Merge pull request #840 from ApexAI/iox-#449-prepare-PoshRuntime-for-…

…mock

Iox #449 prepare posh runtime for mock

CONTRIBUTING.md

@@ -138,6 +138,13 @@ The following doxygen comments are required for public API headers:
     /// @return description
 ```
 
+For overrides of virtual methods the `copydoc` tag can be used:
+
+```cpp
+    /// @copydoc BaseClass::method
+    /// @note Optional describe some specifics to the override
+```
+
 A good example for code formatting and doxygen structure is at [swe_docu_guidelines.md (WIP)](./doc/aspice_swe3_4/swe_docu_guidelines.md)
 
 ## Folder structure

doc/aspice_swe3_4/example/iceoryx_component/include/example_module/example_derived_class.hpp

@@ -61,6 +61,18 @@ class ExampleDerivedClass : public ExampleBaseClass<T>
     /// @param[in] b Description of input parameter b
     ExampleDerivedClass(const uint64_t a, const uint64_t b) noexcept;
 
+    /// @copydoc ExampleBaseClass<T>::doSomething
+    /// @note Optional short description of the override
+    uint32_t doSomething(const uint32_t a) const noexcept override;
+
+    /// @copydoc ExampleBaseClass<T>::doSomethingWithOverload()
+    /// @note Optional short description of the override
+    uint32_t doSomethingWithOverload() const noexcept override;
+
+    /// @copydoc ExampleBaseClass<T>::doSomethingWithOverload(uint32_t,uint32_t)
+    /// @note Optional short description of the override
+    uint32_t doSomethingWithOverload(const uint32_t a, const uint32_t b) const noexcept override;
+
     /// @brief Short description
     void simpleMethod() const noexcept;
 

doc/aspice_swe3_4/example/iceoryx_component/source/example_module/example_base_class.hpp

@@ -45,17 +45,36 @@ class ExampleBaseClass
     /// @brief Short description
     /// @details Detailed description
     /// @param[in] input Description of input parameter
-    ExampleBaseClass(const uint32_t input);
+    ExampleBaseClass(const uint32_t input) noexcept;
 
     /// @brief Short description
     ExampleBaseClass() = default;
 
+    virtual ~ExampleBaseClass() = default;
+
     /// @brief Short description
+    /// @return description of return value
     uint32_t getMemberVariable() const noexcept;
 
     /// @brief Short description
+    /// @return description of return value
     uint32_t simplerMethod() const noexcept;
 
+    /// @brief Short description
+    /// @param[in] a Description of parameter
+    /// @return description of return value
+    virtual uint32_t doSomething(uint32_t a) const noexcept;
+
+    /// @brief Short description
+    /// @return description of return value
+    virtual uint32_t doSomethingWithOverload() const noexcept;
+
+    /// @brief Short description
+    /// @param[in] a Description of parameter
+    /// @param[in] b Description of parameter
+    /// @return description of return value
+    virtual uint32_t doSomethingWithOverload(uint32_t a, uint32_t b) const noexcept;
+
   private:
     /// @brief Short description
     uint32_t m_memberVariable{0U};

doc/aspice_swe3_4/example/iceoryx_component/source/example_module/example_base_class.inl

@@ -19,7 +19,7 @@
 
 
 template <typename T>
-inline ExampleBaseClass<T>::ExampleBaseClass(const uint32_t input)
+inline ExampleBaseClass<T>::ExampleBaseClass(const uint32_t input) noexcept
     : m_memberVariable(input)
 {
     // example code
@@ -38,4 +38,25 @@ inline uint32_t ExampleBaseClass<T>::simplerMethod() const noexcept
     return 99U;
 }
 
+template <typename T>
+inline uint32_t ExampleBaseClass<T>::doSomething(uint32_t a) const noexcept
+{
+    // example code
+    return a;
+}
+
+template <typename T>
+inline uint32_t ExampleBaseClass<T>::doSomethingWithOverload() const noexcept
+{
+    // example code
+    return 42U;
+}
+
+template <typename T>
+inline uint32_t ExampleBaseClass<T>::doSomethingWithOverload(const uint32_t a, const uint32_t b) const noexcept
+{
+    // example code
+    return 42U + a + b;
+}
+
 #endif // EXAMPLE_BASE_CLASS_INL_INCLUDED

doc/aspice_swe3_4/swe_docu_guidelines.md

@@ -23,10 +23,10 @@ sudo apt install plantuml
 
 ##  Howto document your code
 The doxygen documentation consist of two parts, the documentation with specific tags in the code and a doxygen file which defines
-the parameters for the generated files. Examples can be found in the subfolders. 
