iox-eclipse-iceoryx#1142 Add first findService example

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

doc/website/examples/icediscovery.md

@@ -1,5 +1,5 @@
 ---
-title: Searching for currently available services
+title: Searching for currently available services using C++
 ---
 
 {! ../iceoryx/iceoryx_examples/icediscovery/README.md !}

doc/website/examples/icediscovery_in_c.md

@@ -0,0 +1,5 @@
+---
+title: Searching for currently available services using C
+---
+
+{! ../iceoryx/iceoryx_examples/icediscovery/README.md !}

iceoryx_examples/README.md

@@ -18,6 +18,7 @@
 |[singleprocess](./singleprocess/)                 | Communicating in a single process between threads                         | :star::star:       |
 |[user_header](./user_header/)                     | Using a user-header for additional meta-information like timestamps       | :star::star:       |
 |[icediscovery](./icediscovery)                    | Searching for currently available services                                | :star::star:       |
+|[icediscovery_in_c](./icediscovery_in_c/)         | Searching for currently available services using C                        | :star::star:       |
 |[ice_access_control](./ice_access_control/)       | Configuring access rights for shared memory segments                      | :star::star::star: |
 |[iceperf](./iceperf/)                             | Measuring the latency of different IPC mechanisms                         | :star::star::star: |
 |[icecrystal](./icecrystal/)                       | Using the introspection client for debugging                              | :star::star::star: |

iceoryx_examples/icediscovery_in_c/CMakeLists.txt

@@ -0,0 +1,54 @@
+# 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
+
+# Build icediscovery example
+cmake_minimum_required(VERSION 3.16)
+project(example_icediscovery_in_c)
+
+include(GNUInstallDirs)
+
+find_package(iceoryx_posh CONFIG REQUIRED)
+find_package(iceoryx_hoofs CONFIG REQUIRED)
+find_package(iceoryx_binding_c CONFIG REQUIRED)
+
+get_target_property(ICEORYX_CXX_STANDARD iceoryx_posh::iceoryx_posh CXX_STANDARD)
+include(IceoryxPlatform)
+
+add_executable(iox-c-offer-service ./iox_c_offer_service.c)
+set_source_files_properties(./ice_c_offer_service.c PROPERTIES LANGUAGE C)
+target_link_libraries(iox-c-offer-service
+    iceoryx_binding_c::iceoryx_binding_c
+)
+set_target_properties(iox-c-offer-service PROPERTIES
+    POSITION_INDEPENDENT_CODE ON
+)
+target_compile_options(iox-c-offer-service PRIVATE ${ICEORYX_WARNINGS} ${ICEORYX_SANITIZER_FLAGS})
+
+add_executable(iox-c-find-service ./iox_c_find_service.c)
+set_source_files_properties(./ice_c_find_service.c PROPERTIES LANGUAGE C)
+target_link_libraries(iox-c-find-service
+    iceoryx_binding_c::iceoryx_binding_c
+)
+set_target_properties(iox-c-offer-service PROPERTIES
+    POSITION_INDEPENDENT_CODE ON
+)
+target_compile_options(iox-c-find-service PRIVATE ${ICEORYX_WARNINGS} ${ICEORYX_SANITIZER_FLAGS})
+
+# ========================================================== //
+
+install(TARGETS iox-c-offer-service
+                iox-c-find-service
+        RUNTIME DESTINATION bin)

iceoryx_examples/icediscovery_in_c/iox_c_find_service.c

@@ -0,0 +1,83 @@
+// 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/runtime.h"
+#include "iceoryx_binding_c/service_discovery.h"
+#include "sleep_for.h"
+
+#include <signal.h>
+#include <stdbool.h>
+#include <stdio.h>
+
+bool keepRunning = true;
+
+const char APP_NAME[] = "iox-c-find-service";
+
+static void sigHandler(int signalValue)
+{
+    // Ignore unused variable warning
+    (void)signalValue;
+    // caught SIGINT or SIGTERM, now exit gracefully
+    keepRunning = false;
+}
+
+void printSearchResult(const iox_service_description_t service)
+{
+    printf(
+        "- Service: %s, Instance: %s, Event: %s\n", service.serviceString, service.instanceString, service.eventString);
+}
+
+int main()
+{
+    signal(SIGINT, sigHandler);
+    signal(SIGTERM, sigHandler);
+
+    iox_runtime_init(APP_NAME);
+
+    iox_service_discovery_storage_t storage;
+    iox_service_discovery_t serviceDiscovery = iox_service_discovery_init(&storage);
+
+    while (keepRunning)
+    {
+        printf("\n=========================================\n");
+
+        printf("\nSearched for {'Radar', 'FrontLeft', 'Image'}. Found the following services:\n");
+        iox_service_discovery_find_service_apply_callable(
+            serviceDiscovery, "Radar", "FrontLeft", "Image", printSearchResult, MessagingPattern_PUB_SUB);
+
+        printf("\nSearched for {'Radar', *, *}. Found the following services:\n");
+        iox_service_discovery_find_service_apply_callable(
+            serviceDiscovery, "Radar", NULL, NULL, printSearchResult, MessagingPattern_PUB_SUB);
+
+        printf("\nSearched for {*, 'FrontLeft', *}. Found the following services:\n");
+        iox_service_discovery_find_service_apply_callable(
+            serviceDiscovery, NULL, "FrontLeft", NULL, printSearchResult, MessagingPattern_PUB_SUB);
+
+        printf("\nSearched for {*, 'FrontRight', 'Image'}. Found the following services:\n");
+        iox_service_discovery_find_service_apply_callable(
+            serviceDiscovery, NULL, "FrontRight", "Image", printSearchResult, MessagingPattern_PUB_SUB);
+
+        printf("\nSearched for {'Camera', *, *}. Found the following services:\n");
+        iox_service_discovery_find_service_apply_callable(
+            serviceDiscovery, "Camera", NULL, NULL, printSearchResult, MessagingPattern_PUB_SUB);
+
+        sleep_for(1000);
+    }
+
+    iox_service_discovery_deinit(serviceDiscovery);
+
+    return 0;
+}

