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// Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
// 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
#include "iceoryx_dds/gateway/dds_to_iox.hpp"
#include "iceoryx_dds/gateway/iox_to_dds.hpp"
#include "iceoryx_dds/internal/log/logging.hpp"
#include "iceoryx_hoofs/cxx/helplets.hpp"
#include "iceoryx_hoofs/cxx/optional.hpp"
#include "iceoryx_hoofs/platform/signal.hpp"
#include "iceoryx_hoofs/posix_wrapper/semaphore.hpp"
#include "iceoryx_hoofs/posix_wrapper/signal_handler.hpp"
#include "iceoryx_posh/gateway/gateway_config.hpp"
#include "iceoryx_posh/gateway/toml_gateway_config_parser.hpp"
#include "iceoryx_posh/runtime/posh_runtime.hpp"
class ShutdownManager
{
public:
static void scheduleShutdown(int num)
{
char reason;
psignal(num, &reason);
s_semaphore.post().or_else([](auto) {
std::cerr << "failed to call post on shutdown semaphore" << std::endl;
std::terminate();
});
}
static void waitUntilShutdown()
{
s_semaphore.wait().or_else([](auto) {
std::cerr << "failed to call wait on shutdown semaphore" << std::endl;
std::terminate();
});
}
private:
static iox::posix::Semaphore s_semaphore;
ShutdownManager() = default;
};
iox::posix::Semaphore ShutdownManager::s_semaphore =
iox::posix::Semaphore::create(iox::posix::CreateUnnamedSingleProcessSemaphore, 0u).value();
int main()
{
// Set OS signal handlers
auto signalGuardInt = iox::posix::registerSignalHandler(iox::posix::Signal::INT, ShutdownManager::scheduleShutdown);
auto signalGuardTerm =
iox::posix::registerSignalHandler(iox::posix::Signal::TERM, ShutdownManager::scheduleShutdown);
// Start application
iox::runtime::PoshRuntime::initRuntime("iox-dds-gateway");
iox::config::GatewayConfig gatewayConfig;
iox::dds::Iceoryx2DDSGateway<> iox2ddsGateway;
iox::dds::DDS2IceoryxGateway<> dds2ioxGateway;
iox::config::TomlGatewayConfigParser::parse()
.and_then([&](auto config) { gatewayConfig = config; })
.or_else([&](auto err) {
iox::dds::LogWarn() << "[Main] Failed to parse gateway config with error: "
<< iox::config::TOML_GATEWAY_CONFIG_FILE_PARSE_ERROR_STRINGS[err];
iox::dds::LogWarn() << "[Main] Using default configuration.";
gatewayConfig.setDefaults();
});
iox2ddsGateway.loadConfiguration(gatewayConfig);
dds2ioxGateway.loadConfiguration(gatewayConfig);
iox2ddsGateway.runMultithreaded();
dds2ioxGateway.runMultithreaded();
// Run until SIGINT or SIGTERM
ShutdownManager::waitUntilShutdown();
return 0;
}
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