+the parameters for the generated files. Examples can be found in the subfolders.
 
 Some general rules:
- - the implementation documentation should never describe what happens, that does already the code for you. It should describe why it is implemented in the way it is.
+- the implementation documentation should never describe what happens, that does already the code for you. It should describe why it is implemented in the way it is.
 - every doxygen comment line always begin with `///`, no C-style comment blocks with `/**` allowed
 - every doxygen tag always begin with `@` e.g. `@brief comment`, no `\` for tags allowed
 - documentation is done in header files only
@@ -48,6 +48,9 @@ Some general rules:
 A list of available doxygen tags can be found [here](https://www.doxygen.nl/manual/commands.html).
 Here we provide a list with the most usual tags in iceoryx:
  - `/// @brief` short description
+ - `/// @copydoc` used for overrides of virtual methods, see [iceoryx_derived_class.hpp](example/iceoryx_component/include/example_module/example_derived_class.hpp)
+ - `/// @copybrief` similar to `@copydoc` but copies only the brief description
+ - `/// @copydetail` similar to `@copydoc` but copies only the detailed description
  - `/// @details` more text if needed
  - `/// @note` place infos here if they are not that much important but good for explanation
  - `/// @attention` give here important information to the user/developer, keep as short as possible
@@ -103,7 +106,7 @@ See the header files under iceoryx/doc/aspice_swe3_4/example.
 
 ### PlantUML
 
-if you want to make complex aspects of your implementation visible, you can write PlantUML directly into the 
+if you want to make complex aspects of your implementation visible, you can write PlantUML directly into the
 doxygen description of your class. An example can be found at [example_base_class.hpp](example/iceoryx_component/source/example_module/example_base_class.hpp)
 
 Having PlantUML installed is not a must. If you want to use it you need to install it, and the variable `PLANTUML_JAR_PATH` needs to be set.
@@ -116,7 +119,7 @@ For good examples on PlantUML checkout https://plantuml.com.
 
 ### Pull-Request
 
-In iceoryx Pull-Requests are pdf files generated and uploaded to the Github artifact store. 
+In iceoryx Pull-Requests are pdf files generated and uploaded to the Github artifact store.
 
 If you want to download the pdf files from the Pull-Requests or master build you can do it by the following way:
 

iceoryx_examples/iceperf/iceperf_leader.cpp

@@ -28,6 +28,7 @@
 
 #include <iomanip>
 #include <iostream>
+#include <vector>
 
 //! [use constants instead of magic values]
 constexpr const char APP_NAME[]{"iceperf-bench-leader"};

iceoryx_hoofs/include/iceoryx_hoofs/error_handling/error_handling.hpp

@@ -36,8 +36,8 @@ namespace iox
     error(POSH__RUNTIME_FACTORY_IS_NOT_SET) \
     error(POSH__RUNTIME_IS_CREATED_MULTIPLE_TIMES) \
     error(POSH__RUNTIME_PUBLISHER_PORT_NOT_UNIQUE) \
-    error(POSH__RUNTIME_PUBLISHER_PORT_CREATION_UNDEFINED_BEHAVIOR) \
-    error(POSH__RUNTIME_SUBSCRIBER_PORT_CREATION_UNDEFINED_BEHAVIOR) \
+    error(POSH__RUNTIME_PUBLISHER_PORT_CREATION_UNKNOWN_ERROR) \
+    error(POSH__RUNTIME_SUBSCRIBER_PORT_CREATION_UNKNOWN_ERROR) \
     error(POSH__RUNTIME_ROUDI_PUBLISHER_LIST_FULL) \
     error(POSH__RUNTIME_ROUDI_SUBSCRIBER_LIST_FULL) \
     error(POSH__RUNTIME_ROUDI_CONDITION_VARIABLE_LIST_FULL) \
@@ -49,8 +49,7 @@ namespace iox
     error(POSH__RUNTIME_ROUDI_GET_MW_INTERFACE_WRONG_IPC_MESSAGE_RESPONSE) \
     error(POSH__RUNTIME_ROUDI_CREATE_NODE_WRONG_IPC_MESSAGE_RESPONSE) \
     error(POSH__RUNTIME_ROUDI_GET_MW_APPLICATION_WRONG_IPC_MESSAGE_RESPONSE) \
-    error(POSH__RUNTIME_ROUDI_CONDITION_VARIABLE_CREATION_UNDEFINED_BEHAVIOR) \
