Iox #27 add client and server port to runtime, roudi and process manager [stacked PR #3]

iceoryx_hoofs/include/iceoryx_hoofs/error_handling/error_handling.hpp

@@ -1,5 +1,5 @@
 // Copyright (c) 2019 - 2020 by Robert Bosch GmbH. All rights reserved.
-// Copyright (c) 2020 - 2021 by Apex.AI Inc. All rights reserved.
+// Copyright (c) 2020 - 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.
@@ -38,12 +38,18 @@ namespace iox
     error(POSH__RUNTIME_PUBLISHER_PORT_NOT_UNIQUE) \
     error(POSH__RUNTIME_PUBLISHER_PORT_CREATION_UNKNOWN_ERROR) \
     error(POSH__RUNTIME_SUBSCRIBER_PORT_CREATION_UNKNOWN_ERROR) \
+    error(POSH__RUNTIME_CLIENT_PORT_CREATION_UNKNOWN_ERROR) \
+    error(POSH__RUNTIME_SERVER_PORT_CREATION_UNKNOWN_ERROR) \
     error(POSH__RUNTIME_ROUDI_PUBLISHER_LIST_FULL) \
     error(POSH__RUNTIME_ROUDI_SUBSCRIBER_LIST_FULL) \
+    error(POSH__RUNTIME_ROUDI_OUT_OF_CLIENTS) \
+    error(POSH__RUNTIME_ROUDI_OUT_OF_SERVERS) \
     error(POSH__RUNTIME_ROUDI_CONDITION_VARIABLE_LIST_FULL) \
     error(POSH__RUNTIME_ROUDI_EVENT_VARIABLE_LIST_FULL) \
     error(POSH__RUNTIME_ROUDI_REQUEST_PUBLISHER_WRONG_IPC_MESSAGE_RESPONSE) \
     error(POSH__RUNTIME_ROUDI_REQUEST_SUBSCRIBER_WRONG_IPC_MESSAGE_RESPONSE) \
+    error(POSH__RUNTIME_ROUDI_REQUEST_CLIENT_WRONG_IPC_MESSAGE_RESPONSE) \
+    error(POSH__RUNTIME_ROUDI_REQUEST_SERVER_WRONG_IPC_MESSAGE_RESPONSE) \
     error(POSH__RUNTIME_ROUDI_REQUEST_CONDITION_VARIABLE_WRONG_IPC_MESSAGE_RESPONSE) \
     error(POSH__RUNTIME_ROUDI_REQUEST_EVENT_VARIABLE_WRONG_MESSAGE_QUEUE_RESPONSE) \
     error(POSH__RUNTIME_ROUDI_GET_MW_INTERFACE_WRONG_IPC_MESSAGE_RESPONSE) \

iceoryx_posh/include/iceoryx_posh/internal/roudi/process_manager.hpp

@@ -121,6 +121,30 @@ class ProcessManager : public ProcessManagerInterface
                                 const popo::PublisherOptions& publisherOptions,
                                 const PortConfigInfo& portConfigInfo = PortConfigInfo()) noexcept;
 
+    /// @brief Adds a client port to the internal process object and sends it to the OS process
+    /// @param[in] name is the name of the runtime requesting the port
+    /// @param[in] service is the service description for the new client port
+    /// @param[in] clientOptions like the queue capacity and queue full policy by a client
+    /// @param[in] portConfigInfo configuration information for the port
+    /// (what type of port is requested, device where its payload memory is located on etc.)
+    /// @return pointer to a created client port data
+    void addClientForProcess(const RuntimeName_t& name,
+                             const capro::ServiceDescription& service,
+                             const popo::ClientOptions& clientOptions,
+                             const PortConfigInfo& portConfigInfo) noexcept;
+
+    /// @brief Adds a server port to the internal process object and sends it to the OS process
+    /// @param[in] name is the name of the runtime requesting the port
+    /// @param[in] service is the service description for the new server port
+    /// @param[in] serverOptions like the queue capacity and queue full policy by a server
+    /// @param[in] portConfigInfo configuration information for the port
+    /// (what type of port is requested, device where its payload memory is located on etc.)
+    /// @return pointer to a created server port data
+    void addServerForProcess(const RuntimeName_t& name,
+                             const capro::ServiceDescription& service,
+                             const popo::ServerOptions& serverOptions,
+                             const PortConfigInfo& portConfigInfo) noexcept;
+
     void addConditionVariableForProcess(const RuntimeName_t& runtimeName) noexcept;
 
