Iox #27 client port implementation and test part 2

doc/design/diagrams/request_response/client_and_server_service_discovery.puml

@@ -0,0 +1,71 @@
+@startuml
+
+== Client tries to connect (Server not present) ==
+
+PortManager -> ClientPortRouDi ++ : tryGetCaProMessage
+return CaproMessageType::CONNECT
+
+PortManager -> PortManager ++ : sendToAllMatchingServerPorts
+
+PortManager -> ClientPortRouDi ++ : dispatchCaProMessageAndGetPossibleResponse(CaproMessageType::NACK)
+return cxx::nullopt
+
+return
+
+...
+
+== Server offers service (Client not present) ==
+
+PortManager -> ServerPortRouDi ++ : tryGetCaProMessage
+return CaproMessageType::OFFER
+
+PortManager -> PortManager ++ : sendToAllMatchingClientPorts
+
+return
+
+...
+
+== Client tries to connect (Server preset) ==
+
+PortManager -> ClientPortRouDi ++ : tryGetCaProMessage
+return CaproMessageType::CONNECT
+
+PortManager -> PortManager ++ : sendToAllMatchingServerPorts
+
+PortManager -> ServerPortRouDi ++ : dispatchCaProMessageAndGetPossibleResponse(CaproMessageType::CONNECT)
+return CaproMessageType::OFFER
+
+PortManager -> ClientPortRouDi ++ : dispatchCaProMessageAndGetPossibleResponse(CaproMessageType::OFFER)
+return CaproMessageType::HANDSHAKE
+
+PortManager -> ServerPortRouDi ++ : dispatchCaProMessageAndGetPossibleResponse(CaproMessageType::HANDSHAKE)
+return CaproMessageType::ACK
+
+PortManager -> ClientPortRouDi ++ : dispatchCaProMessageAndGetPossibleResponse(CaproMessageType::ACK)
+return cxx::nullopt
+
+return
+
+...
+
+== Server offers service (Client present) ==
+
+PortManager -> ServerPortRouDi ++ : tryGetCaProMessage
+return CaproMessageType::OFFER
+
+PortManager -> PortManager ++ : sendToAllMatchingClientPorts
+
+PortManager -> ClientPortRouDi ++ : dispatchCaProMessageAndGetPossibleResponse(CaproMessageType::OFFER)
+return CaproMessageType::HANDSHAKE
+
+PortManager -> ServerPortRouDi ++ : dispatchCaProMessageAndGetPossibleResponse(CaproMessageType::HANDSHAKE)
+return CaproMessageType::ACK
+
+PortManager -> ClientPortRouDi ++ : dispatchCaProMessageAndGetPossibleResponse(CaproMessageType::ACK)
+return cxx::nullopt
+
+return
+
+...
+
+@enduml

doc/design/diagrams/request_response/client_port.puml

@@ -24,6 +24,7 @@ class ClientPortUser {
 }
 
 class ClientPortRouDi {
+  getResponseQueueFullPolicy: QueueFullPolicy
   tryGetCaProMessage(): optional<CaProMessage>
   dispatchCaProMessageAndGetPossibleResponse(caProMessage: const CaProMessage): optional<CaProMessage>
   releaseAllChunks(): void

doc/design/diagrams/request_response/client_state_machine.puml

@@ -0,0 +1,20 @@
+@startuml
+
+[*] -down-> NOT_CONNECTED
+
+NOT_CONNECTED -left-> NOT_CONNECTED : OFFER
+NOT_CONNECTED -right-> CONNECT_REQUESTED : CONNECT
+
+CONNECT_REQUESTED -left-> NOT_CONNECTED : DISCONNECT
+CONNECT_REQUESTED -right-> CONNECT_REQUESTED : NACK
+CONNECT_REQUESTED -down-> CONNECT_HANDSHAKE : OFFER
+
+CONNECT_HANDSHAKE -left-> CONNECTED : ACK
+CONNECT_HANDSHAKE -up-> CONNECT_REQUESTED : NACK
+
+CONNECTED -up-> DISCONNECT_REQUESTED : DISCONNECT
+CONNECTED -up-> CONNECT_REQUESTED : STOP_OFFER
+
+DISCONNECT_REQUESTED -up--> NOT_CONNECTED : ACK/NACK
+
+@enduml

