1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
|
// 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
#include "iceoryx_binding_c/client.h"
#include "iceoryx_binding_c/request_header.h"
#include "iceoryx_binding_c/response_header.h"
#include "iceoryx_binding_c/runtime.h"
#include "request_and_response_c_types.h"
#include "sleep_for.h"
#include <signal.h>
#include <stdbool.h>
#include <stddef.h>
#include <stdio.h>
bool keepRunning = true;
const char APP_NAME[] = "iox-c-request-response-client-basic";
void sigHandler(int signalValue)
{
(void)signalValue;
keepRunning = false;
}
int main()
{
//! [register signal handler and init runtime]
signal(SIGINT, sigHandler);
signal(SIGTERM, sigHandler);
iox_runtime_init(APP_NAME);
//! [register signal handler and init runtime]
//! [create client]
iox_client_storage_t clientStorage;
iox_client_t client = iox_client_init(&clientStorage, "Example", "Request-Response", "Add", NULL);
//! [create client]
//! [define variables]
uint64_t fibonacciLast = 0U;
uint64_t fibonacciCurrent = 1U;
int64_t requestSequenceId = 0;
int64_t expectedResponseSequenceId = requestSequenceId;
//! [define variables]
//! [main loop]
while (keepRunning)
{
//! [loan request]
struct AddRequest* request = NULL;
enum iox_AllocationResult loanResult =
iox_client_loan_request(client, (void**)&request, sizeof(struct AddRequest));
//! [loan request]
if (loanResult == AllocationResult_SUCCESS)
{
//! [set sequence id]
iox_request_header_t requestHeader = iox_request_header_from_payload(request);
iox_request_header_set_sequence_id(requestHeader, requestSequenceId);
expectedResponseSequenceId = requestSequenceId;
requestSequenceId += 1;
//! [set sequence id]
//! [set and send request]
request->augend = fibonacciLast;
request->addend = fibonacciCurrent;
printf("%s Send Request: %lu + %lu\n",
APP_NAME,
(unsigned long)fibonacciLast,
(unsigned long)fibonacciCurrent);
enum iox_ClientSendResult sendResult = iox_client_send(client, request);
if (sendResult != ClientSendResult_SUCCESS)
{
printf("Error sending Request! Error code: %d\n", sendResult);
}
//! [set and send request]
//! [wait for response]
const uint32_t DELAY_TIME_IN_MS = 150U;
sleep_for(DELAY_TIME_IN_MS);
//! [wait for response]
//! [process response]
const struct AddResponse* response = NULL;
while (iox_client_take_response(client, (const void**)&response) == ChunkReceiveResult_SUCCESS)
{
iox_const_response_header_t responseHeader = iox_response_header_from_payload_const(response);
int64_t receivedSequenceId = iox_response_header_get_sequence_id_const(responseHeader);
if (receivedSequenceId == expectedResponseSequenceId)
{
fibonacciLast = fibonacciCurrent;
fibonacciCurrent = response->sum;
printf("%s Got Response: %lu\n", APP_NAME, (unsigned long)fibonacciCurrent);
}
else
{
printf("Got Response with outdated sequence ID! Expected = %lu; Actual = %lu! -> skip\n",
(unsigned long)expectedResponseSequenceId,
(unsigned long)receivedSequenceId);
}
iox_client_release_response(client, response);
}
//! [process response]
}
else
{
printf("Could not allocate Request! Error code: %d\n", loanResult);
}
const uint32_t SLEEP_TIME_IN_MS = 950U;
sleep_for(SLEEP_TIME_IN_MS);
}
//! [main loop]
//! [cleanup]
iox_client_deinit(client);
//! [cleanup]
}
|
