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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
#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 "iceoryx_binding_c/wait_set.h"
#include "request_and_response_c_types.h"
#include "sleep_for.h"
#include <signal.h>
#include <stdbool.h>
#include <stddef.h>
#include <stdio.h>
#define NUMBER_OF_NOTIFICATIONS 1
bool keepRunning = true;
const char APP_NAME[] = "iox-c-request-response-client-waitset";
void sigHandler(int signalValue)
{
(void)signalValue;
keepRunning = false;
}
int main()
{
signal(SIGINT, sigHandler);
signal(SIGTERM, sigHandler);
iox_runtime_init(APP_NAME);
iox_client_storage_t clientStorage;
iox_client_t client = iox_client_init(&clientStorage, "Example", "Request-Response", "Add", NULL);
uint64_t fibonacciLast = 0U;
uint64_t fibonacciCurrent = 1U;
int64_t requestSequenceId = 0;
int64_t expectedResponseSequenceId = requestSequenceId;
//! [create waitset and attach client]
iox_ws_storage_t waitsetStorage;
iox_ws_t waitset = iox_ws_init(&waitsetStorage);
if (iox_ws_attach_client_state(waitset, client, ClientState_HAS_RESPONSE, 0U, NULL) != WaitSetResult_SUCCESS)
{
printf("failed to attach client\n");
_exit(-1);
}
//! [create waitset and attach client]
while (keepRunning)
{
struct AddRequest* request = NULL;
enum iox_AllocationResult loanResult =
iox_client_loan_request(client, (void**)&request, sizeof(struct AddRequest));
if (loanResult == AllocationResult_SUCCESS)
{
iox_request_header_t requestHeader = iox_request_header_from_payload(request);
iox_request_header_set_sequence_id(requestHeader, requestSequenceId);
expectedResponseSequenceId = requestSequenceId;
requestSequenceId += 1;
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);
}
}
else
{
printf("Could not allocate Request! Error code: %d\n", loanResult);
}
//! [wait for response]
iox_notification_info_t notificationArray[NUMBER_OF_NOTIFICATIONS];
uint64_t missedNotifications = 0U;
struct timespec timeout;
timeout.tv_sec = 2;
timeout.tv_nsec = 0;
uint64_t numberOfNotifications =
iox_ws_timed_wait(waitset, timeout, notificationArray, NUMBER_OF_NOTIFICATIONS, &missedNotifications);
//! [wait for response]
//! [process responses]
for (uint64_t i = 0; i < numberOfNotifications; ++i)
{
if (iox_notification_info_does_originate_from_client(notificationArray[i], client))
{
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 responses]
const uint32_t SLEEP_TIME_IN_MS = 950U;
sleep_for(SLEEP_TIME_IN_MS);
}
//! [cleanup]
iox_ws_detach_client_state(waitset, client, ClientState_HAS_RESPONSE);
iox_ws_deinit(waitset);
iox_client_deinit(client);
//! [cleanup]
}
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