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elBoberidoelBoberido
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Merge pull request #2425 from jmyvalour/iox-2408-multi-domain-id-req-rep
Iox 2408 multi domain id req rep
2 parents 4449fcf + 436040b commit 7592b2a

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‎iceoryx_examples/experimental/node/CMakeLists.txt

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@@ -40,3 +40,15 @@ iox_add_executable(
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FILES ./iox_cpp_node_subscriber.cpp
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LIBS iceoryx_posh::iceoryx_posh
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)
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iox_add_executable(
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TARGET iox-cpp-node-server
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FILES ./iox_cpp_node_server.cpp
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LIBS iceoryx_posh::iceoryx_posh
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)
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iox_add_executable(
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TARGET iox-cpp-node-client
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FILES ./iox_cpp_node_client.cpp
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LIBS iceoryx_posh::iceoryx_posh
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)

‎iceoryx_examples/experimental/node/iox_cpp_node_client.cpp

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// Copyright (c) 2025 by Valour 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 "topic_data.hpp"
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#include "iox/optional.hpp"
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#include "iox/posh/experimental/node.hpp"
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#include "iox/signal_watcher.hpp"
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#include <iostream>
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constexpr char APP_NAME[] = "iox-cpp-node-client";
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volatile bool keepRunning = {true};
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using WaitSet = iox::popo::WaitSet<>;
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volatile WaitSet* waitsetSigHandlerAccess{nullptr};
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//! [context data to store Fibonacci numbers and sequence ids]
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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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//! [context data to store Fibonacci numbers and sequence ids]
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static void signalHandler(int sig [[maybe_unused]])
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{
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keepRunning = false;
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if (waitsetSigHandlerAccess)
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{
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waitsetSigHandlerAccess->markForDestruction();
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}
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}
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int main()
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{
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auto sigTermGuard =
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iox::registerSignalHandler(iox::PosixSignal::TERM, signalHandler).expect("failed to register SIGTERM");
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auto sigIntGuard =
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iox::registerSignalHandler(iox::PosixSignal::INT, signalHandler).expect("failed to register SIGINT");
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//! [create the node]
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auto node_result = iox::posh::experimental::NodeBuilder(APP_NAME).domain_id_from_env_or_default().create();
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while (keepRunning && node_result.has_error())
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{
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std::cout << "Could not create the node!" << std::endl;
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node_result = iox::posh::experimental::NodeBuilder(APP_NAME)
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.domain_id_from_env_or_default()
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.roudi_registration_timeout(iox::units::Duration::fromSeconds(1))
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.create();
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}
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auto node = std::move(node_result.value());
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//! [create the node]
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//! [create waitset]
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auto waitset = node.wait_set().create().expect("Getting a wait set");
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waitsetSigHandlerAccess = waitset.get();
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//! [create client]
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auto client = node.client({"Example", "Request-Response", "Add"})
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.response_queue_capacity(2)
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.create<AddRequest, AddResponse>()
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.expect("Getting a client");
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//! [create client]
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// attach client to waitset
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waitset->attachState(*client.get(), iox::popo::ClientState::HAS_RESPONSE).or_else([](auto) {
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std::cerr << "failed to attach client" << std::endl;
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std::exit(EXIT_FAILURE);
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});
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//! [create waitset]
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ContextData ctx;
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//! [mainloop]
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while (keepRunning)
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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(ctx.requestSequenceId);
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ctx.expectedResponseSequenceId = ctx.requestSequenceId;
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ctx.requestSequenceId += 1;
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request->augend = ctx.fibonacciLast;
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request->addend = ctx.fibonacciCurrent;
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std::cout << APP_NAME << " Send Request: " << ctx.fibonacciLast << " + " << ctx.fibonacciCurrent
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<< std::endl;
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request.send().or_else(
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[&](auto& error) { std::cout << "Could not send Request! Error: " << error << std::endl; });
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})
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.or_else([](auto& error) { std::cout << "Could not allocate Request! Error: " << error << std::endl; });
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//! [send request]
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// We block and wait for samples to arrive, when the time is up we send the request again
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//! [wait and check if the client triggered]
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auto notificationVector = waitset->timedWait(iox::units::Duration::fromSeconds(5));
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for (auto& notification : notificationVector)
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{
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if (notification->doesOriginateFrom(client.get()))
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{
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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 == ctx.expectedResponseSequenceId)
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{
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ctx.fibonacciLast = ctx.fibonacciCurrent;
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ctx.fibonacciCurrent = response->sum;
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std::cout << APP_NAME << " Got Response : " << ctx.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 = "
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<< ctx.expectedResponseSequenceId << "; Actual = " << receivedSequenceId
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<< "! -> 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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}
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//! [wait and check if the client triggered]
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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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//! [mainloop]
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std::cout << "shutting down" << std::endl;
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waitsetSigHandlerAccess = nullptr; // invalidate for signal handler
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return (EXIT_SUCCESS);
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}

