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Merge pull request #454 from elfenpiff/iox2-390-c-cxx-examples
[#390] c cxx examples
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| # Copyright (c) 2024 Contributors to the Eclipse Foundation | ||
| # | ||
| # See the NOTICE file(s) distributed with this work for additional | ||
| # information regarding copyright ownership. | ||
| # | ||
| # This program and the accompanying materials are made available under the | ||
| # terms of the Apache Software License 2.0 which is available at | ||
| # https://www.apache.org/licenses/LICENSE-2.0, or the MIT license | ||
| # which is available at https://opensource.org/licenses/MIT. | ||
| # | ||
| # SPDX-License-Identifier: Apache-2.0 OR MIT | ||
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| load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library") | ||
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| cc_binary( | ||
| name = "example_c_event_multiplexing_wait", | ||
| srcs = [ | ||
| "src/wait.c", | ||
| ], | ||
| deps = [ | ||
| "//:iceoryx2-c", | ||
| ], | ||
| ) | ||
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| cc_binary( | ||
| name = "example_c_event_multiplexing_notifier", | ||
| srcs = [ | ||
| "src/notifier.c", | ||
| ], | ||
| deps = [ | ||
| "//:iceoryx2-c", | ||
| ], | ||
| ) |
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| @@ -0,0 +1,22 @@ | ||
| # Copyright (c) 2024 Contributors to the Eclipse Foundation | ||
| # | ||
| # See the NOTICE file(s) distributed with this work for additional | ||
| # information regarding copyright ownership. | ||
| # | ||
| # This program and the accompanying materials are made available under the | ||
| # terms of the Apache Software License 2.0 which is available at | ||
| # https://www.apache.org/licenses/LICENSE-2.0, or the MIT license | ||
| # which is available at https://opensource.org/licenses/MIT. | ||
| # | ||
| # SPDX-License-Identifier: Apache-2.0 OR MIT | ||
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| cmake_minimum_required(VERSION 3.22) | ||
| project(example_c_event_multiplexing LANGUAGES C) | ||
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| find_package(iceoryx2-c 0.4.1 REQUIRED) | ||
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| add_executable(example_c_event_multiplexing_wait src/wait.c) | ||
| target_link_libraries(example_c_event_multiplexing_wait iceoryx2-c::static-lib) | ||
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| add_executable(example_c_event_multiplexing_notifier src/notifier.c) | ||
| target_link_libraries(example_c_event_multiplexing_notifier iceoryx2-c::static-lib) |
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| # Event | ||
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| Before proceeding, all dependencies need to be installed. You can find | ||
| instructions in the [C Examples Readme](../README.md). | ||
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| ## Running The Example | ||
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| This example demonstrates iceoryx2's event multiplexing mechanism, | ||
| called the `WaitSet`. It allows waiting, with a single call, on | ||
| multiple `Listener` ports as well as external file descriptor-based | ||
| events such as `sockets`. | ||
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| In this setup, the `wait` process monitors two services, which the | ||
| user can specify via the command line option `-s` and `-t`. | ||
| The `notifier` can define the service to which it will send event | ||
| notifications using the `-s` option and specify the event ID with | ||
| the `-e` option. | ||
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| In the example below, we are waiting for events on the services `fuu` and | ||
| `bar`. Service `fuu` is notified with event ID `123`, and service `bar` is | ||
| notified with event ID `456`. | ||
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| ### Terminal 1 | ||
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| ```sh | ||
| ./target/ffi/build/examples/c/event_multiplexing/example_c_event_multiplexing_wait fuu bar | ||
| ``` | ||
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| ### Terminal 2 | ||
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| ```sh | ||
| ./target/ffi/build/examples/c/event_multiplexing/example_c_event_multiplexing_notifier 123 fuu | ||
| ``` | ||
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| ### Terminal 3 | ||
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| ```sh | ||
| ./target/ffi/build/examples/c/event_multiplexing/example_c_event_multiplexing_notifier 456 bar | ||
| ``` | ||
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| Feel free to instantiate multiple notifiers for the same service with the same | ||
| or different event id's. Or to for different services. | ||
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| ## Technical Details | ||
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| The `iox2_waitset_t` utilizes `epoll`, `select`, or other event-multiplexing | ||
| mechanisms. Before the `iox2_waitset_t` can monitor a specific event, it must | ||