iceoryx_examples/icediscovery_in_c/iox_c_offer_service.c

@@ -0,0 +1,89 @@
+// 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/publisher.h"
+#include "iceoryx_binding_c/runtime.h"
+#include "sleep_for.h"
+
+#include <signal.h>
+#include <stdbool.h>
+
+bool keepRunning = true;
+
+const char APP_NAME[] = "iox-c-offer-service";
+
+static void sigHandler(int signalValue)
+{
+    // Ignore unused variable warning
+    (void)signalValue;
+    // caught SIGINT or SIGTERM, now exit gracefully
+    keepRunning = false;
+}
+
+int main()
+{
+    signal(SIGINT, sigHandler);
+    signal(SIGTERM, sigHandler);
+
+    iox_runtime_init(APP_NAME);
+
+    iox_pub_storage_t publisherStorage;
+    iox_pub_options_t options;
+    iox_pub_options_init(&options);
+    iox_pub_t radarLeft = iox_pub_init(&publisherStorage, "Radar", "FrontLeft", "Image", &options);
+    iox_pub_t radarRight = iox_pub_init(&publisherStorage, "Radar", "FrontRight", "Image", &options);
+    iox_pub_t lidarLeft = iox_pub_init(&publisherStorage, "Lidar", "FrontLeft", "Counter", &options);
+
+    const int numberCameraPublishers = 5;
+    iox_pub_storage_t cameraPublisherStorage[numberCameraPublishers];
+    iox_pub_t cameraPublishers[numberCameraPublishers];
+    cameraPublishers[0] = iox_pub_init(&cameraPublisherStorage[0], "Camera", "FrontLeft", "Counter", &options);
+    cameraPublishers[1] = iox_pub_init(&cameraPublisherStorage[1], "Camera", "FrontLeft", "Image", &options);
+    cameraPublishers[2] = iox_pub_init(&cameraPublisherStorage[2], "Camera", "FrontRight", "Counter", &options);
+    cameraPublishers[3] = iox_pub_init(&cameraPublisherStorage[3], "Camera", "FrontRight", "Image", &options);
+    cameraPublishers[4] = iox_pub_init(&cameraPublisherStorage[4], "Camera", "BackLeft", "Image", &options);
+
+    bool offer = false;
+    while (keepRunning)
+    {
+        if (offer)
+        {
+            for (int i = 0; i < numberCameraPublishers; ++i)
+            {
+                iox_pub_offer(cameraPublishers[i]);
+            }
+        }
+        else
+        {
+            for (int i = 0; i < numberCameraPublishers; ++i)
+            {
+                iox_pub_stop_offer(cameraPublishers[i]);
+            }
+        }
+        offer = !offer;
+        sleep_for(1000);
+    }
+
+    iox_pub_deinit(radarLeft);
+    iox_pub_deinit(radarRight);
+    iox_pub_deinit(lidarLeft);
+    for (int i = 0; i < numberCameraPublishers; ++i)
+    {
+        iox_pub_deinit(cameraPublishers[i]);
+    }
+
+    return 0;
+}

iceoryx_examples/icediscovery_in_c/sleep_for.h

@@ -0,0 +1,37 @@
+// Copyright (c) 2020 by Robert Bosch GmbH. 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
+
+#ifndef IOX_BINDING_C_SLEEP_FOR_H
+#define IOX_BINDING_C_SLEEP_FOR_H
+
+#ifdef _WIN32
+#include <windows.h>
+
+void sleep_for(uint32_t milliseconds)
+{
+    Sleep((uint64_t)milliseconds);
+}
+
+#else
+#include <unistd.h>
+
+void sleep_for(uint32_t milliseconds)
+{
+    usleep(milliseconds * 1000U);
+}
+#endif
+
+#endif

iceoryx_integrationtest/CMakeLists.txt

@@ -1,4 +1,4 @@
-# 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. You may obtain a copy of
@@ -41,6 +41,7 @@ if(BUILD_TESTING)
   add_ros_test(iceoryx_integrationtest/test_request_response_basic.py)
   add_ros_test(iceoryx_integrationtest/test_request_response_listener.py)
   add_ros_test(iceoryx_integrationtest/test_request_response_untyped.py)
+  add_ros_test(iceoryx_integrationtest/test_icediscovery_in_c_example.py)
 
 endif()