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iox-#27 Add Client/Server example
Signed-off-by: Dietrich Krönke <[email protected]>
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‎iceoryx_examples/request_response/CMakeLists.txt

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# Copyright (c) 2022 by Apex.AI Inc. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# SPDX-License-Identifier: Apache-2.0
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# Build request_response_basic example
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cmake_minimum_required(VERSION 3.16)
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project(example_request_response)
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include(GNUInstallDirs)
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find_package(iceoryx_posh REQUIRED)
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find_package(iceoryx_hoofs REQUIRED)
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get_target_property(ICEORYX_CXX_STANDARD iceoryx_posh::iceoryx_posh CXX_STANDARD)
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include(IceoryxPlatform)
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## C++ untyped API client
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add_executable(
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iox-cpp-request-response-untyped-client
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client_cxx_untyped.cpp
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)
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target_link_libraries(
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iox-cpp-request-response-untyped-client
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PRIVATE
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iceoryx_hoofs::iceoryx_hoofs
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iceoryx_posh::iceoryx_posh
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)
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target_compile_options(
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iox-cpp-request-response-untyped-client
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PRIVATE
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${ICEORYX_WARNINGS}
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${ICEORYX_SANITIZER_FLAGS}
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)
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## C++ typed API server
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add_executable(
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iox-cpp-request-response-untyped-server
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server_cxx_untpyed.cpp
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)
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target_link_libraries(
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iox-cpp-request-response-untyped-server
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PRIVATE
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iceoryx_hoofs::iceoryx_hoofs
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iceoryx_posh::iceoryx_posh
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)
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target_compile_options(
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iox-cpp-request-response-untyped-server
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PRIVATE
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${ICEORYX_WARNINGS}
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${ICEORYX_SANITIZER_FLAGS}
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)
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## C++ typed API client
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add_executable(
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iox-cpp-request-response-basic-client
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client_cxx_basic.cpp
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)
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target_link_libraries(
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iox-cpp-request-response-basic-client
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PRIVATE
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iceoryx_hoofs::iceoryx_hoofs
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iceoryx_posh::iceoryx_posh
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)
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target_compile_options(
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iox-cpp-request-response-basic-client
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PRIVATE
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${ICEORYX_WARNINGS}
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${ICEORYX_SANITIZER_FLAGS}
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)
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## C++ typed API client with events
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add_executable(
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iox-cpp-request-response-event-client
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client_cxx_listener.cpp
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)
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target_link_libraries(
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iox-cpp-request-response-event-client
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PRIVATE
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iceoryx_hoofs::iceoryx_hoofs
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iceoryx_posh::iceoryx_posh
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)
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target_compile_options(
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iox-cpp-request-response-event-client
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PRIVATE
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${ICEORYX_WARNINGS}
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${ICEORYX_SANITIZER_FLAGS}
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)
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## C++ typed API server
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add_executable(
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iox-cpp-request-response-basic-server
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server_cxx_basic.cpp
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)
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target_link_libraries(
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iox-cpp-request-response-basic-server
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PRIVATE
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iceoryx_hoofs::iceoryx_hoofs
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iceoryx_posh::iceoryx_posh
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)
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target_compile_options(
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iox-cpp-request-response-basic-server
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PRIVATE
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${ICEORYX_WARNINGS}
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${ICEORYX_SANITIZER_FLAGS}
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)
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## C++ typed API server with events
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add_executable(
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iox-cpp-request-response-listener-server
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server_cxx_listener.cpp
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)
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target_link_libraries(
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iox-cpp-request-response-listener-server
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PRIVATE
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iceoryx_hoofs::iceoryx_hoofs
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iceoryx_posh::iceoryx_posh
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)
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target_compile_options(
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iox-cpp-request-response-listener-server
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PRIVATE
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${ICEORYX_WARNINGS}
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${ICEORYX_SANITIZER_FLAGS}
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)
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## additional properties
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set_target_properties(
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iox-cpp-request-response-untyped-client
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iox-cpp-request-response-untyped-server
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iox-cpp-request-response-basic-client
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iox-cpp-request-response-basic-server
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iox-cpp-request-response-event-client
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iox-cpp-request-response-listener-server
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PROPERTIES
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CXX_STANDARD_REQUIRED ON
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CXX_STANDARD ${ICEORYX_CXX_STANDARD}
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POSITION_INDEPENDENT_CODE ON
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)
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install(
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TARGETS
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iox-cpp-request-response-untyped-client
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iox-cpp-request-response-untyped-server
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iox-cpp-request-response-basic-client
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iox-cpp-request-response-basic-server
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iox-cpp-request-response-event-client
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iox-cpp-request-response-listener-server
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RUNTIME DESTINATION bin
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)