doc/design/request_response_communication.md

@@ -110,6 +110,21 @@ A client can ask a server to block if its response queue is full.
 The server will obey if the corresponding `clientTooSlowPolicy` is set to `ConsumerTooSlowPolicy::WAIT_FOR_CONSUMER`.
 If the options don't match, the client will not be connected to the server, similar to the behavior of publisher and subscriber.
 
+#### Client Service Discovery
+
+The client is guided by the following state machine.
+
+![client state machine](diagrams/request_response/client_state_machine.svg)
+
+Contrary to the subscriber state machine, the client doesn't pass it's response queue with the `CONNECT` CaPro message but with the `HANDSHAKE` message.
+The server will pass its request queue with the `OFFER` CaPro message.
+This is done to have the same state transitions for the case when the server is already present
+as well as when the server offers its service after the client initially tried to connect.
+
+Following is a sequence diagram which shows all this cases
+
+![client and server service discovery](diagrams/request_response/client_and_server_service_discovery.svg)
+
 ### Code example
 
 ## Open issues

iceoryx_dds/include/iceoryx_dds/internal/gateway/iox_to_dds.inl

@@ -61,8 +61,7 @@ inline void Iceoryx2DDSGateway<channel_t, gateway_t>::loadConfiguration(const co
 template <typename channel_t, typename gateway_t>
 inline void Iceoryx2DDSGateway<channel_t, gateway_t>::discover(const capro::CaproMessage& msg) noexcept
 {
-    LogDebug() << "[Iceoryx2DDSGateway] <CaproMessage> "
-               << capro::CaproMessageTypeString[static_cast<uint8_t>(msg.m_type)]
+    LogDebug() << "[Iceoryx2DDSGateway] <CaproMessage> " << capro::caproMessageTypeString(msg.m_type)
                << " { Service: " << msg.m_serviceDescription.getServiceIDString()
                << ", Instance: " << msg.m_serviceDescription.getInstanceIDString()
                << ", Event: " << msg.m_serviceDescription.getEventIDString() << " }";

iceoryx_posh/include/iceoryx_posh/iceoryx_posh_types.hpp

@@ -158,9 +158,9 @@ enum class ConnectionState : uint32_t
 {
     NOT_CONNECTED = 0,
     CONNECT_REQUESTED,
+    CONNECT_HANDSHAKE,
     CONNECTED,
-    DISCONNECT_REQUESTED,
-    WAIT_FOR_OFFER
+    DISCONNECT_REQUESTED
 };
 
 // Default properties of ChunkDistributorData

iceoryx_posh/include/iceoryx_posh/internal/capro/capro_message.hpp

@@ -32,6 +32,9 @@ enum class CaproMessageType : uint8_t
     STOP_OFFER,
     SUB,
     UNSUB,
+    CONNECT,
+    DISCONNECT,
+    HANDSHAKE,
     ACK,
     NACK,
     PUB,
@@ -42,10 +45,7 @@ enum class CaproMessageType : uint8_t
     MESSGAGE_TYPE_END
 };
 
-constexpr int32_t MAX_ENUM_STRING_SIZE = 64;
-constexpr char CaproMessageTypeString[][MAX_ENUM_STRING_SIZE] = {
-    "NOTYPE", "FIND", "OFFER", "STOP_OFFER", "SUB", "UNSUB", "ACK", "NACK", "PUB", "REQ", "RES", "PING", "PONG"};
-
+inline constexpr const char* caproMessageTypeString(CaproMessageType messageType) noexcept;
 
 enum class CaproMessageSubType : uint8_t
 {
@@ -83,4 +83,6 @@ class CaproMessage
 } // namespace capro
 } // namespace iox
 
