From 06606d60f2b524f28842cca1d5889ceeb25163c6 Mon Sep 17 00:00:00 2001
From: Marika Lehmann <marika.lehmann@apex.ai>
Date: Thu, 24 Feb 2022 19:12:15 +0100
Subject: [PATCH 01/12] iox-#1142 Add first findService example

Signed-off-by: Marika Lehmann <marika.lehmann@apex.ai>
---
 doc/website/examples/icediscovery.md          |   2 +-
 doc/website/examples/icediscovery_in_c.md     |   5 +
 iceoryx_examples/README.md                    |   1 +
 .../icediscovery_in_c/CMakeLists.txt          |  54 ++++++++
 .../icediscovery_in_c/iox_c_find_service.c    |  83 ++++++++++++
 .../icediscovery_in_c/iox_c_offer_service.c   |  89 +++++++++++++
 .../icediscovery_in_c/sleep_for.h             |  37 ++++++
 iceoryx_integrationtest/CMakeLists.txt        |   3 +-
 .../test_icediscovery_in_c_example.py         | 119 ++++++++++++++++++
 iceoryx_meta/CMakeLists.txt                   |   3 +-
 10 files changed, 393 insertions(+), 3 deletions(-)
 create mode 100644 doc/website/examples/icediscovery_in_c.md
 create mode 100644 iceoryx_examples/icediscovery_in_c/CMakeLists.txt
 create mode 100644 iceoryx_examples/icediscovery_in_c/iox_c_find_service.c
 create mode 100644 iceoryx_examples/icediscovery_in_c/iox_c_offer_service.c
 create mode 100644 iceoryx_examples/icediscovery_in_c/sleep_for.h
 create mode 100644 iceoryx_integrationtest/iceoryx_integrationtest/test_icediscovery_in_c_example.py

diff --git a/doc/website/examples/icediscovery.md b/doc/website/examples/icediscovery.md
index 376287657e..8820cef30a 100644
--- a/doc/website/examples/icediscovery.md
+++ b/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 !}
diff --git a/doc/website/examples/icediscovery_in_c.md b/doc/website/examples/icediscovery_in_c.md
new file mode 100644
index 0000000000..de0d67a29a
--- /dev/null
+++ b/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 !}
diff --git a/iceoryx_examples/README.md b/iceoryx_examples/README.md
index 24c050e6d1..5bbb4dbc26 100644
--- a/iceoryx_examples/README.md
+++ b/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: |
diff --git a/iceoryx_examples/icediscovery_in_c/CMakeLists.txt b/iceoryx_examples/icediscovery_in_c/CMakeLists.txt
new file mode 100644
index 0000000000..503403cedd
--- /dev/null
+++ b/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)
diff --git a/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c b/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c
new file mode 100644
index 0000000000..5455650107
--- /dev/null
+++ b/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;
+}
diff --git a/iceoryx_examples/icediscovery_in_c/iox_c_offer_service.c b/iceoryx_examples/icediscovery_in_c/iox_c_offer_service.c
new file mode 100644
index 0000000000..d12684cdcb
--- /dev/null
+++ b/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;
+}
diff --git a/iceoryx_examples/icediscovery_in_c/sleep_for.h b/iceoryx_examples/icediscovery_in_c/sleep_for.h
new file mode 100644
index 0000000000..1a57d870fd
--- /dev/null
+++ b/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
diff --git a/iceoryx_integrationtest/CMakeLists.txt b/iceoryx_integrationtest/CMakeLists.txt
index 211e1114ef..7389e43b49 100644
--- a/iceoryx_integrationtest/CMakeLists.txt
+++ b/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()
 
diff --git a/iceoryx_integrationtest/iceoryx_integrationtest/test_icediscovery_in_c_example.py b/iceoryx_integrationtest/iceoryx_integrationtest/test_icediscovery_in_c_example.py
new file mode 100644
index 0000000000..da3dad5d2a
--- /dev/null
+++ b/iceoryx_integrationtest/iceoryx_integrationtest/test_icediscovery_in_c_example.py
@@ -0,0 +1,119 @@
+# 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
+
+import os
+
+import unittest
+
+import launch
+from launch_ros.substitutions import ExecutableInPackage
+import launch_testing
+import launch_testing.actions
+from launch_testing.asserts import assertSequentialStdout
+
+import pytest
+
+# @brief Test goal: "Integrationtest for the icediscovery in C example of iceoryx"
+# @pre setup ROS2 launch executables for RouDi (debug mode) and the example processes
+# @post check if all applications return exitcode 0 (success) after test run
+@pytest.mark.launch_test
+def generate_test_description():
+
+    proc_env = os.environ.copy()
+    colcon_prefix_path = os.environ.get('COLCON_PREFIX_PATH', '')
+    # executable_list = ['iox-offer-service', 'iox-find-service']
+    # process_list = []
+
+    # for exec in executable_list:
+        # tmp_exec = os.path.join(
+            # colcon_prefix_path,
+            # 'example_icediscovery/bin/',
+            # exec)
+        # tmp_process = launch.actions.ExecuteProcess(
+            # cmd=[tmp_exec],
+            # env=proc_env, output='screen')
+        # process_list.append(tmp_process)
+
+    # print("Process list:", process_list)
+
+    # roudi_executable = os.path.join(
+        # colcon_prefix_path,
+        # 'iceoryx_posh/bin/',
+        # 'iox-roudi'
+    # )
+    # roudi_process = launch.actions.ExecuteProcess(
+        # cmd=[roudi_executable, '-l', 'debug'],
+        # env=proc_env, output='screen',
+        # sigterm_timeout='20')
+
+    # return launch.LaunchDescription([
+        # process_list[0],
+        # process_list[1],
+        # roudi_process,
+        # launch_testing.actions.ReadyToTest()
+    # ]), {'iox-offer-service': process_list[0], 'iox-find-service': process_list[1],
+         # 'roudi_process': roudi_process}
+
+# These tests will run concurrently with the dut process. After this test is done,
+# the launch system will shut down RouDi
+
+
+class TestIcediscoveryExample(unittest.TestCase):
+    def test_roudi_ready(self, proc_output):
+        proc_output.assertWaitFor(
+            'RouDi is ready for clients', timeout=45, stream='stdout')
+
+    def test_find_service(self, proc_output):
+        # proc_output.assertWaitFor(
+            # 'Searched for {\'Radar\', \'FrontLeft\', \'Image\'}. Found the following services:\n- Service: Radar, Instance: FrontLeft, Event: Image',
+            # timeout=45, stream='stdout')
+        # proc_output.assertWaitFor(
+            # 'Searched for {\'Radar\', *, *}. Found the following services:\n- Service: Radar, Instance: FrontLeft, Event: Image\n- Service: Radar, Instance: FrontRight, Event: Image',
+            # timeout=45, stream='stdout')
+        # proc_output.assertWaitFor(
+            # 'Searched for {*, \'FrontLeft\', *}. Found the following services:\n- Service: Radar, Instance: FrontLeft, Event: Image\n- Service: Lidar, Instance: FrontLeft, Event: Counter\n- Service: Camera, Instance: FrontLeft, Event: Image\n- Service: Camera, Instance: FrontLeft, Event: Counter',
+            # timeout=45, stream='stdout')
+        # proc_output.assertWaitFor(
+            # 'Searched for {*, \'FrontRight\', \'Image\'}. Found the following services:\n- Service: Radar, Instance: FrontRight, Event: Image\n- Service: Camera, Instance: FrontRight, Event: Image',
+            # timeout=45, stream='stdout')
+        # proc_output.assertWaitFor(
+            # 'Searched for {\'Camera\', *, *}. Found the following services:\n- Service: Camera, Instance: FrontLeft, Event: Image\n- Service: Camera, Instance: FrontRight, Event: Counter\n- Service: Camera, Instance: FrontRight, Event: Image\n- Service: Camera, Instance: BackLeft, Event: Image\n- Service: Camera, Instance: FrontLeft, Event: Counter',
+            # timeout=45, stream='stdout')
+
+        # proc_output.assertWaitFor(
+            # 'Searched for {\'Radar\', \'FrontLeft\', \'Image\'}. Found the following services:\n- Service: Radar, Instance: FrontLeft, Event: Image',
+            # timeout=45, stream='stdout')
+        # proc_output.assertWaitFor(
+            # 'Searched for {\'Radar\', *, *}. Found the following services:\n- Service: Radar, Instance: FrontLeft, Event: Image\n- Service: Radar, Instance: FrontRight, Event: Image',
+            # timeout=45, stream='stdout')
+        # proc_output.assertWaitFor(
+            # 'Searched for {*, \'FrontLeft\', *}. Found the following services:\n- Service: Radar, Instance: FrontLeft, Event: Image\n- Service: Lidar, Instance: FrontLeft, Event: Counter',
+            # timeout=45, stream='stdout')
+        # proc_output.assertWaitFor(
+            # 'Searched for {*, \'FrontRight\', \'Image\'}. Found the following services:\n- Service: Radar, Instance: FrontRight, Event: Image',
+            # timeout=45, stream='stdout')
+        # proc_output.assertWaitFor(
+            # 'Searched for {\'Camera\', *, *}. Found the following services:',
+            # timeout=45, stream='stdout')
+
+# These tests run after shutdown and examine the stdout log
+
+
+@ launch_testing.post_shutdown_test()
+class TestIcediscoveryExampleExitCodes(unittest.TestCase):
+    def test_exit_code(self, proc_info):
+        launch_testing.asserts.assertExitCodes(proc_info)
+
diff --git a/iceoryx_meta/CMakeLists.txt b/iceoryx_meta/CMakeLists.txt
index aba4024f09..c9aec6e00d 100644
--- a/iceoryx_meta/CMakeLists.txt
+++ b/iceoryx_meta/CMakeLists.txt
@@ -1,5 +1,5 @@
 # Copyright (c) 2019 - 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.
@@ -72,6 +72,7 @@ if(EXAMPLES)
         add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../iceoryx_examples/waitset_in_c ${CMAKE_BINARY_DIR}/iceoryx_examples/waitset_in_c)
         add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../iceoryx_examples/request_response_in_c ${CMAKE_BINARY_DIR}/iceoryx_examples/request_response_in_c)
         add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../iceoryx_examples/iceperf ${CMAKE_BINARY_DIR}/iceoryx_examples/iceperf)
+        add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../iceoryx_examples/icediscovery_in_c ${CMAKE_BINARY_DIR}/iceoryx_examples/icediscovery_in_c)
     endif()
     add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../iceoryx_examples/waitset ${CMAKE_BINARY_DIR}/iceoryx_examples/waitset)
     add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../iceoryx_examples/callbacks ${CMAKE_BINARY_DIR}/iceoryx_examples/callbacks)