‎iceoryx_examples/request_response/client_cxx_basic.cpp

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// Copyright (c) 2022 by Apex.AI Inc. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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//
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// SPDX-License-Identifier: Apache-2.0
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//! [iceoryx includes]
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#include "request_and_response_types.hpp"
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#include "iceoryx_hoofs/posix_wrapper/signal_watcher.hpp"
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#include "iceoryx_posh/popo/client.hpp"
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#include "iceoryx_posh/runtime/posh_runtime.hpp"
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//! [iceoryx includes]
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#include <iostream>
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int main()
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{
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//! [initialize runtime]
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constexpr char APP_NAME[] = "iox-cpp-request-response-client-basic";
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iox::runtime::PoshRuntime::initRuntime(APP_NAME);
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//! [initialize runtime]
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//! [create client]
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iox::popo::Client<AddRequest, AddResponse> client({"Example", "Request-Response", "Add"});
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//! [create client]
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//! [send requests in a loop]
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uint64_t fibonacciLast = 0;
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uint64_t fibonacciCurrent = 1;
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int64_t requestSequenceId = 0;
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int64_t expectedResponseSequenceId = requestSequenceId;
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while (!iox::posix::hasTerminationRequested())
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{
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//! [send request]
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client.loan()
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.and_then([&](auto& request) {
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request.getRequestHeader().setSequenceId(requestSequenceId);
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expectedResponseSequenceId = requestSequenceId;
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requestSequenceId += 1;
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request->augend = fibonacciLast;
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request->addend = fibonacciCurrent;
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std::cout << APP_NAME << " Send Request: " << fibonacciLast << " + " << fibonacciCurrent << std::endl;
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request.send();
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})
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.or_else([](auto& error) {
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std::cout << "Could not allocate Request! Return value = " << static_cast<uint64_t>(error) << std::endl;
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});
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//! [send request]
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// the server polls with an interval of 100ms
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constexpr std::chrono::milliseconds DELAY_TIME{150U};
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std::this_thread::sleep_for(DELAY_TIME);
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//! [take response]
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while (client.take().and_then([&](const auto& response) {
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auto receivedSequenceId = response.getResponseHeader().getSequenceId();
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if (receivedSequenceId == expectedResponseSequenceId)
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{
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fibonacciLast = fibonacciCurrent;
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fibonacciCurrent = response->sum;
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std::cout << APP_NAME << " Got Response : " << fibonacciCurrent << std::endl;
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}
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else
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{
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std::cout << "Got Response with outdated sequence ID! Expected = " << expectedResponseSequenceId
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<< "; Actual = " << receivedSequenceId << "! -> skip" << std::endl;
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}
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}))
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{
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};
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//! [take response]
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constexpr std::chrono::milliseconds SLEEP_TIME{950U};
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std::this_thread::sleep_for(SLEEP_TIME);
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}
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//! [send requests in a loop]
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return EXIT_SUCCESS;
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}

