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iox-#27 Add typed API for client and server
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‎iceoryx_posh/include/iceoryx_posh/internal/popo/client_impl.hpp

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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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#ifndef IOX_POSH_POPO_CLIENT_IMPL_HPP
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#define IOX_POSH_POPO_CLIENT_IMPL_HPP
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#include "iceoryx_posh/capro/service_description.hpp"
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#include "iceoryx_posh/internal/popo/base_client.hpp"
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#include "iceoryx_posh/internal/popo/request_deleter.hpp"
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#include "iceoryx_posh/internal/popo/response_deleter.hpp"
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#include "iceoryx_posh/internal/popo/rpc_interface.hpp"
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#include "iceoryx_posh/popo/client_options.hpp"
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#include "iceoryx_posh/popo/request.hpp"
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#include "iceoryx_posh/popo/response.hpp"
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#include "iceoryx_posh/popo/trigger_handle.hpp"
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#include "iceoryx_posh/runtime/posh_runtime.hpp"
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namespace iox
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{
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namespace popo
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{
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template <typename Req, typename Res, typename BaseClientT = BaseClient<>>
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class ClientImpl : public BaseClientT, public RpcInterface<Request<Req>>
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{
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public:
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explicit ClientImpl(const capro::ServiceDescription& service, const ClientOptions& clientOptions = {}) noexcept;
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template <typename... Args>
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cxx::expected<Request<Req>, AllocationError> loan(Args&&... args) noexcept;
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void send(Request<Req>&& request) noexcept override;
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cxx::expected<Response<const Res>, ChunkReceiveResult> take() noexcept;
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private:
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using BaseClientT::port;
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cxx::expected<Request<Req>, AllocationError> loanUninitialized() noexcept;
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using RequestSampleDeleter = RequestDeleter<typename BaseClientT::PortType>;
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RequestSampleDeleter m_requestDeleter{port()};
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using ResponseSampleDeleter = ResponseDeleter<typename BaseClientT::PortType>;
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ResponseSampleDeleter m_responseDeleter{port()};
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};
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} // namespace popo
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} // namespace iox
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#include "iceoryx_posh/internal/popo/client_impl.inl"
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#endif // IOX_POSH_POPO_CLIENT_IMPL_HPP

‎iceoryx_posh/include/iceoryx_posh/internal/popo/client_impl.inl

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// Copyright (c) 2021 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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#ifndef IOX_POSH_POPO_CLIENT_IMPL_INL
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#define IOX_POSH_POPO_CLIENT_IMPL_INL
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#include "iceoryx_posh/internal/popo/client_impl.hpp"
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namespace iox
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{
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namespace popo
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{
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template <typename Req, typename Res, typename BaseClientT>
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ClientImpl<Req, Res, BaseClientT>::ClientImpl(const capro::ServiceDescription& service,
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const ClientOptions& clientOptions) noexcept
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: BaseClientT(service, clientOptions)
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{
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}
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template <typename Req, typename Res, typename BaseClientT>
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cxx::expected<Request<Req>, AllocationError> ClientImpl<Req, Res, BaseClientT>::loanUninitialized() noexcept
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{
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auto result = port().allocateRequest(sizeof(Req), alignof(Req));
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if (result.has_error())
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{
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return cxx::error<AllocationError>(result.get_error());
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}
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else
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{
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auto requestHeader = result.value();
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auto payload = mepoo::ChunkHeader::fromUserHeader(requestHeader)->userPayload();
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auto request = cxx::unique_ptr<Req>(reinterpret_cast<Req*>(payload), m_requestDeleter);
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return cxx::success<Request<Req>>(Request<Req>{std::move(request), *this});
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}
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}
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template <typename Req, typename Res, typename BaseClientT>
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template <typename... Args>
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cxx::expected<Request<Req>, AllocationError> ClientImpl<Req, Res, BaseClientT>::loan(Args&&... args) noexcept
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{
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return std::move(
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loanUninitialized().and_then([&](auto& request) { new (request.get()) Req(std::forward<Args>(args)...); }));
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}
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template <typename Req, typename Res, typename BaseClientT>
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void ClientImpl<Req, Res, BaseClientT>::send(Request<Req>&& request) noexcept
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{
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auto payload = request.release(); // release the Request ownership of the chunk before publishing
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auto* requestHeader = static_cast<RequestHeader*>(mepoo::ChunkHeader::fromUserPayload(payload)->userHeader());
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port().sendRequest(requestHeader);
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}
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template <typename Req, typename Res, typename BaseClientT>
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cxx::expected<Response<const Res>, ChunkReceiveResult> ClientImpl<Req, Res, BaseClientT>::take() noexcept
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{
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auto result = port().getResponse();
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if (result.has_error())
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{
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return cxx::error<ChunkReceiveResult>(result.get_error());
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}
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auto responseHeader = result.value();
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auto payload = mepoo::ChunkHeader::fromUserHeader(responseHeader)->userPayload();
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auto response = cxx::unique_ptr<const Res>(static_cast<const Res*>(payload), m_responseDeleter);
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return cxx::success<Response<const Res>>(Response<const Res>{std::move(response)});
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}
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} // namespace popo
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} // namespace iox
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#endif // IOX_POSH_POPO_CLIENT_IMPL_INL

