iox-#27 Add Client/Server example

eclipse-iceoryx · Feb 10, 2022 · 526053c · 526053c
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diff --git a/iceoryx_examples/request_response_basic/CMakeLists.txt b/iceoryx_examples/request_response_basic/CMakeLists.txt
@@ -0,0 +1,120 @@
+# Copyright (c) 2022 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
+
+# Build request_response_basic example
+cmake_minimum_required(VERSION 3.5)
+project(example_request_response_basic)
+
+include(GNUInstallDirs)
+
+find_package(iceoryx_posh REQUIRED)
+find_package(iceoryx_hoofs REQUIRED)
+
+get_target_property(ICEORYX_CXX_STANDARD iceoryx_posh::iceoryx_posh CXX_STANDARD)
+include(IceoryxPlatform)
+
+## C++ typed API client
+add_executable(
+    iox-cpp-request-response-basic-client
+    client_cxx_api.cpp
+)
+target_link_libraries(
+    iox-cpp-request-response-basic-client
+    PRIVATE
+    iceoryx_hoofs::iceoryx_hoofs
+    iceoryx_posh::iceoryx_posh
+)
+target_compile_options(
+    iox-cpp-request-response-basic-client
+    PRIVATE
+    ${ICEORYX_WARNINGS}
+    ${ICEORYX_SANITIZER_FLAGS}
+)
+
+## C++ typed API client with events
+add_executable(
+    iox-cpp-request-response-event-client
+    client_cxx_api_event.cpp
+)
+target_link_libraries(
+    iox-cpp-request-response-event-client
+    PRIVATE
+    iceoryx_hoofs::iceoryx_hoofs
+    iceoryx_posh::iceoryx_posh
+)
+target_compile_options(
+    iox-cpp-request-response-event-client
+    PRIVATE
+    ${ICEORYX_WARNINGS}
+    ${ICEORYX_SANITIZER_FLAGS}
+)
+
+## C++ typed API server
+add_executable(
+    iox-cpp-request-response-basic-server
+    server_cxx_api.cpp
+)
+target_link_libraries(
+    iox-cpp-request-response-basic-server
+    PRIVATE
+    iceoryx_hoofs::iceoryx_hoofs
+    iceoryx_posh::iceoryx_posh
+)
+target_compile_options(
+    iox-cpp-request-response-basic-server
+    PRIVATE
+    ${ICEORYX_WARNINGS}
+    ${ICEORYX_SANITIZER_FLAGS}
+)
+
+## C++ typed API server with events
+add_executable(
+    iox-cpp-request-response-event-server
+    server_cxx_api_event.cpp
+)
+target_link_libraries(
+    iox-cpp-request-response-event-server
+    PRIVATE
+    iceoryx_hoofs::iceoryx_hoofs
+    iceoryx_posh::iceoryx_posh
+)
+target_compile_options(
+    iox-cpp-request-response-event-server
+    PRIVATE
+    ${ICEORYX_WARNINGS}
+    ${ICEORYX_SANITIZER_FLAGS}
+)
+
+## additional properties
+set_target_properties(
+    iox-cpp-request-response-basic-client
+    iox-cpp-request-response-basic-server
+    iox-cpp-request-response-event-client
+    iox-cpp-request-response-event-server
+    PROPERTIES
+    CXX_STANDARD_REQUIRED ON
+    CXX_STANDARD ${ICEORYX_CXX_STANDARD}
+    POSITION_INDEPENDENT_CODE ON
+)
+
+install(
+    TARGETS
+    iox-cpp-request-response-basic-client
+    iox-cpp-request-response-basic-server
+    iox-cpp-request-response-event-client
+    iox-cpp-request-response-event-server
+    RUNTIME DESTINATION bin
+)
diff --git a/iceoryx_examples/request_response_basic/client_cxx_api.cpp b/iceoryx_examples/request_response_basic/client_cxx_api.cpp
@@ -0,0 +1,108 @@
+// Copyright (c) 2022 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
+
+//! [iceoryx includes]
+#include "request_and_response_types.hpp"
+
+#include "iceoryx_hoofs/posix_wrapper/signal_handler.hpp"
+#include "iceoryx_posh/popo/client.hpp"
+#include "iceoryx_posh/runtime/posh_runtime.hpp"
+//! [iceoryx includes]
+
+#include <atomic>
+#include <iostream>
+
+//! [signal handling]
+std::atomic<bool> keepRunning{true};
+
+static void sigHandler(int sig IOX_MAYBE_UNUSED)
+{
+    // caught SIGINT or SIGTERM, now exit gracefully
+    keepRunning = false;
+}
+//! [signal handling]
+
+int main()
+{
+    //! [register sigHandler]
+    auto signalIntGuard = iox::posix::registerSignalHandler(iox::posix::Signal::INT, sigHandler);