‎iceoryx_examples/request_response/client_cxx_listener.cpp

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// Copyright (c) 2022 by Apex.AI Inc. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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//
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// SPDX-License-Identifier: Apache-2.0
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//! [iceoryx includes]
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#include "request_and_response_types.hpp"
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#include "iceoryx_hoofs/internal/concurrent/smart_lock.hpp"
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#include "iceoryx_hoofs/posix_wrapper/signal_watcher.hpp"
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#include "iceoryx_posh/popo/client.hpp"
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#include "iceoryx_posh/popo/listener.hpp"
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#include "iceoryx_posh/popo/notification_callback.hpp"
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#include "iceoryx_posh/runtime/posh_runtime.hpp"
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//! [iceoryx includes]
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#include <iostream>
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constexpr char APP_NAME[] = "iox-cpp-request-response-client-listener";
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struct ContextData
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{
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uint64_t fibonacciLast = 0;
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uint64_t fibonacciCurrent = 1;
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int64_t requestSequenceId = 0;
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int64_t expectedResponseSequenceId = requestSequenceId;
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};
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void onResponseReceived(iox::popo::Client<AddRequest, AddResponse>* client,
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iox::concurrent::smart_lock<ContextData>* ctx)
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{
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auto guardedCtx = ctx->getScopeGuard();
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//! [take response]
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while (client->take().and_then([&](const auto& response) {
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auto receivedSequenceId = response.getResponseHeader().getSequenceId();
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if (receivedSequenceId == guardedCtx->expectedResponseSequenceId)
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{
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guardedCtx->fibonacciLast = guardedCtx->fibonacciCurrent;
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guardedCtx->fibonacciCurrent = response->sum;
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std::cout << APP_NAME << " Got Response : " << guardedCtx->fibonacciCurrent << std::endl;
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}
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else
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{
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std::cout << "Got Response with outdated sequence ID! Expected = " << guardedCtx->expectedResponseSequenceId
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<< "; Actual = " << receivedSequenceId << "! -> skip" << std::endl;
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}
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}))
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{
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}
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//! [take response]
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}
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int main()
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{
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//! [initialize runtime]
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constexpr char APP_NAME[] = "iox-cpp-request-response-client-listener";
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iox::runtime::PoshRuntime::initRuntime(APP_NAME);
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//! [initialize runtime]
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iox::popo::Listener listener;
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//! [create client]
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iox::popo::Client<AddRequest, AddResponse> client({"Example", "Request-Response", "Add"});
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//! [create client]
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iox::concurrent::smart_lock<ContextData> ctx;
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listener
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.attachEvent(client,
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iox::popo::ClientEvent::RESPONSE_RECEIVED,
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iox::popo::createNotificationCallback(onResponseReceived, ctx))
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.or_else([](auto) {
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std::cerr << "unable to attach server" << std::endl;
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std::exit(EXIT_FAILURE);
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});
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//! [send requests in a loop]
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while (!iox::posix::hasTerminationRequested())
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{
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//! [send request]
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client.loan()
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.and_then([&](auto& request) {
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auto guardedCtx = ctx.getScopeGuard();
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request.getRequestHeader().setSequenceId(guardedCtx->requestSequenceId);
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guardedCtx->expectedResponseSequenceId = guardedCtx->requestSequenceId;
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guardedCtx->requestSequenceId += 1;
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request->augend = guardedCtx->fibonacciLast;
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request->addend = guardedCtx->fibonacciCurrent;
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std::cout << APP_NAME << " Send Request: " << guardedCtx->fibonacciLast << " + "
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<< guardedCtx->fibonacciCurrent << std::endl;
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request.send();
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})
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.or_else([](auto& error) {
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std::cout << "Could not allocate Request! Return value = " << static_cast<uint64_t>(error) << std::endl;
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});
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//! [send request]
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constexpr std::chrono::milliseconds SLEEP_TIME{1000U};
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std::this_thread::sleep_for(SLEEP_TIME);
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}
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//! [send requests in a loop]
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listener.detachEvent(client, iox::popo::ClientEvent::RESPONSE_RECEIVED);
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return EXIT_SUCCESS;
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}

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