From 29d07cce3085e49bdf04be7982d4f30cd065e4e5 Mon Sep 17 00:00:00 2001
From: Marika Lehmann <marika.lehmann@apex.ai>
Date: Thu, 24 Feb 2022 21:50:17 +0100
Subject: [PATCH 02/12] iox-#1142 Extend the example

Add findService functions without callable and with callable and
context data to example

Signed-off-by: Marika Lehmann <marika.lehmann@apex.ai>
---
 .../icediscovery_in_c/iox_c_find_service.c    | 40 ++++++++++++++++++-
 1 file changed, 38 insertions(+), 2 deletions(-)

diff --git a/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c b/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c
index 5455650107..4be699802e 100644
--- a/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c
+++ b/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c
@@ -21,6 +21,7 @@
 #include <signal.h>
 #include <stdbool.h>
 #include <stdio.h>
+#include <string.h>
 
 bool keepRunning = true;
 
@@ -40,6 +41,14 @@ void printSearchResult(const iox_service_description_t service)
         "- Service: %s, Instance: %s, Event: %s\n", service.serviceString, service.instanceString, service.eventString);
 }
 
+void searchFrontCameras(const iox_service_description_t service, void* count)
+{
+    if (strcmp(service.instanceString, "FrontLeft") == 0 || strcmp(service.instanceString, "FrontRight") == 0)
+    {
+        ++*(uint64_t*)count;
+    }
+}
+
 int main()
 {
     signal(SIGINT, sigHandler);
@@ -50,8 +59,16 @@ int main()
     iox_service_discovery_storage_t storage;
     iox_service_discovery_t serviceDiscovery = iox_service_discovery_init(&storage);
 
+    const uint64_t searchResultCapacity = 10U;
+    iox_service_description_t searchResult[searchResultCapacity];
+    uint64_t missedServices = 0U;
+    uint64_t numberFoundServices = 0U;
+
+
     while (keepRunning)
     {
+        uint64_t numberFrontCameras = 0U;
+
         printf("\n=========================================\n");
 
         printf("\nSearched for {'Radar', 'FrontLeft', 'Image'}. Found the following services:\n");
@@ -70,9 +87,28 @@ int main()
         iox_service_discovery_find_service_apply_callable(
             serviceDiscovery, NULL, "FrontRight", "Image", printSearchResult, MessagingPattern_PUB_SUB);
 
+        numberFoundServices = iox_service_discovery_find_service(serviceDiscovery,
+                                                                 "Camera",
+                                                                 NULL,
+                                                                 NULL,
+                                                                 searchResult,
+                                                                 searchResultCapacity,
+                                                                 &missedServices,
+                                                                 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);
+        for (uint64_t i = 0; i < numberFoundServices; ++i)
+        {
+            printSearchResult(searchResult[i]);
+        }
+
+        iox_service_discovery_find_service_apply_callable_with_context_data(serviceDiscovery,
+                                                                            "Camera",
+                                                                            NULL,
+                                                                            NULL,
+                                                                            searchFrontCameras,
+                                                                            (void*)&numberFrontCameras,
+                                                                            MessagingPattern_PUB_SUB);
+        printf("\nFound %lu front cameras\n", numberFrontCameras);
 
         sleep_for(1000);
     }

From 7fa46db4fb0701dea443d72fa78a04f38a4bbca4 Mon Sep 17 00:00:00 2001
From: Marika Lehmann <marika.lehmann@apex.ai>
Date: Thu, 24 Feb 2022 22:37:10 +0100
Subject: [PATCH 03/12] iox-#1142 Implement integration test

Signed-off-by: Marika Lehmann <marika.lehmann@apex.ai>
---
 .../test_icediscovery_in_c_example.py         | 132 +++++++++---------
 1 file changed, 69 insertions(+), 63 deletions(-)

diff --git a/iceoryx_integrationtest/iceoryx_integrationtest/test_icediscovery_in_c_example.py b/iceoryx_integrationtest/iceoryx_integrationtest/test_icediscovery_in_c_example.py
index da3dad5d2a..1935bab4f1 100644
--- a/iceoryx_integrationtest/iceoryx_integrationtest/test_icediscovery_in_c_example.py
+++ b/iceoryx_integrationtest/iceoryx_integrationtest/test_icediscovery_in_c_example.py
@@ -34,38 +34,38 @@ def generate_test_description():
 
     proc_env = os.environ.copy()
     colcon_prefix_path = os.environ.get('COLCON_PREFIX_PATH', '')
-    # executable_list = ['iox-offer-service', 'iox-find-service']
-    # process_list = []
-
-    # for exec in executable_list:
-        # tmp_exec = os.path.join(
-            # colcon_prefix_path,
-            # 'example_icediscovery/bin/',
-            # exec)
-        # tmp_process = launch.actions.ExecuteProcess(
-            # cmd=[tmp_exec],
-            # env=proc_env, output='screen')
-        # process_list.append(tmp_process)
-
-    # print("Process list:", process_list)
-
-    # roudi_executable = os.path.join(
-        # colcon_prefix_path,
-        # 'iceoryx_posh/bin/',
-        # 'iox-roudi'
-    # )
-    # roudi_process = launch.actions.ExecuteProcess(
-        # cmd=[roudi_executable, '-l', 'debug'],
-        # env=proc_env, output='screen',
-        # sigterm_timeout='20')
-
-    # return launch.LaunchDescription([
-        # process_list[0],
-        # process_list[1],
-        # roudi_process,
-        # launch_testing.actions.ReadyToTest()
-    # ]), {'iox-offer-service': process_list[0], 'iox-find-service': process_list[1],
-         # 'roudi_process': roudi_process}
+    executable_list = ['iox-c-offer-service', 'iox-c-find-service']
+    process_list = []
+
+    for exec in executable_list:
+        tmp_exec = os.path.join(
+            colcon_prefix_path,
+            'example_icediscovery_in_c/bin/',
+            exec)
+        tmp_process = launch.actions.ExecuteProcess(
+            cmd=[tmp_exec],
+            env=proc_env, output='screen')
+        process_list.append(tmp_process)
+
+    print("Process list:", process_list)
+
+    roudi_executable = os.path.join(
+        colcon_prefix_path,
+        'iceoryx_posh/bin/',
+        'iox-roudi'
+    )
+    roudi_process = launch.actions.ExecuteProcess(
+        cmd=[roudi_executable, '-l', 'debug'],
+        env=proc_env, output='screen',
+        sigterm_timeout='20')
+
+    return launch.LaunchDescription([
+        process_list[0],
+        process_list[1],
+        roudi_process,
+        launch_testing.actions.ReadyToTest()
+    ]), {'iox-c-offer-service': process_list[0], 'iox-c-find-service': process_list[1],
+         'roudi_process': roudi_process}
 