+#include "iceoryx_posh/internal/capro/capro_message.inl"
+
 #endif // IOX_POSH_CAPRO_CAPRO_MESSAGE_HPP

iceoryx_posh/include/iceoryx_posh/internal/capro/capro_message.inl

@@ -0,0 +1,66 @@
+// 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
+
+
+namespace iox
+{
+namespace capro
+{
+inline constexpr const char* caproMessageTypeString(CaproMessageType messageType) noexcept
+{
+    switch (messageType)
+    {
+    case CaproMessageType::NOTYPE:
+        return "NOTYPE";
+    case CaproMessageType::FIND:
+        return "FIND";
+    case CaproMessageType::OFFER:
+        return "OFFER";
+    case CaproMessageType::STOP_OFFER:
+        return "STOP_OFFER";
+    case CaproMessageType::SUB:
+        return "SUB";
+    case CaproMessageType::UNSUB:
+        return "UNSUB";
+    case CaproMessageType::CONNECT:
+        return "CONNECT";
+    case CaproMessageType::DISCONNECT:
+        return "DISCONNECT";
+    case CaproMessageType::HANDSHAKE:
+        return "HANDSHAKE";
+    case CaproMessageType::ACK:
+        return "ACK";
+    case CaproMessageType::NACK:
+        return "NACK";
+    case CaproMessageType::PUB:
+        return "PUB";
+    case CaproMessageType::REQ:
+        return "REQ";
+    case CaproMessageType::RES:
+        return "RES";
+    case CaproMessageType::PING:
+        return "PING";
+    case CaproMessageType::PONG:
+        return "PONG";
+    case CaproMessageType::MESSGAGE_TYPE_END:
+        return "MESSGAGE_TYPE_END";
+    }
+
+    return "UNKNOWN_TYPE";
+}
+
+} // namespace capro
+} // namespace iox

iceoryx_posh/include/iceoryx_posh/internal/popo/ports/client_port_roudi.hpp

@@ -36,14 +36,20 @@ class ClientPortRouDi : public BasePort
   public:
     using MemberType_t = ClientPortData;
 
-    explicit ClientPortRouDi(cxx::not_null<MemberType_t* const> clientPortDataPtr) noexcept;
+    /// @brief Creates a ClientPortRouDi from ClientPortData which are shared with ClientPortUser
+    /// @param[in] clientPortData to be are accessed by the ClientPortRouDi interface
+    explicit ClientPortRouDi(MemberType_t& clientPortData) noexcept;
 
     ClientPortRouDi(const ClientPortRouDi& other) = delete;
     ClientPortRouDi& operator=(const ClientPortRouDi&) = delete;
     ClientPortRouDi(ClientPortRouDi&& rhs) = default;
     ClientPortRouDi& operator=(ClientPortRouDi&& rhs) = default;
     ~ClientPortRouDi() = default;
 
+    /// @brief Access to the configured responseQueueFullPolicy
+    /// @return the configured responseQueueFullPolicy
+    QueueFullPolicy2 getResponseQueueFullPolicy() const noexcept;
+
     /// @brief get an optional CaPro message that requests changes to the desired connection state of the client
     /// @return CaPro message with desired connection state, empty optional if no state change
     cxx::optional<capro::CaproMessage> tryGetCaProMessage() noexcept;

iceoryx_posh/include/iceoryx_posh/internal/popo/ports/client_port_user.hpp

@@ -41,6 +41,8 @@ class ClientPortUser : public BasePort
   public:
     using MemberType_t = ClientPortData;
 
+    /// @brief Creates a ClientPortUser from ClientPortData which are shared with ClientPortRouDi
+    /// @param[in] clientPortData to be are accessed by the ClientPortUser interface
     explicit ClientPortUser(MemberType_t& clientPortData) noexcept;
 
     ClientPortUser(const ClientPortUser& other) = delete;