     void initIntrospection(ProcessIntrospectionType* processIntrospection) noexcept;
@@ -135,9 +159,7 @@ class ProcessManager : public ProcessManagerInterface
 
 
   private:
-    bool searchForProcessAndThen(const RuntimeName_t& name,
-                                 cxx::function_ref<void(Process&)> AndThenCallable,
-                                 cxx::function_ref<void()> OrElseCallable) noexcept;
+    cxx::optional<Process*> findProcess(const RuntimeName_t& name) noexcept;
 
     void monitorProcesses() noexcept;
     void discoveryUpdate() noexcept override;

iceoryx_posh/include/iceoryx_posh/internal/roudi/roudi.hpp

@@ -79,7 +79,7 @@ class RouDi
     RouDi& operator=(const RouDi& other) = delete;
     RouDi(const RouDi& other) = delete;
 
-    RouDi(RouDiMemoryInterface& roudiMemoryInteface,
+    RouDi(RouDiMemoryInterface& roudiMemoryInterface,
           PortManager& portManager,
           RoudiStartupParameters roudiStartupParameters) noexcept;
 

iceoryx_posh/include/iceoryx_posh/internal/runtime/ipc_interface_base.hpp

@@ -1,5 +1,5 @@
 // Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
-// Copyright (c) 2021 by Apex.AI Inc. All rights reserved.
+// Copyright (c) 2021 - 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.
@@ -56,6 +56,10 @@ enum class IpcMessageType : int32_t
     CREATE_PUBLISHER_ACK,
     CREATE_SUBSCRIBER,
     CREATE_SUBSCRIBER_ACK,
+    CREATE_CLIENT,
+    CREATE_CLIENT_ACK,
+    CREATE_SERVER,
+    CREATE_SERVER_ACK,
     CREATE_INTERFACE,
     CREATE_INTERFACE_ACK,
     CREATE_CONDITION_VARIABLE,
@@ -86,10 +90,16 @@ enum class IpcMessageErrorType : int32_t
     REQUEST_PUBLISHER_WRONG_IPC_MESSAGE_RESPONSE,
     REQUEST_PUBLISHER_NO_WRITABLE_SHM_SEGMENT,
     REQUEST_SUBSCRIBER_WRONG_IPC_MESSAGE_RESPONSE,
+    REQUEST_CLIENT_WRONG_IPC_MESSAGE_RESPONSE,
+    REQUEST_CLIENT_NO_WRITABLE_SHM_SEGMENT,
+    REQUEST_SERVER_WRONG_IPC_MESSAGE_RESPONSE,
+    REQUEST_SERVER_NO_WRITABLE_SHM_SEGMENT,
     REQUEST_CONDITION_VARIABLE_WRONG_IPC_MESSAGE_RESPONSE,
     REQUEST_EVENT_VARIABLE_WRONG_IPC_MESSAGE_RESPONSE,
     PUBLISHER_LIST_FULL,
     SUBSCRIBER_LIST_FULL,
+    CLIENT_LIST_FULL,
+    SERVER_LIST_FULL,
     CONDITION_VARIABLE_LIST_FULL,
     EVENT_VARIABLE_LIST_FULL,
     NODE_DATA_LIST_FULL,

iceoryx_posh/include/iceoryx_posh/internal/runtime/posh_runtime_impl.hpp

@@ -1,5 +1,5 @@
 // Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
-// Copyright (c) 2021 by Apex.AI Inc. All rights reserved.
+// Copyright (c) 2021 - 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.
@@ -55,6 +55,18 @@ class PoshRuntimeImpl : public PoshRuntime
                             const popo::SubscriberOptions& subscriberOptions = popo::SubscriberOptions(),
                             const PortConfigInfo& portConfigInfo = PortConfigInfo()) noexcept override;
 