-    error(POSH__RUNTIME_ROUDI_EVENT_VARIABLE_CREATION_UNDEFINED_BEHAVIOR) \
+    error(POSH__RUNTIME_ROUDI_CONDITION_VARIABLE_CREATION_UNKNOWN_ERROR) \
     error(POSH__RUNTIME_APP_WITH_SAME_RUNTIME_NAME_STILL_RUNNING) \
     error(POSH__RUNTIME_NO_WRITABLE_SHM_SEGMENT) \
     error(POSH__RUNTIME_NO_NAME_PROVIDED) \

iceoryx_hoofs/include/iceoryx_hoofs/internal/posix_wrapper/mutex.hpp

@@ -35,25 +35,19 @@ namespace posix
 ///     #include "iceoryx_hoofs/internal/posix_wrapper/mutex.hpp"
 ///
 ///     int main() {
-///         cxx::optional<posix::mutex> myMutex = posix::mutex::CreateMutex(false);
+///         posix::mutex myMutex(false);
 ///
-///         // always verify if the mutex could be created since we aren't
-///         // throwing exceptions
-///         if ( myMutex.has_value() ) {
-///             myMutex->lock();
-///             // ... do stuff
-///             myMutex->unlock();
-///         }
+///         myMutex->lock();
+///         // ... do stuff
+///         myMutex->unlock();
 ///
 ///         {
-///             // we need to use the dereferencing operator since myMutex is
-///             // a mutex wrapped in an optional
-///             std::lock_guard<posix::mutex> lock(*myMutex);
+///             std::lock_guard<posix::mutex> lock(myMutex);
 ///             // ...
 ///         }
 ///
 ///     }
-///
+/// @endcode
 /// @attention Errors in c'tor or d'tor can lead to a program termination!
 ///
 class mutex

iceoryx_posh/CMakeLists.txt

@@ -131,6 +131,7 @@ add_library(iceoryx_posh
     source/runtime/ipc_message.cpp
     source/runtime/port_config_info.cpp
     source/runtime/posh_runtime.cpp
+    source/runtime/posh_runtime_impl.cpp
     source/runtime/posh_runtime_single_process.cpp
     source/runtime/node.cpp
     source/runtime/node_data.cpp

iceoryx_posh/include/iceoryx_posh/internal/runtime/posh_runtime_impl.hpp

@@ -0,0 +1,126 @@
+// Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
+// Copyright (c) 2021 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
+#ifndef IOX_POSH_RUNTIME_POSH_RUNTIME_IMPL_HPP
+#define IOX_POSH_RUNTIME_POSH_RUNTIME_IMPL_HPP
+
+#include "iceoryx_hoofs/cxx/method_callback.hpp"
+#include "iceoryx_hoofs/internal/concurrent/periodic_task.hpp"
+#include "iceoryx_hoofs/internal/posix_wrapper/mutex.hpp"
+#include "iceoryx_posh/internal/runtime/shared_memory_user.hpp"
+#include "iceoryx_posh/runtime/posh_runtime.hpp"
+
+namespace iox
+{
+namespace runtime
+{
+enum class RuntimeLocation
+{
+    SEPARATE_PROCESS_FROM_ROUDI,
+    SAME_PROCESS_LIKE_ROUDI,
+};
+
+/// @brief The runtime that is needed for each application to communicate with the RouDi daemon
+class PoshRuntimeImpl : public PoshRuntime
+{
+  public:
+    PoshRuntimeImpl(const PoshRuntimeImpl&) = delete;
+    PoshRuntimeImpl& operator=(const PoshRuntimeImpl&) = delete;
+    PoshRuntimeImpl(PoshRuntimeImpl&&) = delete;
+    PoshRuntimeImpl& operator=(PoshRuntimeImpl&&) = delete;
+    virtual ~PoshRuntimeImpl() noexcept;
+
+    /// @copydoc PoshRuntime::findService
+    cxx::expected<InstanceContainer, FindServiceError>
+    findService(const capro::ServiceDescription& serviceDescription) noexcept override;
+
+    /// @copydoc PoshRuntime::offerService
+    bool offerService(const capro::ServiceDescription& serviceDescription) noexcept override;
+
+    /// @copydoc PoshRuntime::stopOfferService
+    void stopOfferService(const capro::ServiceDescription& serviceDescription) noexcept override;
+
+    /// @copydoc PoshRuntime::getMiddlewarePublisher
+    PublisherPortUserType::MemberType_t*
+    getMiddlewarePublisher(const capro::ServiceDescription& service,
+                           const popo::PublisherOptions& publisherOptions = popo::PublisherOptions(),
+                           const PortConfigInfo& portConfigInfo = PortConfigInfo()) noexcept override;
+