‎iceoryx_posh/include/iceoryx_posh/internal/popo/server_impl.hpp

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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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#ifndef IOX_POSH_POPO_SERVER_IMPL_HPP
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#define IOX_POSH_POPO_SERVER_IMPL_HPP
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#include "iceoryx_posh/capro/service_description.hpp"
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#include "iceoryx_posh/internal/popo/base_server.hpp"
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#include "iceoryx_posh/internal/popo/request_deleter.hpp"
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#include "iceoryx_posh/internal/popo/response_deleter.hpp"
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#include "iceoryx_posh/internal/popo/rpc_interface.hpp"
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#include "iceoryx_posh/popo/request.hpp"
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#include "iceoryx_posh/popo/response.hpp"
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#include "iceoryx_posh/popo/server_options.hpp"
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#include "iceoryx_posh/popo/trigger_handle.hpp"
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#include "iceoryx_posh/runtime/posh_runtime.hpp"
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namespace iox
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{
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namespace popo
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{
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template <typename Req, typename Res, typename BaseServerT = BaseServer<>>
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class ServerImpl : public BaseServerT, public RpcInterface<Response<Res>>
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{
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public:
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explicit ServerImpl(const capro::ServiceDescription& service, const ServerOptions& serverOptions = {}) noexcept;
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cxx::expected<Request<const Req>, ServerRequestResult> take() noexcept;
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template <typename... Args>
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cxx::expected<Response<Res>, AllocationError> loan(const Request<const Req>& request, Args&&... args) noexcept;
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void send(Response<Res>&& response) noexcept override;
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private:
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using BaseServerT::port;
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cxx::expected<Response<Res>, AllocationError> loanUninitialized(const Request<const Req>& request) noexcept;
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using RequestSampleDeleter = RequestDeleter<typename BaseServerT::PortType>;
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RequestSampleDeleter m_requestDeleter{port()};
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using ResponseSampleDeleter = ResponseDeleter<typename BaseServerT::PortType>;
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ResponseSampleDeleter m_responseDeleter{port()};
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};
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} // namespace popo
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} // namespace iox
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#include "iceoryx_posh/internal/popo/server_impl.inl"
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#endif // IOX_POSH_POPO_SERVER_IMPL_HPP