 # These tests will run concurrently with the dut process. After this test is done,
 # the launch system will shut down RouDi
@@ -77,37 +77,43 @@ def test_roudi_ready(self, proc_output):
             'RouDi is ready for clients', timeout=45, stream='stdout')
 
     def test_find_service(self, proc_output):
-        # proc_output.assertWaitFor(
-            # 'Searched for {\'Radar\', \'FrontLeft\', \'Image\'}. Found the following services:\n- Service: Radar, Instance: FrontLeft, Event: Image',
-            # timeout=45, stream='stdout')
-        # proc_output.assertWaitFor(
-            # 'Searched for {\'Radar\', *, *}. Found the following services:\n- Service: Radar, Instance: FrontLeft, Event: Image\n- Service: Radar, Instance: FrontRight, Event: Image',
-            # timeout=45, stream='stdout')
-        # proc_output.assertWaitFor(
-            # 'Searched for {*, \'FrontLeft\', *}. Found the following services:\n- Service: Radar, Instance: FrontLeft, Event: Image\n- Service: Lidar, Instance: FrontLeft, Event: Counter\n- Service: Camera, Instance: FrontLeft, Event: Image\n- Service: Camera, Instance: FrontLeft, Event: Counter',
-            # timeout=45, stream='stdout')
-        # proc_output.assertWaitFor(
-            # 'Searched for {*, \'FrontRight\', \'Image\'}. Found the following services:\n- Service: Radar, Instance: FrontRight, Event: Image\n- Service: Camera, Instance: FrontRight, Event: Image',
-            # timeout=45, stream='stdout')
-        # proc_output.assertWaitFor(
-            # 'Searched for {\'Camera\', *, *}. Found the following services:\n- Service: Camera, Instance: FrontLeft, Event: Image\n- Service: Camera, Instance: FrontRight, Event: Counter\n- Service: Camera, Instance: FrontRight, Event: Image\n- Service: Camera, Instance: BackLeft, Event: Image\n- Service: Camera, Instance: FrontLeft, Event: Counter',
-            # timeout=45, stream='stdout')
-
-        # proc_output.assertWaitFor(
-            # 'Searched for {\'Radar\', \'FrontLeft\', \'Image\'}. Found the following services:\n- Service: Radar, Instance: FrontLeft, Event: Image',
-            # timeout=45, stream='stdout')
-        # proc_output.assertWaitFor(
-            # 'Searched for {\'Radar\', *, *}. Found the following services:\n- Service: Radar, Instance: FrontLeft, Event: Image\n- Service: Radar, Instance: FrontRight, Event: Image',
-            # timeout=45, stream='stdout')
-        # proc_output.assertWaitFor(
-            # 'Searched for {*, \'FrontLeft\', *}. Found the following services:\n- Service: Radar, Instance: FrontLeft, Event: Image\n- Service: Lidar, Instance: FrontLeft, Event: Counter',
-            # timeout=45, stream='stdout')
-        # proc_output.assertWaitFor(
-            # 'Searched for {*, \'FrontRight\', \'Image\'}. Found the following services:\n- Service: Radar, Instance: FrontRight, Event: Image',
-            # timeout=45, stream='stdout')
-        # proc_output.assertWaitFor(
-            # 'Searched for {\'Camera\', *, *}. Found the following services:',
-            # timeout=45, stream='stdout')
+        proc_output.assertWaitFor(
+            'Searched for {\'Radar\', \'FrontLeft\', \'Image\'}. Found the following services:\n- Service: Radar, Instance: FrontLeft, Event: Image',
+            timeout=45, stream='stdout')
+        proc_output.assertWaitFor(
+            'Searched for {\'Radar\', *, *}. Found the following services:\n- Service: Radar, Instance: FrontLeft, Event: Image\n- Service: Radar, Instance: FrontRight, Event: Image',
+            timeout=45, stream='stdout')
+        proc_output.assertWaitFor(
+            'Searched for {*, \'FrontLeft\', *}. Found the following services:\n- Service: Radar, Instance: FrontLeft, Event: Image\n- Service: Lidar, Instance: FrontLeft, Event: Counter\n- Service: Camera, Instance: FrontLeft, Event: Image\n- Service: Camera, Instance: FrontLeft, Event: Counter',
+            timeout=45, stream='stdout')
+        proc_output.assertWaitFor(
+            'Searched for {*, \'FrontRight\', \'Image\'}. Found the following services:\n- Service: Radar, Instance: FrontRight, Event: Image\n- Service: Camera, Instance: FrontRight, Event: Image',
+            timeout=45, stream='stdout')
+        proc_output.assertWaitFor(
+            'Searched for {\'Camera\', *, *}. Found the following services:\n- Service: Camera, Instance: FrontLeft, Event: Image\n- Service: Camera, Instance: FrontRight, Event: Counter\n- Service: Camera, Instance: FrontRight, Event: Image\n- Service: Camera, Instance: BackLeft, Event: Image\n- Service: Camera, Instance: FrontLeft, Event: Counter',
+            timeout=45, stream='stdout')
+        proc_output.assertWaitFor(
+            'Found 4 front cameras',
+            timeout=45, stream='stdout')
+
+        proc_output.assertWaitFor(
+            'Searched for {\'Radar\', \'FrontLeft\', \'Image\'}. Found the following services:\n- Service: Radar, Instance: FrontLeft, Event: Image',
+            timeout=45, stream='stdout')
+        proc_output.assertWaitFor(
+            'Searched for {\'Radar\', *, *}. Found the following services:\n- Service: Radar, Instance: FrontLeft, Event: Image\n- Service: Radar, Instance: FrontRight, Event: Image',
+            timeout=45, stream='stdout')
+        proc_output.assertWaitFor(
+            'Searched for {*, \'FrontLeft\', *}. Found the following services:\n- Service: Radar, Instance: FrontLeft, Event: Image\n- Service: Lidar, Instance: FrontLeft, Event: Counter',
+            timeout=45, stream='stdout')
+        proc_output.assertWaitFor(
+            'Searched for {*, \'FrontRight\', \'Image\'}. Found the following services:\n- Service: Radar, Instance: FrontRight, Event: Image',
+            timeout=45, stream='stdout')
+        proc_output.assertWaitFor(
+            'Searched for {\'Camera\', *, *}. Found the following services:',
+            timeout=45, stream='stdout')
+        proc_output.assertWaitFor(
+            'Found 0 front cameras',
+            timeout=45, stream='stdout')
 
 # These tests run after shutdown and examine the stdout log
 

From e0e16b8946474ef382a6166ef9e12947a82d8ebd Mon Sep 17 00:00:00 2001
From: Marika Lehmann <marika.lehmann@apex.ai>
Date: Thu, 24 Feb 2022 22:48:58 +0100
Subject: [PATCH 04/12] iox-#1142 Use #define to define constants

Signed-off-by: Marika Lehmann <marika.lehmann@apex.ai>
---
 .../icediscovery_in_c/iox_c_find_service.c          |  7 ++++---
 .../icediscovery_in_c/iox_c_offer_service.c         | 13 +++++++------
 2 files changed, 11 insertions(+), 9 deletions(-)

diff --git a/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c b/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c
index 4be699802e..49120e1f53 100644
--- a/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c
+++ b/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c
@@ -23,6 +23,8 @@
 #include <stdio.h>
 #include <string.h>
 
+#define SEARCH_RESULT_CAPACITY 10
+
 bool keepRunning = true;
 
 const char APP_NAME[] = "iox-c-find-service";
@@ -59,8 +61,7 @@ int main()
     iox_service_discovery_storage_t storage;
     iox_service_discovery_t serviceDiscovery = iox_service_discovery_init(&storage);
 
-    const uint64_t searchResultCapacity = 10U;
-    iox_service_description_t searchResult[searchResultCapacity];
+    iox_service_description_t searchResult[SEARCH_RESULT_CAPACITY];
     uint64_t missedServices = 0U;
     uint64_t numberFoundServices = 0U;
 
@@ -92,7 +93,7 @@ int main()
                                                                  NULL,
                                                                  NULL,
                                                                  searchResult,
-                                                                 searchResultCapacity,
+                                                                 SEARCH_RESULT_CAPACITY,
                                                                  &missedServices,
                                                                  MessagingPattern_PUB_SUB);
         printf("\nSearched for {'Camera', *, *}. Found the following services:\n");
diff --git a/iceoryx_examples/icediscovery_in_c/iox_c_offer_service.c b/iceoryx_examples/icediscovery_in_c/iox_c_offer_service.c
index d12684cdcb..621e74a159 100644
--- a/iceoryx_examples/icediscovery_in_c/iox_c_offer_service.c
+++ b/iceoryx_examples/icediscovery_in_c/iox_c_offer_service.c
@@ -21,6 +21,8 @@
 #include <signal.h>
 #include <stdbool.h>
 
+#define NUMBER_OF_CAMERA_PUBLISHERS 5
+
 bool keepRunning = true;
 
 const char APP_NAME[] = "iox-c-offer-service";
@@ -47,9 +49,8 @@ int main()
     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];
+    iox_pub_storage_t cameraPublisherStorage[NUMBER_OF_CAMERA_PUBLISHERS];
+    iox_pub_t cameraPublishers[NUMBER_OF_CAMERA_PUBLISHERS];
     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);
@@ -61,14 +62,14 @@ int main()
     {
         if (offer)
         {
-            for (int i = 0; i < numberCameraPublishers; ++i)
+            for (int i = 0; i < NUMBER_OF_CAMERA_PUBLISHERS; ++i)
             {
                 iox_pub_offer(cameraPublishers[i]);
             }
         }
         else
         {
-            for (int i = 0; i < numberCameraPublishers; ++i)
+            for (int i = 0; i < NUMBER_OF_CAMERA_PUBLISHERS; ++i)
             {
                 iox_pub_stop_offer(cameraPublishers[i]);
             }
@@ -80,7 +81,7 @@ int main()
     iox_pub_deinit(radarLeft);
     iox_pub_deinit(radarRight);
     iox_pub_deinit(lidarLeft);
-    for (int i = 0; i < numberCameraPublishers; ++i)
+    for (int i = 0; i < NUMBER_OF_CAMERA_PUBLISHERS; ++i)
     {
         iox_pub_deinit(cameraPublishers[i]);
     }