+    /// @copydoc PoshRuntime::getMiddlewareClient
+    popo::ClientPortUser::MemberType_t*
+    getMiddlewareClient(const capro::ServiceDescription& service,
+                        const popo::ClientOptions& clientOptions = {},
+                        const PortConfigInfo& portConfigInfo = PortConfigInfo()) noexcept override;
+
+    /// @copydoc PoshRuntime::getMiddlewareServer
+    popo::ServerPortUser::MemberType_t*
+    getMiddlewareServer(const capro::ServiceDescription& service,
+                        const popo::ServerOptions& ServerOptions = {},
+                        const PortConfigInfo& portConfigInfo = PortConfigInfo()) noexcept override;
+
     /// @copydoc PoshRuntime::getMiddlewareInterface
     popo::InterfacePortData* getMiddlewareInterface(const capro::Interfaces interface,
                                                     const NodeName_t& nodeName = {""}) noexcept override;
@@ -83,6 +95,12 @@ class PoshRuntimeImpl : public PoshRuntime
     cxx::expected<SubscriberPortUserType::MemberType_t*, IpcMessageErrorType>
     requestSubscriberFromRoudi(const IpcMessage& sendBuffer) noexcept;
 
+    cxx::expected<popo::ClientPortUser::MemberType_t*, IpcMessageErrorType>
+    requestClientFromRoudi(const IpcMessage& sendBuffer) noexcept;
+
+    cxx::expected<popo::ServerPortUser::MemberType_t*, IpcMessageErrorType>
+    requestServerFromRoudi(const IpcMessage& sendBuffer) noexcept;
+
     cxx::expected<popo::ConditionVariableData*, IpcMessageErrorType>
     requestConditionVariableFromRoudi(const IpcMessage& sendBuffer) noexcept;
 

iceoryx_posh/include/iceoryx_posh/runtime/posh_runtime.hpp

@@ -1,5 +1,5 @@
 // Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
-// Copyright (c) 2021 by Apex.AI Inc. All rights reserved.
+// Copyright (c) 2021 - 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.
@@ -21,11 +21,15 @@
 #include "iceoryx_posh/capro/service_description.hpp"
 #include "iceoryx_posh/iceoryx_posh_types.hpp"
 #include "iceoryx_posh/internal/popo/building_blocks/condition_variable_data.hpp"
+#include "iceoryx_posh/internal/popo/ports/client_port_user.hpp"
 #include "iceoryx_posh/internal/popo/ports/interface_port.hpp"
 #include "iceoryx_posh/internal/popo/ports/publisher_port_user.hpp"
+#include "iceoryx_posh/internal/popo/ports/server_port_user.hpp"
 #include "iceoryx_posh/internal/popo/ports/subscriber_port_user.hpp"
 #include "iceoryx_posh/internal/runtime/ipc_runtime_interface.hpp"
 #include "iceoryx_posh/internal/runtime/node_property.hpp"
+#include "iceoryx_posh/popo/client_options.hpp"
+#include "iceoryx_posh/popo/server_options.hpp"
 #include "iceoryx_posh/popo/subscriber_options.hpp"
 #include "iceoryx_posh/runtime/port_config_info.hpp"
 
@@ -95,6 +99,28 @@ class PoshRuntime
                             const popo::SubscriberOptions& subscriberOptions = {},
                             const PortConfigInfo& portConfigInfo = {}) noexcept = 0;
 
+    /// @brief request the RouDi daemon to create a client port
+    /// @param[in] serviceDescription service description for the new client port
+    /// @param[in] clientOptions like the queue capacity and queue full policy by a client
+    /// @param[in] portConfigInfo configuration information for the port
+    /// (what type of port is requested, device where its payload memory is located on etc.)
+    /// @return pointer to a created client port data
+    virtual popo::ClientPortData*
+    getMiddlewareClient(const capro::ServiceDescription& service,
+                        const popo::ClientOptions& clientOptions = {},
+                        const PortConfigInfo& portConfigInfo = PortConfigInfo()) noexcept = 0;
+
+    /// @brief request the RouDi daemon to create a server port
+    /// @param[in] serviceDescription service description for the new server port
+    /// @param[in] serverOptions like the queue capacity and queue full policy by a server
+    /// @param[in] portConfigInfo configuration information for the port
+    /// (what type of port is requested, device where its payload memory is located on etc.)
+    /// @return pointer to a created server port data
+    virtual popo::ServerPortData*
+    getMiddlewareServer(const capro::ServiceDescription& service,
+                        const popo::ServerOptions& serverOptions = {},
+                        const PortConfigInfo& portConfigInfo = PortConfigInfo()) noexcept = 0;
+
     /// @brief request the RouDi daemon to create an interface port
     /// @param[in] interface interface to create
     /// @param[in] nodeName name of the node where the interface should belong to