iox-eclipse-iceoryx#1142 Add missing functions to waitset and notific…

…ation_info

Signed-off-by: Marika Lehmann <[email protected]>

iceoryx_binding_c/include/iceoryx_binding_c/notification_info.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2020 by Apex.AI Inc. All rights reserved.
+// Copyright (c) 2020 - 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.
@@ -18,6 +18,7 @@
 #define IOX_BINDING_C_EVENT_INFO_H
 
 #include "iceoryx_binding_c/internal/c2cpp_binding.h"
+#include "iceoryx_binding_c/service_discovery.h"
 #include "iceoryx_binding_c/subscriber.h"
 #include "iceoryx_binding_c/user_trigger.h"
 
@@ -43,6 +44,13 @@ bool iox_notification_info_does_originate_from_subscriber(iox_notification_info_
 bool iox_notification_info_does_originate_from_user_trigger(iox_notification_info_t const self,
                                                             iox_user_trigger_t const user_trigger);
 
+/// @brief does the notification originate from a certain service discovery
+/// @param[in] self handle to notification info
+/// @param[in] serviceDiscovery handle to serviceDiscovery in question
+/// @return true if the notifiaction originates from the service discovery, otherwise false
+bool iox_notification_info_does_originate_from_service_discovery(iox_notification_info_t const self,
+                                                                 iox_service_discovery_t const serviceDiscovery);
+
 /// @brief acquires the handle of the subscriber origin
 /// @param[in] self handle to notification info
 /// @return the handle to the subscriber if the notification originated from a subscriber, otherwise NULL
@@ -53,6 +61,11 @@ iox_sub_t iox_notification_info_get_subscriber_origin(iox_notification_info_t co
 /// @return the handle to the user trigger if the notification originated from a user trigger, otherwise NULL
 iox_user_trigger_t iox_notification_info_get_user_trigger_origin(iox_notification_info_t const self);
 
+/// @brief acquires the handle of the service discovery origin
+/// @param[in] self handle to the notification info
+/// @return the handle to the service discovery if the notification originated from a service discovery, otherwise NULL
+iox_service_discovery_t iox_notification_info_get_service_discovery_origin(iox_notification_info_t const self);
+
 /// @brief calls the callback of the notification
 /// @param[in] self handle to notification info
 void iox_notification_info_call(iox_notification_info_t const self);

iceoryx_binding_c/include/iceoryx_binding_c/wait_set.h

@@ -1,5 +1,5 @@
 // Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
-// Copyright (c) 2020 - 2021 Apex.AI Inc. All rights reserved.
+// Copyright (c) 2020 - 2022 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.
@@ -21,6 +21,7 @@
 #include "iceoryx_binding_c/enums.h"
 #include "iceoryx_binding_c/internal/c2cpp_binding.h"
 #include "iceoryx_binding_c/notification_info.h"
+#include "iceoryx_binding_c/service_discovery.h"
 #include "iceoryx_binding_c/subscriber.h"
 #include "iceoryx_binding_c/types.h"
 #include "iceoryx_binding_c/user_trigger.h"
@@ -189,4 +190,43 @@ void iox_ws_detach_subscriber_state(iox_ws_t const self,
 /// @param[in] usertrigger the user trigger which should be detached
 void iox_ws_detach_user_trigger_event(iox_ws_t const self, iox_user_trigger_t const userTrigger);
 