+    auto signalTermGuard = iox::posix::registerSignalHandler(iox::posix::Signal::TERM, sigHandler);
+    //! [register sigHandler]
+
+    //! [initialize runtime]
+    constexpr char APP_NAME[] = "iox-cpp-request-response-client";
+    iox::runtime::PoshRuntime::initRuntime(APP_NAME);
+    //! [initialize runtime]
+
+    //! [create client]
+    iox::popo::Client<AddRequest, AddResponse> client({"Example", "Request-Response", "Add"});
+    //! [create client]
+
+    //! [send requests in a loop]
+    uint64_t fibonacciLast = 0;
+    uint64_t fibonacciCurrent = 1;
+    int64_t requestSequenceId = 0;
+    int64_t expectedResponseSequenceId = requestSequenceId;
+    while (keepRunning)
+    {
+        //! [send request]
+        client.allocateRequest()
+            .and_then([&](auto& requestHeader) {
+                requestHeader->setSequenceId(requestSequenceId);
+                expectedResponseSequenceId = requestSequenceId;
+                requestSequenceId += 1;
+                auto request = static_cast<AddRequest*>(requestHeader->getUserPayload());
+                request->augend = fibonacciLast;
+                request->addend = fibonacciCurrent;
+                std::cout << "Send Request: " << fibonacciLast << " + " << fibonacciCurrent << std::endl;
+                client.sendRequest(requestHeader);
+            })
+            .or_else([](auto& error) {
+                std::cout << "Could not allocate Request! Return value = " << static_cast<uint64_t>(error) << std::endl;
+            });
+        //! [send request]
+
+        // the server polls with an interval of 100ms
+        constexpr std::chrono::milliseconds DELAY_TIME{150U};
+        std::this_thread::sleep_for(DELAY_TIME);
+
+        //! [take response]
+        while (client.getResponse().and_then([&](auto& responseHeader) {
+            if (responseHeader->getSequenceId() == expectedResponseSequenceId)
+            {
+                auto response = static_cast<const AddResponse*>(responseHeader->getUserPayload());
+                fibonacciLast = fibonacciCurrent;
+                fibonacciCurrent = response->sum;
+                client.releaseResponse(responseHeader);
+                std::cout << "Got Response : " << fibonacciCurrent << std::endl;
+            }
+            else
+            {
+                std::cout << "Got Response with outdated sequence ID! Expected = " << expectedResponseSequenceId
+                          << "; Actual = " << responseHeader->getSequenceId() << "! -> skip" << std::endl;
+            }
+        }))
+        {
+        };
+        //! [take response]
+
+        constexpr std::chrono::milliseconds SLEEP_TIME{950U};
+        std::this_thread::sleep_for(SLEEP_TIME);
+    }
+    //! [send requests in a loop]
+
+    return EXIT_SUCCESS;
+}
diff --git a/iceoryx_examples/request_response_basic/client_cxx_api_event.cpp b/iceoryx_examples/request_response_basic/client_cxx_api_event.cpp
@@ -0,0 +1,140 @@
+// Copyright (c) 2022 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
+
+//! [iceoryx includes]
+#include "request_and_response_types.hpp"
+
+#include "iceoryx_hoofs/internal/concurrent/smart_lock.hpp"
+#include "iceoryx_hoofs/posix_wrapper/signal_handler.hpp"
+#include "iceoryx_posh/popo/client.hpp"
+#include "iceoryx_posh/popo/listener.hpp"
+#include "iceoryx_posh/popo/notification_callback.hpp"
+#include "iceoryx_posh/runtime/posh_runtime.hpp"
+//! [iceoryx includes]
+
+#include <atomic>
+#include <iostream>
+
+//! [signal handling]
+std::atomic<bool> keepRunning{true};
+
+iox::posix::Semaphore shutdownSemaphore =
+    iox::posix::Semaphore::create(iox::posix::CreateUnnamedSingleProcessSemaphore, 0U).value();
+
+static void sigHandler(int sig IOX_MAYBE_UNUSED)
+{
+    shutdownSemaphore.post().or_else([](auto) {
+        std::cerr << "unable to call post on shutdownSemaphore - semaphore corrupt?" << std::endl;
