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// 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_posh/iceoryx_posh_config.hpp"
#include "iceoryx_posh/iceoryx_posh_types.hpp"
#include "iceoryx_posh/internal/log/posh_logging.hpp"
#include "iceoryx_posh/roudi/iceoryx_roudi_app.hpp"
#include "iceoryx_posh/roudi/roudi_cmd_line_parser_config_file_option.hpp"
int main(int argc, char* argv[])
{
using iox::roudi::IceOryxRouDiApp;
static constexpr uint32_t ONE_KILOBYTE = 1024U;
static constexpr uint32_t ONE_MEGABYTE = 1024U * 1024;
iox::config::CmdLineParserConfigFileOption cmdLineParser;
auto cmdLineArgs = cmdLineParser.parse(argc, argv);
if (cmdLineArgs.has_error() && (cmdLineArgs.get_error() != iox::config::CmdLineParserResult::INFO_OUTPUT_ONLY))
{
iox::LogFatal() << "Unable to parse command line arguments!";
return EXIT_FAILURE;
}
iox::RouDiConfig_t roudiConfig;
// roudiConfig.setDefaults(); can be used if you want to use the default config only.
/// @brief Create Mempool Config
iox::mepoo::MePooConfig mepooConfig;
/// @details Format: addMemPool({Chunksize(bytes), Amount of Chunks})
mepooConfig.addMemPool({128, 10000}); // bytes
mepooConfig.addMemPool({ONE_KILOBYTE, 5000});
mepooConfig.addMemPool({ONE_KILOBYTE * 16, 1000});
mepooConfig.addMemPool({ONE_KILOBYTE * 128, 200});
mepooConfig.addMemPool({ONE_KILOBYTE * 512, 50});
mepooConfig.addMemPool({ONE_MEGABYTE, 30});
mepooConfig.addMemPool({ONE_MEGABYTE * 4, 10});
/// We want to use the Shared Memory Segment for the current user
auto currentGroup = iox::posix::PosixGroup::getGroupOfCurrentProcess();
/// Create an Entry for a new Shared Memory Segment from the MempoolConfig and add it to the RouDiConfig
roudiConfig.m_sharedMemorySegments.push_back({currentGroup.getName(), currentGroup.getName(), mepooConfig});
/// For the case that you want to give accessrights to the shm segments, you need to set groupnames as fixed string.
/// These names defines groups whose members are either to read/write from/to the respective shared memory segment.
/// @note the groups needs to be registered in /etc/groups.
/// @code
/// iox::posix::PosixGroup::string_t readerGroup{iox::cxx::TruncateToCapacity, "readerGroup"};
/// iox::posix::PosixGroup::string_t writerGroup{iox::cxx::TruncateToCapacity, "writerGroup"};
/// iox::mepoo::SegmentConfig::SegmentEntry segentry({readerGroup, writerGroup, mepooConfig});
/// roudiConfig.m_sharedMemorySegments.push_back(
/// {iox::posix::PosixGroup::string_t(iox::cxx::TruncateToCapacity, reader),
/// iox::posix::PosixGroup::string_t(iox::cxx::TruncateToCapacity, writer),
/// mempoolConfig})
/// @endcode
IceOryxRouDiApp roudi(cmdLineArgs.value(), roudiConfig);
return roudi.run();
}
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