From 20c0303158dafa56a80ecaa439f585f65e5856e1 Mon Sep 17 00:00:00 2001
From: Marika Lehmann <marika.lehmann@apex.ai>
Date: Fri, 25 Feb 2022 11:36:11 +0100
Subject: [PATCH 05/12] iox-#1142 Fix macos builds

Cast uint64_t to unsigned long to solve macos build failure

Signed-off-by: Marika Lehmann <marika.lehmann@apex.ai>
---
 iceoryx_examples/icediscovery_in_c/iox_c_find_service.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c b/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c
index 49120e1f53..0f25db2f9a 100644
--- a/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c
+++ b/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c
@@ -109,7 +109,7 @@ int main()
                                                                             searchFrontCameras,
                                                                             (void*)&numberFrontCameras,
                                                                             MessagingPattern_PUB_SUB);
-        printf("\nFound %lu front cameras\n", numberFrontCameras);
+        printf("\nFound %lu front cameras\n", (unsigned long)numberFrontCameras);
 
         sleep_for(1000);
     }

From 190350b27432e3e51e4043401876b7b57d8c2656 Mon Sep 17 00:00:00 2001
From: Marika Lehmann <marika.lehmann@apex.ai>
Date: Fri, 25 Feb 2022 13:49:12 +0100
Subject: [PATCH 06/12] iox-#1142 Use strncmp in example, some renaming

Define max string size for service description

Signed-off-by: Marika Lehmann <marika.lehmann@apex.ai>
---
 .../include/iceoryx_binding_c/config.h        |  3 +++
 .../iceoryx_binding_c/service_description.h   |  8 +++++---
 .../test/moduletests/test_config.cpp          |  2 ++
 .../icediscovery_in_c/iox_c_find_service.c    | 20 ++++++++-----------
 4 files changed, 18 insertions(+), 15 deletions(-)

diff --git a/iceoryx_binding_c/include/iceoryx_binding_c/config.h b/iceoryx_binding_c/include/iceoryx_binding_c/config.h
index 11128ed6d8..ef23068cf0 100644
--- a/iceoryx_binding_c/include/iceoryx_binding_c/config.h
+++ b/iceoryx_binding_c/include/iceoryx_binding_c/config.h
@@ -97,4 +97,7 @@ uint32_t iox_cfg_max_runtime_name_length();
 /// @brief the maximum size of a node name string + \0 terminator
 #define IOX_CONFIG_NODE_NAME_SIZE 101
 
+/// @brief the maximum size of a service description string identifier + \0 terminator
+#define IOX_CONFIG_SERVICE_STRING_SIZE 101
+
 #endif // IOX_BINDING_C_CONFIG_H
diff --git a/iceoryx_binding_c/include/iceoryx_binding_c/service_description.h b/iceoryx_binding_c/include/iceoryx_binding_c/service_description.h
index 12a5b2bc75..c80f7d2d00 100644
--- a/iceoryx_binding_c/include/iceoryx_binding_c/service_description.h
+++ b/iceoryx_binding_c/include/iceoryx_binding_c/service_description.h
@@ -17,13 +17,15 @@
 #ifndef IOX_BINDING_C_SERVICE_DESCRIPTION_H
 #define IOX_BINDING_C_SERVICE_DESCRIPTION_H
 
+#include "iceoryx_binding_c/config.h"
+
 #include <stdint.h>
 
 typedef struct
 {
-    char serviceString[100U];
-    char instanceString[100U];
-    char eventString[100U];
+    char serviceString[IOX_CONFIG_SERVICE_STRING_SIZE];
+    char instanceString[IOX_CONFIG_SERVICE_STRING_SIZE];
+    char eventString[IOX_CONFIG_SERVICE_STRING_SIZE];
 } iox_service_description_t;
 
 #endif
diff --git a/iceoryx_binding_c/test/moduletests/test_config.cpp b/iceoryx_binding_c/test/moduletests/test_config.cpp
index ac738e8e6b..63ae94ba45 100644
--- a/iceoryx_binding_c/test/moduletests/test_config.cpp
+++ b/iceoryx_binding_c/test/moduletests/test_config.cpp
@@ -58,5 +58,7 @@ TEST(iox_cfg, valuesAreCorrectlyConnected)
 
     constexpr uint64_t ZERO_TERMINATOR_SIZE = 1;
     EXPECT_EQ(IOX_CONFIG_NODE_NAME_SIZE, iox::NodeName_t::capacity() + ZERO_TERMINATOR_SIZE);
+
+    EXPECT_EQ(IOX_CONFIG_SERVICE_STRING_SIZE, iox::capro::IdString_t::capacity() + ZERO_TERMINATOR_SIZE);
 }
 } // namespace
diff --git a/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c b/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c
index 0f25db2f9a..177517219d 100644
--- a/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c
+++ b/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c
@@ -43,11 +43,12 @@ void printSearchResult(const iox_service_description_t service)
         "- Service: %s, Instance: %s, Event: %s\n", service.serviceString, service.instanceString, service.eventString);
 }
 
-void searchFrontCameras(const iox_service_description_t service, void* count)
+void searchFrontDevices(const iox_service_description_t service, void* count)
 {
-    if (strcmp(service.instanceString, "FrontLeft") == 0 || strcmp(service.instanceString, "FrontRight") == 0)
+    if (strncmp(service.instanceString, "FrontLeft", IOX_CONFIG_SERVICE_STRING_SIZE - 1U) == 0
+        || strncmp(service.instanceString, "FrontRight", IOX_CONFIG_SERVICE_STRING_SIZE - 1U) == 0)
     {
-        ++*(uint64_t*)count;
+        ++*(uint32_t*)count;
     }
 }
 
@@ -68,7 +69,7 @@ int main()
 
     while (keepRunning)
     {
-        uint64_t numberFrontCameras = 0U;
+        uint32_t numberFrontCameras = 0U;
 
         printf("\n=========================================\n");
 
@@ -102,14 +103,9 @@ int main()
             printSearchResult(searchResult[i]);
         }
 
-        iox_service_discovery_find_service_apply_callable_with_context_data(serviceDiscovery,
-                                                                            "Camera",
-                                                                            NULL,
-                                                                            NULL,
-                                                                            searchFrontCameras,
-                                                                            (void*)&numberFrontCameras,
-                                                                            MessagingPattern_PUB_SUB);
-        printf("\nFound %lu front cameras\n", (unsigned long)numberFrontCameras);
+        iox_service_discovery_find_service_apply_callable_with_context_data(
+            serviceDiscovery, "Camera", NULL, NULL, searchFrontDevices, &numberFrontCameras, MessagingPattern_PUB_SUB);
+        printf("\nFound %u front cameras\n", numberFrontCameras);
 
         sleep_for(1000);
     }

From 671df12a2cec2ec1c89ec20c85c6152d4dae8c37 Mon Sep 17 00:00:00 2001
From: Marika Lehmann <marika.lehmann@apex.ai>
Date: Fri, 25 Feb 2022 14:59:05 +0100
Subject: [PATCH 07/12] iox-#1142 Fix service description tests

Signed-off-by: Marika Lehmann <marika.lehmann@apex.ai>
---
 .../test/moduletests/test_service_description.cpp           | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/iceoryx_binding_c/test/moduletests/test_service_description.cpp b/iceoryx_binding_c/test/moduletests/test_service_description.cpp
index 7c723963a3..7a17801cb8 100644
--- a/iceoryx_binding_c/test/moduletests/test_service_description.cpp
+++ b/iceoryx_binding_c/test/moduletests/test_service_description.cpp
@@ -34,11 +34,11 @@ TEST(iox_service_description_test, StringSizesAreCorrect)
 {
     ::testing::Test::RecordProperty("TEST_ID", "f32a6d19-9ff7-4913-a1d8-39d46267b114");
     EXPECT_THAT(sizeof(decltype(std::declval<iox_service_description_t>().serviceString)),
-                Eq(iox::capro::IdString_t().capacity()));
+                Eq(iox::capro::IdString_t().capacity() + 1U));
     EXPECT_THAT(sizeof(decltype(std::declval<iox_service_description_t>().instanceString)),
-                Eq(iox::capro::IdString_t().capacity()));
+                Eq(iox::capro::IdString_t().capacity() + 1U));
     EXPECT_THAT(sizeof(decltype(std::declval<iox_service_description_t>().eventString)),
-                Eq(iox::capro::IdString_t().capacity()));
+                Eq(iox::capro::IdString_t().capacity() + 1U));
 }
 