+        std::exit(EXIT_FAILURE);
+    });
+    // caught SIGINT or SIGTERM, now exit gracefully
+    keepRunning = false;
+}
+//! [signal handling]
+
+struct ContextData
+{
+    uint64_t fibonacciLast = 0;
+    uint64_t fibonacciCurrent = 1;
+    int64_t requestSequenceId = 0;
+    int64_t expectedResponseSequenceId = requestSequenceId;
+};
+
+void onResponseReceived(iox::popo::Client<AddRequest, AddResponse>* client,
+                        iox::concurrent::smart_lock<ContextData>* ctx)
+{
+    auto guardedCtx = ctx->getScopeGuard();
+    //! [take response]
+    while (client->getResponse().and_then([&](auto& responseHeader) {
+        if (responseHeader->getSequenceId() == guardedCtx->expectedResponseSequenceId)
+        {
+            auto response = static_cast<const AddResponse*>(responseHeader->getUserPayload());
+            guardedCtx->fibonacciLast = guardedCtx->fibonacciCurrent;
+            guardedCtx->fibonacciCurrent = response->sum;
+            client->releaseResponse(responseHeader);
+            std::cout << "Got Response : " << guardedCtx->fibonacciCurrent << std::endl;
+        }
+        else
+        {
+            std::cout << "Got Response with outdated sequence ID! Expected = " << guardedCtx->expectedResponseSequenceId
+                      << "; Actual = " << responseHeader->getSequenceId() << "! -> skip" << std::endl;
+        }
+    }))
+    {
+    }
+    //! [take response]
+}
+
+int main()
+{
+    //! [register sigHandler]
+    auto signalIntGuard = iox::posix::registerSignalHandler(iox::posix::Signal::INT, sigHandler);
+    auto signalTermGuard = iox::posix::registerSignalHandler(iox::posix::Signal::TERM, sigHandler);
+    //! [register sigHandler]
+
+    //! [initialize runtime]
+    constexpr char APP_NAME[] = "iox-cpp-request-response-client-event";
+    iox::runtime::PoshRuntime::initRuntime(APP_NAME);
+    //! [initialize runtime]
+
+    iox::popo::Listener listener;
+
+    //! [create client]
+    iox::popo::Client<AddRequest, AddResponse> client({"Example", "Request-Response", "Add"});
+    //! [create client]
+
+    iox::concurrent::smart_lock<ContextData> ctx;
+
+    listener
+        .attachEvent(client,
+                     iox::popo::ClientEvent::RESPONSE_RECEIVED,
+                     iox::popo::createNotificationCallback(onResponseReceived, ctx))
+        .or_else([](auto) {
+            std::cerr << "unable to attach server" << std::endl;
+            std::exit(EXIT_FAILURE);
+        });
+
+    //! [send requests in a loop]
+    while (keepRunning)
+    {
+        //! [send request]
+        client.allocateRequest()
+            .and_then([&](auto& requestHeader) {
+                auto guardedCtx = ctx.getScopeGuard();
+                requestHeader->setSequenceId(guardedCtx->requestSequenceId);
+                guardedCtx->expectedResponseSequenceId = guardedCtx->requestSequenceId;
+                guardedCtx->requestSequenceId += 1;
+                auto request = static_cast<AddRequest*>(requestHeader->getUserPayload());
+                request->augend = guardedCtx->fibonacciLast;
+                request->addend = guardedCtx->fibonacciCurrent;
+                std::cout << "Send Request: " << guardedCtx->fibonacciLast << " + " << guardedCtx->fibonacciCurrent
+                          << std::endl;
+                client.sendRequest(requestHeader);
+            })
+            .or_else([](auto& error) {
+                std::cout << "Could not allocate Request! Return value = " << static_cast<uint64_t>(error) << std::endl;
+            });
+        //! [send request]
+
+        constexpr std::chrono::milliseconds SLEEP_TIME{1000U};
+        std::this_thread::sleep_for(SLEEP_TIME);
+    }
+    //! [send requests in a loop]
+
+    listener.detachEvent(client, iox::popo::ClientEvent::RESPONSE_RECEIVED);
+
+    return EXIT_SUCCESS;
+}