‎iceoryx_examples/experimental/node/iox_cpp_node_server.cpp

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// Copyright (c) 2025 by Valour 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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20+
#include "iox/optional.hpp"
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#include "iox/posh/experimental/node.hpp"
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#include "iox/signal_watcher.hpp"
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//! [iceoryx includes]
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#include <iostream>
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constexpr char APP_NAME[] = "iox-cpp-node-server";
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volatile bool keepRunning = {true};
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static void signalHandler(int sig [[maybe_unused]])
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{
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keepRunning = false;
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}
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//! [request callback]
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void onRequestReceived(iox::popo::Server<AddRequest, AddResponse>* server)
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{
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//! [take request]
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while (server->take().and_then([&](const auto& request) {
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std::cout << APP_NAME << " Got Request: " << request->augend << " + " << request->addend << std::endl;
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//! [send response]
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server->loan(request)
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.and_then([&](auto& response) {
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response->sum = request->augend + request->addend;
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std::cout << APP_NAME << " Send Response: " << response->sum << std::endl;
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response.send().or_else(
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[&](auto& error) { std::cout << "Could not send Response! Error: " << error << std::endl; });
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})
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.or_else([](auto& error) { std::cout << "Could not allocate Response! Error: " << error << std::endl; });
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//! [send response]
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}))
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{
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}
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//! [take request]
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}
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//! [request callback]
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int main()
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{
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auto sigTermGuard =
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iox::registerSignalHandler(iox::PosixSignal::TERM, signalHandler).expect("failed to register SIGTERM");
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auto sigIntGuard =
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iox::registerSignalHandler(iox::PosixSignal::INT, signalHandler).expect("failed to register SIGINT");
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//! [create the node]
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auto node_result = iox::posh::experimental::NodeBuilder(APP_NAME).domain_id_from_env_or_default().create();
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while (keepRunning && node_result.has_error())
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{
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std::cout << "Could not create the node!" << std::endl;
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node_result = iox::posh::experimental::NodeBuilder(APP_NAME)
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.domain_id_from_env_or_default()
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.roudi_registration_timeout(iox::units::Duration::fromSeconds(1))
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.create();
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}
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auto node = std::move(node_result.value());
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//! [create the node]
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//! [create server]
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auto server = node.server({"Example", "Request-Response", "Add"})
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.request_queue_capacity(10u)
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.create<AddRequest, AddResponse>()
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.expect("Getting a listener");
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//! [create server]
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//! [create listener]
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auto listener = node.listener().create().expect("Getting a listener");
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//! [create listener]
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//! [attach listener]
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listener
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->attachEvent(*server.get(),
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iox::popo::ServerEvent::REQUEST_RECEIVED,
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iox::popo::createNotificationCallback(onRequestReceived))
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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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//! [attach listener]
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//! [wait for termination]
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iox::waitForTerminationRequest();
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//! [wait for termination]
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//! [cleanup]
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listener->detachEvent(*server.get(), iox::popo::ServerEvent::REQUEST_RECEIVED);
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//! [cleanup]
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return EXIT_SUCCESS;
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}

‎iceoryx_examples/experimental/node/request_and_response_types.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.
12+
// See the License for the specific language governing permissions and
13+
// limitations under the License.
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//
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// SPDX-License-Identifier: Apache-2.0
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#ifndef IOX_EXAMPLES_REQUEST_AND_RESPONSE_TYPES_HPP
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#define IOX_EXAMPLES_REQUEST_AND_RESPONSE_TYPES_HPP
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#include <cstdint>
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//! [request]
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struct AddRequest
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{
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uint64_t augend{0};
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uint64_t addend{0};
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};
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//! [request]
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//! [response]
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struct AddResponse
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{
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uint64_t sum{0};
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};
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//! [response]
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#endif // IOX_EXAMPLES_REQUEST_AND_RESPONSE_TYPES_HPP

‎iceoryx_integrationtest/CMakeLists.txt

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)
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if(IOX_EXPERIMENTAL_POSH)
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list(APPEND IOX_INT_TESTS test_experimental_node)
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list(APPEND IOX_INT_TESTS test_experimental_node_publish_subscribe test_experimental_node_request_response)
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else()
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message(FATAL_ERROR "Please run colcon with '--meta=path/to/iceoryx_integrationtest/colcon.meta' to enable the experimental feature flag for the integration tests")
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endif()

‎iceoryx_integrationtest/iceoryx_integrationtest/test_experimental_node.py ‎iceoryx_integrationtest/iceoryx_integrationtest/test_experimental_node_publish_subscribe.py

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