 } // namespace

From dab81ba8ae6fd66875d9fd7e2e4b271b03cb1c03 Mon Sep 17 00:00:00 2001
From: Marika Lehmann <marika.lehmann@apex.ai>
Date: Fri, 25 Feb 2022 19:43:44 +0100
Subject: [PATCH 08/12] iox-#1142 Add readme

Signed-off-by: Marika Lehmann <marika.lehmann@apex.ai>
---
 iceoryx_examples/icediscovery_in_c/README.md  | 131 ++++++++++++++++++
 .../icediscovery_in_c/iox_c_find_service.c    |  18 +++
 2 files changed, 149 insertions(+)
 create mode 100644 iceoryx_examples/icediscovery_in_c/README.md

diff --git a/iceoryx_examples/icediscovery_in_c/README.md b/iceoryx_examples/icediscovery_in_c/README.md
new file mode 100644
index 0000000000..4410acc3fb
--- /dev/null
+++ b/iceoryx_examples/icediscovery_in_c/README.md
@@ -0,0 +1,131 @@
+# icediscovery in C
+
+## Introduction
+
+This example demonstrates how to search for specific services using iceoryx's
+service discovery. It provides two applications - one offering different
+services and one searching for these making different search queries. The
+behavior and structure is quite similar to the [icediscovery C++ example](https://github.com/eclipse-iceoryx/iceoryx/tree/v2.0.0/iceoryx_examples/icedelivery).
+
+<!--## Expected Output-->
+<!-- @todo Add expected output with asciinema recording before v2.0-->
+
+## Code walkthrough
+
+### Offer services
+
+We create several publisher ports which offer their services on construction by
+default. For more dynamism the `cameraPublishers` offer/stop their services
+periodically. If you want more information on how to create publisher ports,
+have a look at the [icedelivery C example](https://github.com/eclipse-iceoryx/iceoryx/tree/v2.0.0/iceoryx_examples/icedelivery_in_c).
+
+### Find services
+
+To be able to search for services, we have to create a service discovery handle
+which points to `storage`, the memory location where the service discovery is
+stored.
+
+<!--[geoffrey][iceoryx_examples/icediscovery_in_c/iox_c_find_service.c][create service discovery handle]-->
+```c
+iox_service_discovery_storage_t storage;
+iox_service_discovery_t serviceDiscovery = iox_service_discovery_init(&storage);
+```
+
+It is included via:
+
+<!--[geoffrey][iceoryx_examples/icediscovery_in_c/iox_c_find_service.c][include service discovery]-->
+```c
+#include "iceoryx_binding_c/service_discovery.h"
+```
+
+We can now call three different find service functions. Let's start with
+
+<!--[geoffrey][iceoryx_examples/icediscovery_in_c/iox_c_find_service.c][find service and apply callable]-->
+```c
+iox_service_discovery_find_service_apply_callable(
+    serviceDiscovery, "Radar", "FrontLeft", "Image", printSearchResult, MessagingPattern_PUB_SUB);
+```
+
+which searches for all `{Radar, FrontLeft, Image}` services offered by
+publishers and applies the provided function on each of them. The function must
+have the signature `void(const iox_service_description_t)`. Here we pass a
+function that prints the found services on the console:
+
+<!--[geoffrey][iceoryx_examples/icediscovery_in_c/iox_c_find_service.c][print function to be applied to search results]-->
+```c
+void printSearchResult(const iox_service_description_t service)
+{
+    printf(
+        "- Service: %s, Instance: %s, Event: %s\n", service.serviceString, service.instanceString, service.eventString);
+}
+```
+
+We can not only search for exactly matching services, but also for wildcards
+using `NULL`:
+
+<!--[geoffrey][iceoryx_examples/icediscovery_in_c/iox_c_find_service.c][search for all Radar services]-->
+```c
+iox_service_discovery_find_service_apply_callable(
+    serviceDiscovery, "Radar", NULL, NULL, printSearchResult, MessagingPattern_PUB_SUB);
+```
+
+With the above call we look for every `Radar` service with any instance and any
+event.
+
+Let's now search for all `Camera` services and store the results in an array:
+
+<!--[geoffrey][iceoryx_examples/icediscovery_in_c/iox_c_find_service.c][search for all Camera services]-->
+```c
+numberFoundServices = iox_service_discovery_find_service(serviceDiscovery,
+                                                         "Camera",
+                                                         NULL,
+                                                         NULL,
+                                                         searchResult,
+                                                         SEARCH_RESULT_CAPACITY,
+                                                         &missedServices,
+                                                         MessagingPattern_PUB_SUB);
+```
+
+`searchResult` is a `iox_service_description_t` array of size
+`SEARCH_RESULT_CAPACITY`. The found services are written into this array, but
+at maximum `SEARCH_RESULT_CAPACITY`. If the number of found services exceeds
+the array's capacity, the number of not stored services is written to
+`missedServices`. The number of stored services is returned. Since the
+`cameraPublishers` periodically offer/stop their services, you should see
+sometimes 5 `Camera` services and sometimes none.
+
+Finally, let's try out the third find service function. We search again for all
+`Camera` services but additionally count the front camera services:
+
+<!--[geoffrey][iceoryx_examples/icediscovery_in_c/iox_c_find_service.c][search for all front camera services]-->
+```c
+iox_service_discovery_find_service_apply_callable_with_context_data(
+    serviceDiscovery, "Camera", NULL, NULL, searchFrontDevices, &numberFrontCameras, MessagingPattern_PUB_SUB);
+```
+
+This function is quite similar to the first find service function, but we
+pass an additional argument:
+
+<!--[geoffrey][iceoryx_examples/icediscovery_in_c/iox_c_find_service.c][store number of front cameras]-->
+```c
+uint32_t numberFrontCameras = 0U;
+```
+
+We use this variable to store the number of front cameras and provide it as
+second parameter to the function which is applied to all found services:
+
+<!--[geoffrey][iceoryx_examples/icediscovery_in_c/iox_c_find_service.c][search function for all front devices]-->
+```c
+void searchFrontDevices(const iox_service_description_t service, void* count)
+{
+    if (strncmp(service.instanceString, "FrontLeft", IOX_CONFIG_SERVICE_STRING_SIZE - 1U) == 0
+        || strncmp(service.instanceString, "FrontRight", IOX_CONFIG_SERVICE_STRING_SIZE - 1U) == 0)
+    {
+        ++*(uint32_t*)count;
+    }
+}
+```
+
+<center>
+[Check out icediscovery on GitHub :fontawesome-brands-github:](https://github.com/eclipse-iceoryx/iceoryx/tree/v2.0.0/iceoryx_examples/icediscovery_in_c){ .md-button }
+</center>
diff --git a/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c b/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c
index 177517219d..3df8abb5cc 100644
--- a/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c
+++ b/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c
@@ -15,7 +15,9 @@
 // SPDX-License-Identifier: Apache-2.0
 
 #include "iceoryx_binding_c/runtime.h"
+//! [include service discovery]
 #include "iceoryx_binding_c/service_discovery.h"
+//! [include service discovery]
 #include "sleep_for.h"
 
 #include <signal.h>
@@ -37,12 +39,15 @@ static void sigHandler(int signalValue)
     keepRunning = false;
 }
 
+//! [print function to be applied to search results]
 void printSearchResult(const iox_service_description_t service)
 {
     printf(
         "- Service: %s, Instance: %s, Event: %s\n", service.serviceString, service.instanceString, service.eventString);
 }
+//! [print function to be applied to search results]
 
+//! [search function for all front devices]
 void searchFrontDevices(const iox_service_description_t service, void* count)
 {
     if (strncmp(service.instanceString, "FrontLeft", IOX_CONFIG_SERVICE_STRING_SIZE - 1U) == 0
@@ -51,6 +56,7 @@ void searchFrontDevices(const iox_service_description_t service, void* count)
         ++*(uint32_t*)count;
     }
 }
+//! [search function for all front devices]
 
 int main()
 {
@@ -59,8 +65,10 @@ int main()
 
     iox_runtime_init(APP_NAME);
 
+    //! [create service discovery handle]
     iox_service_discovery_storage_t storage;
     iox_service_discovery_t serviceDiscovery = iox_service_discovery_init(&storage);
+    //! [create service discovery handle]
 
     iox_service_description_t searchResult[SEARCH_RESULT_CAPACITY];
     uint64_t missedServices = 0U;
@@ -69,17 +77,23 @@ int main()
 
     while (keepRunning)
     {
+        //! [store number of front cameras]
         uint32_t numberFrontCameras = 0U;
+        //! [store number of front cameras]
 
         printf("\n=========================================\n");
 
         printf("\nSearched for {'Radar', 'FrontLeft', 'Image'}. Found the following services:\n");
+        //! [find service and apply callable]
         iox_service_discovery_find_service_apply_callable(
             serviceDiscovery, "Radar", "FrontLeft", "Image", printSearchResult, MessagingPattern_PUB_SUB);
+        //! [find service and apply callable]
 
         printf("\nSearched for {'Radar', *, *}. Found the following services:\n");
+        //! [search for all Radar services]
         iox_service_discovery_find_service_apply_callable(
             serviceDiscovery, "Radar", NULL, NULL, printSearchResult, MessagingPattern_PUB_SUB);
+        //! [search for all Radar services]
 
         printf("\nSearched for {*, 'FrontLeft', *}. Found the following services:\n");
         iox_service_discovery_find_service_apply_callable(
@@ -89,6 +103,7 @@ int main()
         iox_service_discovery_find_service_apply_callable(
             serviceDiscovery, NULL, "FrontRight", "Image", printSearchResult, MessagingPattern_PUB_SUB);
 
