryx_posh/include/iceoryx_posh/iceoryx_posh_types.hpp

@@ -1,4 +1,5 @@
-// Copyright (c) 2019 by Robert Bosch GmbH, Apex.AI Inc. All rights reserved.
+// Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
+// Copyright (c) 2021 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.
@@ -101,6 +102,9 @@ constexpr uint32_t MAX_REQUEST_QUEUE_CAPACITY = 1024;
 // Waitset
 constexpr uint32_t MAX_NUMBER_OF_CONDITION_VARIABLES = 1024U;
 constexpr uint32_t MAX_NUMBER_OF_EVENTS_PER_WAITSET = 128U;
+// ActiveCallSet
+constexpr uint8_t MAX_NUMBER_OF_EVENT_VARIABLES = 128U;
+constexpr uint8_t MAX_NUMBER_OF_EVENTS_PER_ACTIVE_CALL_SET = 128U;
 //--------- Communication Resources End---------------------
 
 constexpr uint32_t MAX_APPLICATION_CAPRO_FIFO_SIZE = 128U;