| first be attached using `iox2_waitset_attach_notification()`, which returns a | ||
| RAII `iox2_waitset_guard_t`. This `Guard` automatically detaches the attachment | ||
| when it is cleaned up with `iox2_waitset_guard_drop()`. | ||
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| The `iox2_waitset_wait_and_process()` call requires a callback that is invoked | ||
| for each triggered attachment and provides the `iox2_waitset_attachment_id_h`. | ||
| The user can either use `iox2_waitset_attachment_id_has_event_from()` to | ||
| identify the object associated with the `iox2_waitset_attachment_id_h`. |
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| @@ -0,0 +1,97 @@ | ||
| // Copyright (c) 2024 Contributors to the Eclipse Foundation | ||
| // | ||
| // See the NOTICE file(s) distributed with this work for additional | ||
| // information regarding copyright ownership. | ||
| // | ||
| // This program and the accompanying materials are made available under the | ||
| // terms of the Apache Software License 2.0 which is available at | ||
| // https://www.apache.org/licenses/LICENSE-2.0, or the MIT license | ||
| // which is available at https://opensource.org/licenses/MIT. | ||
| // | ||
| // SPDX-License-Identifier: Apache-2.0 OR MIT | ||
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| #include "iox2/iceoryx2.h" | ||
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| #include <stdint.h> | ||
| #include <stdio.h> | ||
| #include <string.h> | ||
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| const int BASE_10 = 10; | ||
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| #ifdef _WIN64 | ||
| #include <windows.h> | ||
| #define sleep Sleep | ||
| #else | ||
| #include <unistd.h> | ||
| #endif | ||
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| int main(int argc, char** argv) { | ||
| if (argc != 3) { | ||
| printf("Usage: %s EVENT_ID SERVICE_NAME\n", argv[0]); | ||
| return -1; | ||
| } | ||
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| size_t event_id_value = strtoull(argv[1], NULL, BASE_10); | ||
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| // create new node | ||
| iox2_node_builder_h node_builder_handle = iox2_node_builder_new(NULL); | ||
| iox2_node_h node_handle = NULL; | ||
| if (iox2_node_builder_create(node_builder_handle, NULL, iox2_service_type_e_IPC, &node_handle) != IOX2_OK) { | ||
| printf("Could not create node!\n"); | ||
| goto end; | ||
| } | ||
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| // create service name | ||
| const char* service_name_value = argv[2]; | ||
| iox2_service_name_h service_name = NULL; | ||
| if (iox2_service_name_new(NULL, service_name_value, strlen(service_name_value), &service_name) != IOX2_OK) { | ||
| printf("Unable to create service name!\n"); | ||
| goto drop_node; | ||
| } | ||
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| // create service | ||
| iox2_service_name_ptr service_name_ptr = iox2_cast_service_name_ptr(service_name); | ||
| iox2_service_builder_h service_builder = iox2_node_service_builder(&node_handle, NULL, service_name_ptr); | ||
| iox2_service_builder_event_h service_builder_event = iox2_service_builder_event(service_builder); | ||
| iox2_port_factory_event_h service = NULL; | ||
| if (iox2_service_builder_event_open_or_create(service_builder_event, NULL, &service) != IOX2_OK) { | ||
| printf("Unable to create service!\n"); | ||
| goto drop_node; | ||
| } | ||
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| // create notifier | ||
| iox2_port_factory_notifier_builder_h notifier_builder = iox2_port_factory_event_notifier_builder(&service, NULL); | ||
| iox2_notifier_h notifier = NULL; | ||
| if (iox2_port_factory_notifier_builder_create(notifier_builder, NULL, ¬ifier) != IOX2_OK) { | ||
| printf("Unable to create notifier!\n"); | ||
| goto drop_service; | ||
| } | ||
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| // notifier with a period of 1 second | ||
| while (iox2_node_wait(&node_handle, 0, 0) == IOX2_OK) { | ||
| iox2_event_id_t event_id = { .value = event_id_value }; // NOLINT | ||
| if (iox2_notifier_notify_with_custom_event_id(¬ifier, &event_id, NULL) != IOX2_OK) { | ||
| printf("Failed to notify listener!\n"); | ||
| goto drop_notifier; | ||
| } | ||
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| printf("[service: \"%s\"] Trigger event with id %lu ...\n", argv[2], (long unsigned) event_id.value); | ||
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| sleep(1); | ||
| } | ||
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| drop_notifier: | ||
| iox2_notifier_drop(notifier); | ||
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| drop_service: | ||
| iox2_port_factory_event_drop(service); | ||
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| drop_service_name: | ||
| iox2_service_name_drop(service_name); | ||
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| drop_node: | ||
| iox2_node_drop(node_handle); | ||
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| end: | ||
| return 0; | ||
| } |
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