+        //! [search for all Camera services]
         numberFoundServices = iox_service_discovery_find_service(serviceDiscovery,
                                                                  "Camera",
                                                                  NULL,
@@ -97,14 +112,17 @@ int main()
                                                                  SEARCH_RESULT_CAPACITY,
                                                                  &missedServices,
                                                                  MessagingPattern_PUB_SUB);
+        //! [search for all Camera services]
         printf("\nSearched for {'Camera', *, *}. Found the following services:\n");
         for (uint64_t i = 0; i < numberFoundServices; ++i)
         {
             printSearchResult(searchResult[i]);
         }
 
+        //! [search for all front camera services]
         iox_service_discovery_find_service_apply_callable_with_context_data(
             serviceDiscovery, "Camera", NULL, NULL, searchFrontDevices, &numberFrontCameras, MessagingPattern_PUB_SUB);
+        //! [search for all front camera services]
         printf("\nFound %u front cameras\n", numberFrontCameras);
 
         sleep_for(1000);

From c342ef337b19ea518142a41b06c39d633b42c3c9 Mon Sep 17 00:00:00 2001
From: Marika Lehmann <marika.lehmann@apex.ai>
Date: Mon, 28 Feb 2022 14:19:42 +0100
Subject: [PATCH 09/12] iox-#1142 Exclude null terminator from string size
 constant

Signed-off-by: Marika Lehmann <marika.lehmann@apex.ai>
---
 iceoryx_binding_c/include/iceoryx_binding_c/config.h       | 4 ++--
 .../include/iceoryx_binding_c/service_description.h        | 6 +++---
 iceoryx_binding_c/test/moduletests/test_config.cpp         | 4 ++--
 .../test/moduletests/test_service_description.cpp          | 7 ++++---
 iceoryx_examples/icediscovery_in_c/iox_c_find_service.c    | 7 ++++---
 iceoryx_examples/icediscovery_in_c/iox_c_offer_service.c   | 3 ++-
 6 files changed, 17 insertions(+), 14 deletions(-)

diff --git a/iceoryx_binding_c/include/iceoryx_binding_c/config.h b/iceoryx_binding_c/include/iceoryx_binding_c/config.h
index ef23068cf0..9f99758ebf 100644
--- a/iceoryx_binding_c/include/iceoryx_binding_c/config.h
+++ b/iceoryx_binding_c/include/iceoryx_binding_c/config.h
@@ -97,7 +97,7 @@ uint32_t iox_cfg_max_runtime_name_length();
 /// @brief the maximum size of a node name string + \0 terminator
 #define IOX_CONFIG_NODE_NAME_SIZE 101
 
-/// @brief the maximum size of a service description string identifier + \0 terminator
-#define IOX_CONFIG_SERVICE_STRING_SIZE 101
+/// @brief the maximum size of a service description string identifier
+#define IOX_CONFIG_SERVICE_STRING_SIZE 100
 
 #endif // IOX_BINDING_C_CONFIG_H
diff --git a/iceoryx_binding_c/include/iceoryx_binding_c/service_description.h b/iceoryx_binding_c/include/iceoryx_binding_c/service_description.h
index c80f7d2d00..acbcaa8065 100644
--- a/iceoryx_binding_c/include/iceoryx_binding_c/service_description.h
+++ b/iceoryx_binding_c/include/iceoryx_binding_c/service_description.h
@@ -23,9 +23,9 @@
 
 typedef struct
 {
-    char serviceString[IOX_CONFIG_SERVICE_STRING_SIZE];
-    char instanceString[IOX_CONFIG_SERVICE_STRING_SIZE];
-    char eventString[IOX_CONFIG_SERVICE_STRING_SIZE];
+    char serviceString[IOX_CONFIG_SERVICE_STRING_SIZE + 1U]; // +1U for \0 terminator
+    char instanceString[IOX_CONFIG_SERVICE_STRING_SIZE + 1U];
+    char eventString[IOX_CONFIG_SERVICE_STRING_SIZE + 1U];
 } iox_service_description_t;
 
 #endif
diff --git a/iceoryx_binding_c/test/moduletests/test_config.cpp b/iceoryx_binding_c/test/moduletests/test_config.cpp
index 63ae94ba45..bb3abbad80 100644
--- a/iceoryx_binding_c/test/moduletests/test_config.cpp
+++ b/iceoryx_binding_c/test/moduletests/test_config.cpp
@@ -56,9 +56,9 @@ TEST(iox_cfg, valuesAreCorrectlyConnected)
     EXPECT_EQ(iox_cfg_max_findservice_result_size(), iox::MAX_FINDSERVICE_RESULT_SIZE);
     EXPECT_EQ(iox_cfg_max_runtime_name_length(), iox::MAX_RUNTIME_NAME_LENGTH);
 
-    constexpr uint64_t ZERO_TERMINATOR_SIZE = 1;
+    constexpr uint64_t ZERO_TERMINATOR_SIZE = 1U;
     EXPECT_EQ(IOX_CONFIG_NODE_NAME_SIZE, iox::NodeName_t::capacity() + ZERO_TERMINATOR_SIZE);
 
-    EXPECT_EQ(IOX_CONFIG_SERVICE_STRING_SIZE, iox::capro::IdString_t::capacity() + ZERO_TERMINATOR_SIZE);
+    EXPECT_EQ(IOX_CONFIG_SERVICE_STRING_SIZE, iox::capro::IdString_t::capacity());
 }
 } // namespace
diff --git a/iceoryx_binding_c/test/moduletests/test_service_description.cpp b/iceoryx_binding_c/test/moduletests/test_service_description.cpp
index 7a17801cb8..8ca0656958 100644
--- a/iceoryx_binding_c/test/moduletests/test_service_description.cpp
+++ b/iceoryx_binding_c/test/moduletests/test_service_description.cpp
@@ -32,13 +32,14 @@ using namespace iox::capro;
 
 TEST(iox_service_description_test, StringSizesAreCorrect)
 {
+    constexpr uint64_t ZERO_TERMINATOR_SIZE = 1U;
     ::testing::Test::RecordProperty("TEST_ID", "f32a6d19-9ff7-4913-a1d8-39d46267b114");
     EXPECT_THAT(sizeof(decltype(std::declval<iox_service_description_t>().serviceString)),
-                Eq(iox::capro::IdString_t().capacity() + 1U));
+                Eq(iox::capro::IdString_t().capacity() + ZERO_TERMINATOR_SIZE));
     EXPECT_THAT(sizeof(decltype(std::declval<iox_service_description_t>().instanceString)),
-                Eq(iox::capro::IdString_t().capacity() + 1U));
+                Eq(iox::capro::IdString_t().capacity() + ZERO_TERMINATOR_SIZE));
     EXPECT_THAT(sizeof(decltype(std::declval<iox_service_description_t>().eventString)),
-                Eq(iox::capro::IdString_t().capacity() + 1U));
+                Eq(iox::capro::IdString_t().capacity() + ZERO_TERMINATOR_SIZE));
 }
 
 } // namespace
diff --git a/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c b/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c
index 3df8abb5cc..4234776a62 100644
--- a/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c
+++ b/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c
@@ -50,8 +50,8 @@ void printSearchResult(const iox_service_description_t service)
 //! [search function for all front devices]
 void searchFrontDevices(const iox_service_description_t service, void* count)
 {
-    if (strncmp(service.instanceString, "FrontLeft", IOX_CONFIG_SERVICE_STRING_SIZE - 1U) == 0
-        || strncmp(service.instanceString, "FrontRight", IOX_CONFIG_SERVICE_STRING_SIZE - 1U) == 0)
+    if (strncmp("FrontLeft", service.instanceString, IOX_CONFIG_SERVICE_STRING_SIZE) == 0
+        || strncmp("FrontRight", service.instanceString, IOX_CONFIG_SERVICE_STRING_SIZE) == 0)
     {
         ++*(uint32_t*)count;
     }
@@ -74,6 +74,7 @@ int main()
     uint64_t missedServices = 0U;
     uint64_t numberFoundServices = 0U;
 
+    const uint32_t WAIT_TIME_IN_MS = 1000;
 
     while (keepRunning)
     {
@@ -125,7 +126,7 @@ int main()
         //! [search for all front camera services]
         printf("\nFound %u front cameras\n", numberFrontCameras);
 
