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// Copyright (c) 2022 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
//! [iceoryx includes]
#include "request_and_response_types.hpp"
#include "iceoryx_hoofs/posix_wrapper/signal_watcher.hpp"
#include "iceoryx_posh/popo/client.hpp"
#include "iceoryx_posh/popo/wait_set.hpp"
#include "iceoryx_posh/runtime/posh_runtime.hpp"
//! [iceoryx includes]
#include <iostream>
constexpr char APP_NAME[] = "iox-cpp-request-response-client-waitset";
//! [context data to store Fibonacci numbers and sequence ids]
struct ContextData
{
uint64_t fibonacciLast = 0;
uint64_t fibonacciCurrent = 1;
int64_t requestSequenceId = 0;
int64_t expectedResponseSequenceId = requestSequenceId;
};
//! [context data to store Fibonacci numbers and sequence ids]
int main()
{
//! [initialize runtime]
iox::runtime::PoshRuntime::initRuntime(APP_NAME);
//! [initialize runtime]
ContextData ctx;
//! [create waitset]
iox::popo::WaitSet<> waitset;
//! [create client]
iox::popo::ClientOptions options;
options.responseQueueCapacity = 2U;
iox::popo::Client<AddRequest, AddResponse> client({"Example", "Request-Response", "Add"}, options);
//! [create client]
// attach client to waitset
waitset.attachState(client, iox::popo::ClientState::HAS_RESPONSE).or_else([](auto) {
std::cerr << "failed to attach client" << std::endl;
std::exit(EXIT_FAILURE);
});
//! [create waitset]
//! [mainloop]
while (!iox::posix::hasTerminationRequested())
{
//! [send request]
client.loan()
.and_then([&](auto& request) {
request.getRequestHeader().setSequenceId(ctx.requestSequenceId);
ctx.expectedResponseSequenceId = ctx.requestSequenceId;
ctx.requestSequenceId += 1;
request->augend = ctx.fibonacciLast;
request->addend = ctx.fibonacciCurrent;
std::cout << APP_NAME << " Send Request: " << ctx.fibonacciLast << " + " << ctx.fibonacciCurrent
<< std::endl;
request.send().or_else(
[&](auto& error) { std::cout << "Could not send Request! Error: " << error << std::endl; });
})
.or_else([](auto& error) { std::cout << "Could not allocate Request! Error: " << error << std::endl; });
//! [send request]
// We block and wait for samples to arrive, when the time is up we send the request again
//! [wait and check if the client triggered]
auto notificationVector = waitset.timedWait(iox::units::Duration::fromSeconds(5));
for (auto& notification : notificationVector)
{
if (notification->doesOriginateFrom(&client))
{
//! [take response]
while (client.take().and_then([&](const auto& response) {
auto receivedSequenceId = response.getResponseHeader().getSequenceId();
if (receivedSequenceId == ctx.expectedResponseSequenceId)
{
ctx.fibonacciLast = ctx.fibonacciCurrent;
ctx.fibonacciCurrent = response->sum;
std::cout << APP_NAME << " Got Response : " << ctx.fibonacciCurrent << std::endl;
}
else
{
std::cout << "Got Response with outdated sequence ID! Expected = "
<< ctx.expectedResponseSequenceId << "; Actual = " << receivedSequenceId
<< "! -> skip" << std::endl;
}
}))
{
}
//! [take response]
}
}
//! [wait and check if the client triggered]
constexpr std::chrono::milliseconds SLEEP_TIME{950U};
std::this_thread::sleep_for(SLEEP_TIME);
}
//! [mainloop]
std::cout << "shutting down" << std::endl;
return (EXIT_SUCCESS);
}
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