+/// @brief attaches a service discovery event to a waitset
+/// @param[in] self handle to the waitset
+/// @param[in] serviceDiscovery service discovery which emits the event
+/// @param[in] serviceDiscoveryEvent the event which should be attached
+/// @param[in] eventId an arbitrary id which will be tagged to the event
+/// @param[in] callback a callback which is attached to the event
+/// @return if the attaching was successfull it returns WaitSetResult_SUCCESS, otherwise
+///             an enum which describes the error
+ENUM iox_WaitSetResult iox_ws_attach_service_discovery_event(const iox_ws_t self,
+                                                             const iox_service_discovery_t serviceDiscovery,
+                                                             const ENUM iox_ServiceDiscoveryEvent serviceDiscoveryEvent,
+                                                             const uint64_t eventId,
+                                                             void (*callback)(iox_service_discovery_t));
+
+/// @brief attaches a service discovery event to a waitset with additional context data for the callback
+/// @param[in] self handle to the waitset
+/// @param[in] serviceDiscovery service discovery which emits the event
+/// @param[in] serviceDiscoveryEvent the event which should be attached
+/// @param[in] eventId an arbitrary id which will be tagged to the event
+/// @param[in] callback a callback which is attached to the event
+/// @param[in] contextData a void pointer which is provided as second argument to the callback
+/// @return if the attaching was successfull it returns WaitSetResult_SUCCESS, otherwise
+///             an enum which describes the error
+ENUM iox_WaitSetResult
+iox_ws_attach_service_discovery_event_with_context_data(iox_ws_t const self,
+                                                        iox_service_discovery_t const serviceDiscovery,
+                                                        const ENUM iox_ServiceDiscoveryEvent serviceDiscoveryEvent,
+                                                        const uint64_t eventId,
+                                                        void (*callback)(iox_service_discovery_t, void*),
+                                                        void* const contextData);
+
+/// @brief detaches a service discovery event from a waitset
+/// @param[in] self handle to the waitset
+/// @param[in] serviceDiscovery the service discovery which should be detached
+/// @param[in] serviceDiscoveryEvent the event which should be detached from the service discovery
+void iox_ws_detach_service_discovery_event(iox_ws_t const self,
+                                           iox_service_discovery_t const serviceDiscovery,
+                                           const ENUM iox_ServiceDiscoveryEvent serviceDiscoveryEvent);
+
 #endif

iceoryx_binding_c/source/c_notification_info.cpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2020 by Apex.AI Inc. All rights reserved.
+// Copyright (c) 2020 - 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.
@@ -17,9 +17,11 @@
 #include "iceoryx_binding_c/internal/cpp2c_subscriber.hpp"
 #include "iceoryx_posh/popo/notification_info.hpp"
 #include "iceoryx_posh/popo/user_trigger.hpp"
+#include "iceoryx_posh/runtime/service_discovery.hpp"
 
 using namespace iox;
 using namespace iox::popo;
+using namespace iox::runtime;
 
 extern "C" {
 #include "iceoryx_binding_c/notification_info.h"
@@ -44,6 +46,12 @@ bool iox_notification_info_does_originate_from_user_trigger(iox_notification_inf
     return self->doesOriginateFrom(user_trigger);
 }
 
+bool iox_notification_info_does_originate_from_service_discovery(iox_notification_info_t const self,
+                                                                 iox_service_discovery_t const serviceDiscovery)
+{
+    return self->doesOriginateFrom(serviceDiscovery);
+}
+
 iox_sub_t iox_notification_info_get_subscriber_origin(iox_notification_info_t const self)
 {
     return self->getOrigin<cpp2c_Subscriber>();
@@ -54,6 +62,11 @@ iox_user_trigger_t iox_notification_info_get_user_trigger_origin(iox_notificatio
     return self->getOrigin<UserTrigger>();
 }
 
+iox_service_discovery_t iox_notification_info_get_service_discovery_origin(iox_notification_info_t const self)
+{
+    return self->getOrigin<ServiceDiscovery>();
+}
+
 void iox_notification_info_call(iox_notification_info_t const self)
 {
     (*self)();

iceoryx_binding_c/source/c_wait_set.cpp

@@ -1,5 +1,5 @@
 // Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
-// Copyright (c) 2020 - 2021 by Apex.AI Inc. All rights reserved.
+// Copyright (c) 2020 - 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.
@@ -25,6 +25,7 @@
 
 using namespace iox;
 using namespace iox::popo;
+using namespace iox::runtime;
 