-        sleep_for(1000);
+        sleep_for(WAIT_TIME_IN_MS);
     }
 
     iox_service_discovery_deinit(serviceDiscovery);
diff --git a/iceoryx_examples/icediscovery_in_c/iox_c_offer_service.c b/iceoryx_examples/icediscovery_in_c/iox_c_offer_service.c
index 621e74a159..bf3471ed91 100644
--- a/iceoryx_examples/icediscovery_in_c/iox_c_offer_service.c
+++ b/iceoryx_examples/icediscovery_in_c/iox_c_offer_service.c
@@ -57,6 +57,7 @@ int main()
     cameraPublishers[3] = iox_pub_init(&cameraPublisherStorage[3], "Camera", "FrontRight", "Image", &options);
     cameraPublishers[4] = iox_pub_init(&cameraPublisherStorage[4], "Camera", "BackLeft", "Image", &options);
 
+    const uint32_t WAIT_TIME_IN_MS = 1000;
     bool offer = false;
     while (keepRunning)
     {
@@ -75,7 +76,7 @@ int main()
             }
         }
         offer = !offer;
-        sleep_for(1000);
+        sleep_for(WAIT_TIME_IN_MS);
     }
 
     iox_pub_deinit(radarLeft);

From 1c49ed13f8debb6479c34e9613cfa12f3c2c6f2e Mon Sep 17 00:00:00 2001
From: Marika Lehmann <marika.lehmann@apex.ai>
Date: Mon, 28 Feb 2022 14:20:43 +0100
Subject: [PATCH 10/12] iox-#1142 Small changes in readme

Signed-off-by: Marika Lehmann <marika.lehmann@apex.ai>
---
 iceoryx_examples/icediscovery_in_c/README.md | 55 +++++++++++---------
 1 file changed, 29 insertions(+), 26 deletions(-)

diff --git a/iceoryx_examples/icediscovery_in_c/README.md b/iceoryx_examples/icediscovery_in_c/README.md
index 4410acc3fb..17d101bd8d 100644
--- a/iceoryx_examples/icediscovery_in_c/README.md
+++ b/iceoryx_examples/icediscovery_in_c/README.md
@@ -4,7 +4,7 @@
 
 This example demonstrates how to search for specific services using iceoryx's
 service discovery. It provides two applications - one offering different
-services and one searching for these making different search queries. The
+services and one searching for those with different search queries. The
 behavior and structure is quite similar to the [icediscovery C++ example](https://github.com/eclipse-iceoryx/iceoryx/tree/v2.0.0/iceoryx_examples/icedelivery).
 
 <!--## Expected Output-->
@@ -21,21 +21,21 @@ have a look at the [icedelivery C example](https://github.com/eclipse-iceoryx/ic
 
 ### Find services
 
-To be able to search for services, we have to create a service discovery handle
-which points to `storage`, the memory location where the service discovery is
-stored.
+To be able to search for services, we need to include:
 
-<!--[geoffrey][iceoryx_examples/icediscovery_in_c/iox_c_find_service.c][create service discovery handle]-->
+<!--[geoffrey][iceoryx_examples/icediscovery_in_c/iox_c_find_service.c][include service discovery]-->
 ```c
-iox_service_discovery_storage_t storage;
-iox_service_discovery_t serviceDiscovery = iox_service_discovery_init(&storage);
+#include "iceoryx_binding_c/service_discovery.h"
 ```
 
-It is included via:
+To get a handle to the service discovery we call `iox_service_discovery_init`.
+The service discovery requires memory of the amount of
+`sizeof(iox_service_discovery_storage_t)` to be initialized.
 
-<!--[geoffrey][iceoryx_examples/icediscovery_in_c/iox_c_find_service.c][include service discovery]-->
+<!--[geoffrey][iceoryx_examples/icediscovery_in_c/iox_c_find_service.c][create service discovery handle]-->
 ```c
-#include "iceoryx_binding_c/service_discovery.h"
+iox_service_discovery_storage_t storage;
+iox_service_discovery_t serviceDiscovery = iox_service_discovery_init(&storage);
 ```
 
 We can now call three different find service functions. Let's start with
@@ -47,9 +47,10 @@ iox_service_discovery_find_service_apply_callable(
 ```
 
 which searches for all `{Radar, FrontLeft, Image}` services offered by
-publishers and applies the provided function on each of them. The function must
-have the signature `void(const iox_service_description_t)`. Here we pass a
-function that prints the found services on the console:
+publishers and applies the provided function `printSearchResult` on each of
+them. The function must have the signature
+`void(const iox_service_description_t)`. Here we pass a function that prints the
+found services on the console:
 
 <!--[geoffrey][iceoryx_examples/icediscovery_in_c/iox_c_find_service.c][print function to be applied to search results]-->
 ```c
@@ -60,8 +61,9 @@ void printSearchResult(const iox_service_description_t service)
 }
 ```
 
-We can not only search for exactly matching services, but also for wildcards
-using `NULL`:
+We cannot only search for exact matching services. In combination with
+wildcards (`NULL`) we can also search for all instances and events with the
+service `Radar`:
 
 <!--[geoffrey][iceoryx_examples/icediscovery_in_c/iox_c_find_service.c][search for all Radar services]-->
 ```c
@@ -69,8 +71,8 @@ iox_service_discovery_find_service_apply_callable(
     serviceDiscovery, "Radar", NULL, NULL, printSearchResult, MessagingPattern_PUB_SUB);
 ```
 
-With the above call we look for every `Radar` service with any instance and any
-event.
+The wildcard can be used for all strings which describe a service, i.e. service,
+instance and event.
 
 Let's now search for all `Camera` services and store the results in an array:
 
@@ -87,11 +89,11 @@ numberFoundServices = iox_service_discovery_find_service(serviceDiscovery,
 ```
 
 `searchResult` is a `iox_service_description_t` array of size
-`SEARCH_RESULT_CAPACITY`. The found services are written into this array, but
-at maximum `SEARCH_RESULT_CAPACITY`. If the number of found services exceeds
-the array's capacity, the number of not stored services is written to
-`missedServices`. The number of stored services is returned. Since the
-`cameraPublishers` periodically offer/stop their services, you should see
+`SEARCH_RESULT_CAPACITY`. The matching services are written into this array, up
+to a maximum of `SEARCH_RESULT_CAPACITY`. If the number of found services
+exceeds the array's capacity, the number of services that could not be stored is
+written to `missedServices`. The number of stored services is returned. Since
+the `cameraPublishers` periodically offer/stop their services, you should see
 sometimes 5 `Camera` services and sometimes none.
 
 Finally, let's try out the third find service function. We search again for all
@@ -104,7 +106,7 @@ iox_service_discovery_find_service_apply_callable_with_context_data(
 ```
 
 This function is quite similar to the first find service function, but we
-pass an additional argument:
+pass an additional argument `numberFrontCameras`:
 
 <!--[geoffrey][iceoryx_examples/icediscovery_in_c/iox_c_find_service.c][store number of front cameras]-->
 ```c
@@ -112,14 +114,15 @@ uint32_t numberFrontCameras = 0U;
 ```
 
 We use this variable to store the number of front cameras and provide it as
-second parameter to the function which is applied to all found services:
+second argument `count` to the function `searchFrontDevices` which is applied to
+all found services:
 
 <!--[geoffrey][iceoryx_examples/icediscovery_in_c/iox_c_find_service.c][search function for all front devices]-->
 ```c
 void searchFrontDevices(const iox_service_description_t service, void* count)
 {
-    if (strncmp(service.instanceString, "FrontLeft", IOX_CONFIG_SERVICE_STRING_SIZE - 1U) == 0
-        || strncmp(service.instanceString, "FrontRight", IOX_CONFIG_SERVICE_STRING_SIZE - 1U) == 0)
+    if (strncmp("FrontLeft", service.instanceString, IOX_CONFIG_SERVICE_STRING_SIZE) == 0
+        || strncmp("FrontRight", service.instanceString, IOX_CONFIG_SERVICE_STRING_SIZE) == 0)
     {
         ++*(uint32_t*)count;
     }

From 8c39c3fd2acc566a6dfeb024e138a2a0214b003f Mon Sep 17 00:00:00 2001
From: Marika Lehmann <marika.lehmann@apex.ai>
Date: Mon, 28 Feb 2022 17:49:33 +0100
Subject: [PATCH 11/12] iox-#1142 Extend example pages, minor change in readme

Signed-off-by: Marika Lehmann <marika.lehmann@apex.ai>
---
 doc/website/examples/.pages                  | 4 ++++
 iceoryx_examples/icediscovery_in_c/README.md | 4 +---
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/doc/website/examples/.pages b/doc/website/examples/.pages
index 9e521390bb..6b8d1a54eb 100644
--- a/doc/website/examples/.pages
+++ b/doc/website/examples/.pages
@@ -16,3 +16,7 @@ nav:
   - icecrystal.md
   - request_response_in_c.md
   - request_response.md
+  - complexdata.md
+  - user_header.md
+  - icediscovery.md
+  - icediscovery_in_c.md
diff --git a/iceoryx_examples/icediscovery_in_c/README.md b/iceoryx_examples/icediscovery_in_c/README.md
index 17d101bd8d..678c60f2f9 100644
--- a/iceoryx_examples/icediscovery_in_c/README.md
+++ b/iceoryx_examples/icediscovery_in_c/README.md
@@ -28,9 +28,7 @@ To be able to search for services, we need to include:
 #include "iceoryx_binding_c/service_discovery.h"
 ```
 
-To get a handle to the service discovery we call `iox_service_discovery_init`.
-The service discovery requires memory of the amount of
-`sizeof(iox_service_discovery_storage_t)` to be initialized.
+We create some stack storage for the service discovery and initialize it.
 
 <!--[geoffrey][iceoryx_examples/icediscovery_in_c/iox_c_find_service.c][create service discovery handle]-->
 ```c