‎iceoryx_posh/include/iceoryx_posh/internal/popo/server_impl.inl

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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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#ifndef IOX_POSH_POPO_SERVER_IMPL_INL
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#define IOX_POSH_POPO_SERVER_IMPL_INL
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#include "iceoryx_posh/internal/popo/server_impl.hpp"
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namespace iox
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{
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namespace popo
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{
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template <typename Req, typename Res, typename BaseServerT>
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inline ServerImpl<Req, Res, BaseServerT>::ServerImpl(const capro::ServiceDescription& service,
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const ServerOptions& serverOptions) noexcept
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: BaseServerT(service, serverOptions)
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{
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}
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template <typename Req, typename Res, typename BaseServerT>
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cxx::expected<Request<const Req>, ServerRequestResult> ServerImpl<Req, Res, BaseServerT>::take() noexcept
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{
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auto result = port().getRequest();
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if (result.has_error())
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{
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return cxx::error<ServerRequestResult>(result.get_error());
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}
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auto requestHeader = result.value();
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auto payload = mepoo::ChunkHeader::fromUserHeader(requestHeader)->userPayload();
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auto request = cxx::unique_ptr<const Req>(static_cast<const Req*>(payload), m_requestDeleter);
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return cxx::success<Request<const Req>>(Request<const Req>{std::move(request)});
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}
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template <typename Req, typename Res, typename BaseServerT>
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cxx::expected<Response<Res>, AllocationError>
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ServerImpl<Req, Res, BaseServerT>::loanUninitialized(const Request<const Req>& request) noexcept
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{
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const auto* requestHeader = &request.getRequestHeader();
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auto result = port().allocateResponse(requestHeader, sizeof(Req), alignof(Req));
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if (result.has_error())
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{
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return cxx::error<AllocationError>(result.get_error());
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}
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else
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{
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auto responseHeader = result.value();
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auto payload = mepoo::ChunkHeader::fromUserHeader(responseHeader)->userPayload();
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auto response = cxx::unique_ptr<Res>(reinterpret_cast<Res*>(payload), m_responseDeleter);
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return cxx::success<Response<Res>>(Response<Res>{std::move(response), *this});
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}
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}
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template <typename Req, typename Res, typename BaseServerT>
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template <typename... Args>
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cxx::expected<Response<Res>, AllocationError> ServerImpl<Req, Res, BaseServerT>::loan(const Request<const Req>& request,
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Args&&... args) noexcept
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{
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return std::move(loanUninitialized(request).and_then(
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[&](auto& response) { new (response.get()) Res(std::forward<Args>(args)...); }));
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}
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template <typename Req, typename Res, typename BaseServerT>
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void ServerImpl<Req, Res, BaseServerT>::send(Response<Res>&& response) noexcept
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{
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auto payload = response.release(); // release the Request ownership of the chunk before publishing
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auto* responseHeader = static_cast<ResponseHeader*>(mepoo::ChunkHeader::fromUserPayload(payload)->userHeader());
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port().sendResponse(responseHeader);
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}
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} // namespace popo
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} // namespace iox
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#endif // IOX_POSH_POPO_SERVER_IMPL_INL

‎iceoryx_posh/include/iceoryx_posh/popo/client.hpp

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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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#ifndef IOX_POSH_POPO_CLIENT_HPP
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#define IOX_POSH_POPO_CLIENT_HPP
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#include "iceoryx_posh/capro/service_description.hpp"
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#include "iceoryx_posh/internal/popo/client_impl.hpp"
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#include "iceoryx_posh/popo/client_options.hpp"
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#include "iceoryx_posh/popo/trigger_handle.hpp"
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#include "iceoryx_posh/runtime/posh_runtime.hpp"
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namespace iox
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{
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namespace popo
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{
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template <typename Req, typename Res>
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class Client : public ClientImpl<Req, Res>
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{
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public:
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using ClientImpl<Req, Res>::ClientImpl;
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};
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} // namespace popo
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} // namespace iox
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#endif // IOX_POSH_POPO_CLIENT_HPP

‎iceoryx_posh/include/iceoryx_posh/popo/server.hpp

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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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#ifndef IOX_POSH_POPO_SERVER_HPP
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#define IOX_POSH_POPO_SERVER_HPP
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#include "iceoryx_posh/internal/popo/server_impl.hpp"
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namespace iox
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{
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namespace popo
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{
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template <typename Req, typename Res>
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class Server : public ServerImpl<Req, Res>
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{
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public:
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using ServerImpl<Req, Res>::ServerImpl;
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};
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} // namespace popo
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} // namespace iox
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#endif // IOX_POSH_POPO_SERVER_HPP

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