 extern "C" {
 #include "iceoryx_binding_c/wait_set.h"
@@ -201,3 +202,47 @@ void iox_ws_detach_user_trigger_event(iox_ws_t const self, iox_user_trigger_t co
 {
     self->detachEvent(*userTrigger);
 }
+
+iox_WaitSetResult iox_ws_attach_service_discovery_event(const iox_ws_t self,
+                                                        const iox_service_discovery_t serviceDiscovery,
+                                                        const ENUM iox_ServiceDiscoveryEvent serviceDiscoveryEvent,
+                                                        const uint64_t eventId,
+                                                        void (*callback)(iox_service_discovery_t))
+{
+    iox::cxx::Expects(self != nullptr);
+    iox::cxx::Expects(serviceDiscovery != nullptr);
+
+    auto result = self->attachEvent(
+        *serviceDiscovery, c2cpp::serviceDiscoveryEvent(serviceDiscoveryEvent), eventId, {callback, nullptr});
+    return (result.has_error()) ? cpp2c::waitSetResult(result.get_error()) : iox_WaitSetResult::WaitSetResult_SUCCESS;
+}
+
+iox_WaitSetResult
+iox_ws_attach_service_discovery_event_with_context_data(iox_ws_t const self,
+                                                        iox_service_discovery_t const serviceDiscovery,
+                                                        const ENUM iox_ServiceDiscoveryEvent serviceDiscoveryEvent,
+                                                        const uint64_t eventId,
+                                                        void (*callback)(iox_service_discovery_t, void*),
+                                                        void* const contextData)
+{
+    iox::cxx::Expects(self != nullptr);
+    iox::cxx::Expects(serviceDiscovery != nullptr);
+
+    NotificationCallback<std::remove_pointer_t<iox_service_discovery_t>, void> notificationCallback;
+    notificationCallback.m_callback = callback;
+    notificationCallback.m_contextData = contextData;
+
+    auto result = self->attachEvent(
+        *serviceDiscovery, c2cpp::serviceDiscoveryEvent(serviceDiscoveryEvent), eventId, notificationCallback);
+    return (result.has_error()) ? cpp2c::waitSetResult(result.get_error()) : iox_WaitSetResult::WaitSetResult_SUCCESS;
+}
+
+void iox_ws_detach_service_discovery_event(iox_ws_t const self,
+                                           iox_service_discovery_t const serviceDiscovery,
+                                           const ENUM iox_ServiceDiscoveryEvent serviceDiscoveryEvent)
+{
+    iox::cxx::Expects(self != nullptr);
+    iox::cxx::Expects(serviceDiscovery != nullptr);
+
+    self->detachEvent(*serviceDiscovery, c2cpp::serviceDiscoveryEvent(serviceDiscoveryEvent));
+}

iceoryx_binding_c/test/moduletests/test_wait_set.cpp

@@ -1,5 +1,5 @@
 // Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
-// Copyright (c) 2021 by Apex.AI Inc. All rights reserved.
+// Copyright (c) 2021 - 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.
@@ -21,6 +21,8 @@
 #include "iceoryx_posh/iceoryx_posh_types.hpp"
 #include "iceoryx_posh/internal/popo/ports/subscriber_port_user.hpp"
 #include "iceoryx_posh/popo/user_trigger.hpp"
+#include "iceoryx_posh/runtime/service_discovery.hpp"
+#include "iceoryx_posh/testing/mocks/posh_runtime_mock.hpp"
 #include "mocks/wait_set_mock.hpp"
 
 using namespace iox;
@@ -78,6 +80,7 @@ class iox_ws_test : public Test
         }
     }
 
+    std::unique_ptr<PoshRuntimeMock> runtimeMock = PoshRuntimeMock::create("rudi_ruessel");
     const iox::capro::ServiceDescription TEST_SERVICE_DESCRIPTION{"a", "b", "c"};
     iox::popo::SubscriberOptions m_subscriberOptions{MAX_CHUNKS_HELD_PER_SUBSCRIBER_SIMULTANEOUSLY, 0U};
     cxx::vector<iox::popo::SubscriberPortData, MAX_NUMBER_OF_ATTACHMENTS_PER_WAITSET + 1U> m_portDataVector;
@@ -123,6 +126,17 @@ void userTriggerCallbackWithContextData(iox::popo::UserTrigger* userTrigger, voi
     iox_ws_test::m_contextData = contextData;
 }
 