From 7b20fa75c50e2c44c87a8b75dad881aa5d3f4320 Mon Sep 17 00:00:00 2001
From: Marika Lehmann <marika.lehmann@apex.ai>
Date: Mon, 28 Feb 2022 19:19:59 +0100
Subject: [PATCH 12/12] iox-#1142 Include null terminator in string size
 constant

Signed-off-by: Marika Lehmann <marika.lehmann@apex.ai>
---
 .clang-tidy                                               | 3 ++-
 iceoryx_binding_c/include/iceoryx_binding_c/config.h      | 4 ++--
 .../include/iceoryx_binding_c/service_description.h       | 8 ++++----
 iceoryx_binding_c/test/moduletests/test_config.cpp        | 2 +-
 .../test/moduletests/test_service_description.cpp         | 2 +-
 iceoryx_examples/icediscovery_in_c/README.md              | 2 +-
 iceoryx_examples/icediscovery_in_c/iox_c_find_service.c   | 6 +++---
 iceoryx_examples/icediscovery_in_c/iox_c_offer_service.c  | 2 +-
 8 files changed, 15 insertions(+), 14 deletions(-)

diff --git a/.clang-tidy b/.clang-tidy
index b663ac471a..6ca7b5de33 100644
--- a/.clang-tidy
+++ b/.clang-tidy
@@ -22,6 +22,7 @@ hicpp-*,
 -bugprone-easily-swappable-parameters,
 -bugprone-branch-clone,
 -bugprone-implicit-widening-of-multiplication-result,
+-bugprone-not-null-terminated-result,
 -concurrency-mt-unsafe,
 -readability-named-parameter,
 -readability-avoid-const-params-in-decls,
@@ -86,7 +87,7 @@ hicpp-*,
 # -readability-function-cognitive-complexity
 #
 ## is it working correctly? produces hard to understand warning
-# -clang-analyzer-core.uninitialized.UndefReturn 
+# -clang-analyzer-core.uninitialized.UndefReturn
 # -clang-analyzer-optin.cplusplus.VirtualCall
 #
 ###########################################
diff --git a/iceoryx_binding_c/include/iceoryx_binding_c/config.h b/iceoryx_binding_c/include/iceoryx_binding_c/config.h
index 9f99758ebf..ef23068cf0 100644
--- a/iceoryx_binding_c/include/iceoryx_binding_c/config.h
+++ b/iceoryx_binding_c/include/iceoryx_binding_c/config.h
@@ -97,7 +97,7 @@ uint32_t iox_cfg_max_runtime_name_length();
 /// @brief the maximum size of a node name string + \0 terminator
 #define IOX_CONFIG_NODE_NAME_SIZE 101
 
-/// @brief the maximum size of a service description string identifier
-#define IOX_CONFIG_SERVICE_STRING_SIZE 100
+/// @brief the maximum size of a service description string identifier + \0 terminator
+#define IOX_CONFIG_SERVICE_STRING_SIZE 101
 
 #endif // IOX_BINDING_C_CONFIG_H
diff --git a/iceoryx_binding_c/include/iceoryx_binding_c/service_description.h b/iceoryx_binding_c/include/iceoryx_binding_c/service_description.h
index acbcaa8065..f9b2619339 100644
--- a/iceoryx_binding_c/include/iceoryx_binding_c/service_description.h
+++ b/iceoryx_binding_c/include/iceoryx_binding_c/service_description.h
@@ -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.
@@ -23,9 +23,9 @@
 
 typedef struct
 {
-    char serviceString[IOX_CONFIG_SERVICE_STRING_SIZE + 1U]; // +1U for \0 terminator
-    char instanceString[IOX_CONFIG_SERVICE_STRING_SIZE + 1U];
-    char eventString[IOX_CONFIG_SERVICE_STRING_SIZE + 1U];
+    char serviceString[IOX_CONFIG_SERVICE_STRING_SIZE];
+    char instanceString[IOX_CONFIG_SERVICE_STRING_SIZE];
+    char eventString[IOX_CONFIG_SERVICE_STRING_SIZE];
 } iox_service_description_t;
 
 #endif
diff --git a/iceoryx_binding_c/test/moduletests/test_config.cpp b/iceoryx_binding_c/test/moduletests/test_config.cpp
index bb3abbad80..4744baaef1 100644
--- a/iceoryx_binding_c/test/moduletests/test_config.cpp
+++ b/iceoryx_binding_c/test/moduletests/test_config.cpp
@@ -59,6 +59,6 @@ TEST(iox_cfg, valuesAreCorrectlyConnected)
     constexpr uint64_t ZERO_TERMINATOR_SIZE = 1U;
     EXPECT_EQ(IOX_CONFIG_NODE_NAME_SIZE, iox::NodeName_t::capacity() + ZERO_TERMINATOR_SIZE);
 
-    EXPECT_EQ(IOX_CONFIG_SERVICE_STRING_SIZE, iox::capro::IdString_t::capacity());
+    EXPECT_EQ(IOX_CONFIG_SERVICE_STRING_SIZE, iox::capro::IdString_t::capacity() + ZERO_TERMINATOR_SIZE);
 }
 } // namespace
diff --git a/iceoryx_binding_c/test/moduletests/test_service_description.cpp b/iceoryx_binding_c/test/moduletests/test_service_description.cpp
index 8ca0656958..26b12c06c1 100644
--- a/iceoryx_binding_c/test/moduletests/test_service_description.cpp
+++ b/iceoryx_binding_c/test/moduletests/test_service_description.cpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2021 Apex.AI Inc. All rights reserved.
+// Copyright (c) 2021 - 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.
diff --git a/iceoryx_examples/icediscovery_in_c/README.md b/iceoryx_examples/icediscovery_in_c/README.md
index 678c60f2f9..c73501d31f 100644
--- a/iceoryx_examples/icediscovery_in_c/README.md
+++ b/iceoryx_examples/icediscovery_in_c/README.md
@@ -28,7 +28,7 @@ To be able to search for services, we need to include:
 #include "iceoryx_binding_c/service_discovery.h"
 ```
 
-We create some stack storage for the service discovery and initialize it.
+We create some storage for the service discovery and initialize it.
 
 <!--[geoffrey][iceoryx_examples/icediscovery_in_c/iox_c_find_service.c][create service discovery handle]-->
 ```c
diff --git a/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c b/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c
index 4234776a62..d58b7d7103 100644
--- a/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c
+++ b/iceoryx_examples/icediscovery_in_c/iox_c_find_service.c
@@ -50,8 +50,8 @@ void printSearchResult(const iox_service_description_t service)
 //! [search function for all front devices]
 void searchFrontDevices(const iox_service_description_t service, void* count)
 {
-    if (strncmp("FrontLeft", service.instanceString, IOX_CONFIG_SERVICE_STRING_SIZE) == 0
-        || strncmp("FrontRight", service.instanceString, IOX_CONFIG_SERVICE_STRING_SIZE) == 0)
+    if (strncmp(service.instanceString, "FrontLeft", IOX_CONFIG_SERVICE_STRING_SIZE) == 0
+        || strncmp(service.instanceString, "FrontRight", IOX_CONFIG_SERVICE_STRING_SIZE) == 0)
     {
         ++*(uint32_t*)count;
     }
@@ -74,7 +74,7 @@ int main()
     uint64_t missedServices = 0U;
     uint64_t numberFoundServices = 0U;
 
-    const uint32_t WAIT_TIME_IN_MS = 1000;
+    const uint32_t WAIT_TIME_IN_MS = 1000U;
 
     while (keepRunning)
     {
diff --git a/iceoryx_examples/icediscovery_in_c/iox_c_offer_service.c b/iceoryx_examples/icediscovery_in_c/iox_c_offer_service.c
index bf3471ed91..dfb79feedb 100644
--- a/iceoryx_examples/icediscovery_in_c/iox_c_offer_service.c
+++ b/iceoryx_examples/icediscovery_in_c/iox_c_offer_service.c
@@ -57,7 +57,7 @@ int main()
     cameraPublishers[3] = iox_pub_init(&cameraPublisherStorage[3], "Camera", "FrontRight", "Image", &options);
     cameraPublishers[4] = iox_pub_init(&cameraPublisherStorage[4], "Camera", "BackLeft", "Image", &options);
 
-    const uint32_t WAIT_TIME_IN_MS = 1000;
+    const uint32_t WAIT_TIME_IN_MS = 1000U;
     bool offer = false;
     while (keepRunning)
     {