+    /// @copydoc PoshRuntime::getMiddlewareSubscriber
+    SubscriberPortUserType::MemberType_t*
+    getMiddlewareSubscriber(const capro::ServiceDescription& service,
+                            const popo::SubscriberOptions& subscriberOptions = popo::SubscriberOptions(),
+                            const PortConfigInfo& portConfigInfo = PortConfigInfo()) noexcept override;
+
+    /// @copydoc PoshRuntime::getMiddlewareInterface
+    popo::InterfacePortData* getMiddlewareInterface(const capro::Interfaces interface,
+                                                    const NodeName_t& nodeName = {""}) noexcept override;
+
+    /// @copydoc PoshRuntime::getMiddlewareApplication
+    popo::ApplicationPortData* getMiddlewareApplication() noexcept override;
+
+    /// @copydoc PoshRuntime::getMiddlewareConditionVariable
+    popo::ConditionVariableData* getMiddlewareConditionVariable() noexcept override;
+
+    /// @copydoc PoshRuntime::createNode
+    NodeData* createNode(const NodeProperty& nodeProperty) noexcept override;
+
+    /// @copydoc PoshRuntime::getServiceRegistryChangeCounter
+    const std::atomic<uint64_t>* getServiceRegistryChangeCounter() noexcept override;
+
+    /// @copydoc PoshRuntime::sendRequestToRouDi
+    bool sendRequestToRouDi(const IpcMessage& msg, IpcMessage& answer) noexcept override;
+
+  protected:
+    friend class PoshRuntime;
+    friend class roudi::RuntimeTestInterface;
+
+    // Protected constructor for IPC setup
+    PoshRuntimeImpl(cxx::optional<const RuntimeName_t*> name,
+                    const RuntimeLocation location = RuntimeLocation::SEPARATE_PROCESS_FROM_ROUDI) noexcept;
+
+  private:
+    cxx::expected<PublisherPortUserType::MemberType_t*, IpcMessageErrorType>
+    requestPublisherFromRoudi(const IpcMessage& sendBuffer) noexcept;
+
+    cxx::expected<SubscriberPortUserType::MemberType_t*, IpcMessageErrorType>
+    requestSubscriberFromRoudi(const IpcMessage& sendBuffer) noexcept;
+
+    cxx::expected<popo::ConditionVariableData*, IpcMessageErrorType>
+    requestConditionVariableFromRoudi(const IpcMessage& sendBuffer) noexcept;
+
+    mutable posix::mutex m_appIpcRequestMutex{false};
+
+    IpcRuntimeInterface m_ipcChannelInterface;
+    cxx::optional<SharedMemoryUser> m_ShmInterface;
+    popo::ApplicationPort m_applicationPort;
+
+    void sendKeepAliveAndHandleShutdownPreparation() noexcept;
+    static_assert(PROCESS_KEEP_ALIVE_INTERVAL > roudi::DISCOVERY_INTERVAL, "Keep alive interval too small");
+
+    // the m_keepAliveTask should always be the last member, so that it will be the first member to be destroyed
+    concurrent::PeriodicTask<cxx::MethodCallback<void>> m_keepAliveTask{
+        concurrent::PeriodicTaskAutoStart,
+        PROCESS_KEEP_ALIVE_INTERVAL,
+        "KeepAlive",
+        *this,
+        &PoshRuntimeImpl::sendKeepAliveAndHandleShutdownPreparation};
+};
+
+} // namespace runtime
+} // namespace iox
+
+#endif // IOX_POSH_RUNTIME_POSH_RUNTIME_IMPL_HPP

iceoryx_posh/include/iceoryx_posh/internal/runtime/shared_memory_user.hpp

@@ -33,13 +33,11 @@ class SharedMemoryUser
 {
   public:
     /// @brief Constructor
-    /// @param[in] doMapSharedMemoryIntoThread used by roudi environment for testing. No mapping of memory if false
     /// @param[in] topicSize size of the shared memory management segment
     /// @param[in] segmentManagerAddr adress of the segment manager that does the final mapping of memory in the process
     /// @param[in] segmentId of the relocatable shared memory segment
     /// address space
-    SharedMemoryUser(const bool doMapSharedMemoryIntoThread,
-                     const size_t topicSize,
+    SharedMemoryUser(const size_t topicSize,
                      const uint64_t segmentId,
                      const rp::BaseRelativePointer::offset_t segmentManagerAddressOffset);