+void serviceDiscoveryCallback(iox_service_discovery_t serviceDiscovery)
+{
+    iox_ws_test::m_callbackOrigin = serviceDiscovery;
+}
+
+void serviceDiscoveryCallbackWithContextData(iox_service_discovery_t serviceDiscovery, void* const contextData)
+{
+    iox_ws_test::m_callbackOrigin = serviceDiscovery;
+    iox_ws_test::m_contextData = contextData;
+}
+
 } // namespace
 
 TEST_F(iox_ws_test, InitWaitSetWithNullptrForStorageReturnsNullptr)
@@ -725,4 +739,101 @@ TEST_F(iox_ws_test, UserTriggerCallbackWithContextDataIsCalled)
     EXPECT_THAT(m_contextData, Eq(&someContextData));
 }
 
+TEST_F(iox_ws_test, AttachingServiceDiscoveryEventWorks)
+{
+    ::testing::Test::RecordProperty("TEST_ID", "a8be9cbd-d9b6-45a3-b34f-d58fb864d40d");
+    iox_service_discovery_storage_t serviceDiscoveryStorage;
+    EXPECT_CALL(*runtimeMock, getMiddlewareSubscriber(_, _, _)).WillOnce(Return(&m_portDataVector[0]));
+
+    iox_service_discovery_t serviceDiscovery = iox_service_discovery_init(&serviceDiscoveryStorage);
+
+    EXPECT_THAT(iox_ws_size(m_sut), Eq(0));
+    iox_ws_attach_service_discovery_event(
+        m_sut, serviceDiscovery, ServiceDiscoveryEvent_SERVICE_REGISTRY_CHANGED, 0, nullptr);
+    EXPECT_THAT(iox_ws_size(m_sut), Eq(1));
+
+    iox_ws_detach_service_discovery_event(m_sut, serviceDiscovery, ServiceDiscoveryEvent_SERVICE_REGISTRY_CHANGED);
+    EXPECT_THAT(iox_ws_size(m_sut), Eq(0));
+}
+
+TEST_F(iox_ws_test, AttachingServiceDiscoveryEventWithContextDataWorks)
+{
+    ::testing::Test::RecordProperty("TEST_ID", "69515627-1590-4616-8502-975cd9256ecf");
+    iox_service_discovery_storage_t serviceDiscoveryStorage;
+    EXPECT_CALL(*runtimeMock, getMiddlewareSubscriber(_, _, _)).WillOnce(Return(&m_portDataVector[0]));
+
+    iox_service_discovery_t serviceDiscovery = iox_service_discovery_init(&serviceDiscoveryStorage);
+
+    EXPECT_THAT(iox_ws_size(m_sut), Eq(0));
+    iox_ws_attach_service_discovery_event_with_context_data(
+        m_sut, serviceDiscovery, ServiceDiscoveryEvent_SERVICE_REGISTRY_CHANGED, 0, nullptr, nullptr);
+    EXPECT_THAT(iox_ws_size(m_sut), Eq(1));
+
+    iox_ws_detach_service_discovery_event(m_sut, serviceDiscovery, ServiceDiscoveryEvent_SERVICE_REGISTRY_CHANGED);
+    EXPECT_THAT(iox_ws_size(m_sut), Eq(0));
+}
+
+void notifyServiceDiscovery(SubscriberPortData& portData)
+{
+    iox::popo::ChunkQueuePusher<SubscriberChunkReceiverData_t> pusher{&portData.m_chunkReceiverData};
+    pusher.push(iox::mepoo::SharedChunk());
+    portData.m_chunkReceiverData.m_conditionVariableDataPtr->m_semaphore.post();
+}
+
+TEST_F(iox_ws_test, NotifyingServiceDiscoveryEventWorks)
+{
+    ::testing::Test::RecordProperty("TEST_ID", "945dcf94-4679-469f-aa47-1a87d536da72");
+    iox_service_discovery_storage_t serviceDiscoveryStorage;
+    EXPECT_CALL(*runtimeMock, getMiddlewareSubscriber(_, _, _)).WillOnce(Return(&m_portDataVector[0]));
+
+    iox_service_discovery_t serviceDiscovery = iox_service_discovery_init(&serviceDiscoveryStorage);
+
+    iox_ws_attach_service_discovery_event(
+        m_sut, serviceDiscovery, ServiceDiscoveryEvent_SERVICE_REGISTRY_CHANGED, 13, &serviceDiscoveryCallback);
+
+    notifyServiceDiscovery(m_portDataVector[0]);
+
+    ASSERT_THAT(iox_ws_wait(m_sut, m_eventInfoStorage, MAX_NUMBER_OF_ATTACHMENTS_PER_WAITSET, &m_missedElements),
+                Eq(1));
+    EXPECT_THAT(iox_notification_info_get_notification_id(m_eventInfoStorage[0]), Eq(13));
+    EXPECT_THAT(iox_notification_info_get_service_discovery_origin(m_eventInfoStorage[0]), Eq(serviceDiscovery));
+    EXPECT_TRUE(iox_notification_info_does_originate_from_service_discovery(m_eventInfoStorage[0], serviceDiscovery));
+    iox_notification_info_call(m_eventInfoStorage[0]);
+
+    EXPECT_THAT(m_callbackOrigin, Eq(static_cast<void*>(serviceDiscovery)));
+    EXPECT_THAT(m_contextData, Eq(nullptr));
+
+    iox_ws_detach_service_discovery_event(m_sut, serviceDiscovery, ServiceDiscoveryEvent_SERVICE_REGISTRY_CHANGED);
+}
+
+TEST_F(iox_ws_test, NotifyingServiceDiscoveryEventWithContextDataWorks)
+{
+    ::testing::Test::RecordProperty("TEST_ID", "510a0351-afeb-4c0f-a4b6-3032f1f3f831");
+    iox_service_discovery_storage_t serviceDiscoveryStorage;
+    EXPECT_CALL(*runtimeMock, getMiddlewareSubscriber(_, _, _)).WillOnce(Return(&m_portDataVector[0]));
+
+    iox_service_discovery_t serviceDiscovery = iox_service_discovery_init(&serviceDiscoveryStorage);
+
+    iox_ws_attach_service_discovery_event_with_context_data(m_sut,
+                                                            serviceDiscovery,
+                                                            ServiceDiscoveryEvent_SERVICE_REGISTRY_CHANGED,
+                                                            31,
+                                                            &serviceDiscoveryCallbackWithContextData,
+                                                            &serviceDiscoveryStorage);
+
+    notifyServiceDiscovery(m_portDataVector[0]);
+
+    ASSERT_THAT(iox_ws_wait(m_sut, m_eventInfoStorage, MAX_NUMBER_OF_ATTACHMENTS_PER_WAITSET, &m_missedElements),
+                Eq(1));
+    EXPECT_THAT(iox_notification_info_get_notification_id(m_eventInfoStorage[0]), Eq(31));
+    EXPECT_THAT(iox_notification_info_get_service_discovery_origin(m_eventInfoStorage[0]), Eq(serviceDiscovery));
+    EXPECT_TRUE(iox_notification_info_does_originate_from_service_discovery(m_eventInfoStorage[0], serviceDiscovery));
+    iox_notification_info_call(m_eventInfoStorage[0]);
+
+    EXPECT_THAT(m_callbackOrigin, Eq(static_cast<void*>(serviceDiscovery)));
+    EXPECT_THAT(m_contextData, Eq(static_cast<void*>(&serviceDiscoveryStorage)));
+
+    iox_ws_detach_service_discovery_event(m_sut, serviceDiscovery, ServiceDiscoveryEvent_SERVICE_REGISTRY_CHANGED);
+}
+
 } // namespace