Merge pull request #460 from ApexAI/iox-#337-create-PeriodicTask

Iox #337 create periodic task

.gitignore

@@ -2,6 +2,7 @@ build/
 build_out_of_tree/
 install/
 /CMakeLists.txt
+clangd/
 .vscode
 /**/*.user
 iceoryx_utils/doc/html/

CONTRIBUTING.md

@@ -149,13 +149,13 @@ The coverage scan applies to Quality level 3 and partly level 2 with branch cove
 For having a coverage report iceoryx needs to be compiled with coverage flags and the tests needs to be executed.
 You can do this with one command in iceroyx folder like this:
 ```
-./tools/iceoryx_build_test.sh clean buildall -c <testlevel>
+./tools/iceoryx_build_test.sh clean build-all -c <testlevel>
 ```
-Optionally you can use buildall option to get coverage for extensions like DDS or C-Binding.
+Optionally you can use build-all option to get coverage for extensions like DDS or C-Binding.
 The -c flag indicates that you want to have a coverage report and you can pass there the needed testlevel. Per default the testlevel is set to 'all'.
 example:
 ```
-./tools/iceoryx_build_test.sh buildall clean -c unit
+./tools/iceoryx_build_test.sh build-all clean -c unit
 ```
 For having only reports for unit-test. In the script tools/gcov/lcov_generate.sh is the initial scan, filtering and report generation automatically done.
 

README.md

@@ -54,11 +54,11 @@ An example for such a "porcelain" API would be [ROS2](https://www.ros.org/). Oth
 
 ## Build and install
 
-You can find the build and installation guidelines [here](doc/installation-guide.md).
+You can find the build and installation guidelines [here](doc/website/getting-started/installation.md).
 
 ## Examples
 
-After you've built all the necessary things, you can continue playing around with the [examples](./iceoryx_examples).
+After you've built all the necessary things, you can continue playing around with the [examples](./iceoryx_examples/README.md).
 
 ## Build and run in a Docker environment
 

doc/website/getting-started/installation.md

@@ -104,7 +104,7 @@ The script currently only works for Linux and QNX, it is planned to offer a mult
  2. Build everything
     ```
     cd iceoryx
-    ./tools/iceoryx_build_test.sh build_all
+    ./tools/iceoryx_build_test.sh build-all
     ```
 
 You can use the help for getting an overview over the available options:

iceoryx_examples/icedelivery/README.md

@@ -2,12 +2,12 @@
 
 ## Introduction
 
-This example showcases a one-way data transmission setup with zero-copy inter-process communication (IPC) on iceoryx.
-It provides publisher and subscriber applications. They come in two API flavours (untyped and typed).
+This example showcases a data transmission setup with zero-copy inter-process communication (IPC) on iceoryx.
+It provides publisher and subscriber applications. They come in two C++ API flavours (untyped and typed). Check icedelivery_on_c for the C API
 
 ## Run icedelivery
 
-Create three terminals and run one command in each of them. Choose one publisher and one subscriber and mix the typed and untyped versions.
+Create different terminals and run one command in each of them. Choose at least one publisher and one subscriber for having a data communication. You can also mix the typed and untyped versions. And if you feel like crazy today you start several publishers and subscribers from icedelivery and icedelivery_on_c (needs the default n:m communication, not possible if you build with the ONE_TO_MANY option)
 ```sh
 # If installed and available in PATH environment variable
 iox-roudi
@@ -46,31 +46,27 @@ RouDi is ready for clients
 ```
 2020-12-20 16:05:01.837 [ Debug ]: Application registered management segment 0x7fd6d39e3000 with size 64244064 to id 1
 2020-12-20 16:26:42.791 [ Info  ]: Application registered payload segment 0x7f377c4e6000 with size 149134400 to id 2
-Sent {five,two} times value: (1, 1, 1)
-Sent {five,two} times value: (2, 2, 2)
-Sent {five,two} times value: (3, 3, 3)
+Sent {five,two} times value: 1
+Sent {five,two} times value: 2
+Sent {five,two} times value: 3
 ```
 
 ### Subscriber application (typed)
 ```
 2020-12-20 16:26:58.839 [ Debug ] Application registered management segment 0x7f6353c04000 with size 64244064 to id 1
 2020-12-20 16:26:58.839 [ Info  ] Application registered payload segment 0x7f634ab8c000 with size 149134400 to id 2
 Not subscribed!
-Got value: (2, 2, 2)
-Got value: (2, 2, 2)
-Got value: (2, 2, 2)
-Got value: (2, 2, 2)
-Got value: (2, 2, 2)
-Didn't get a value, but do something anyway.
-Didn't get a value, but do something anyway.
-Didn't get a value, but do something anyway.
-Didn't get a value, but do something anyway.
-Didn't get a value, but do something anyway.
-Got value: (3, 3, 3)
-Got value: (3, 3, 3)
-Got value: (3, 3, 3)
-Got value: (3, 3, 3)
-Got value: (3, 3, 3)
+Got value: 2
+Got value: 2
+Got value: 2
+Got value: 2
+Got value: 2
+
+Got value: 3
+Got value: 3
+Got value: 3
+Got value: 3
+Got value: 3
 
 ```
 
@@ -79,18 +75,12 @@ Got value: (3, 3, 3)
 2020-12-20 16:26:58.839 [ Debug ] Application registered management segment 0x7f6353c04000 with size 64244064 to id 1
 2020-12-20 16:26:58.839 [ Info  ] Application registered payload segment 0x7f634ab8c000 with size 149134400 to id 2
 Not subscribed!
-Got value: (2, 2, 2)
-Got value: (2, 2, 2)
-Didn't get a value, but do something anyway.
-Didn't get a value, but do something anyway.
-Didn't get a value, but do something anyway.
-Didn't get a value, but do something anyway.
-Didn't get a value, but do something anyway.
-Didn't get a value, but do something anyway.
-Didn't get a value, but do something anyway.
-Didn't get a value, but do something anyway.
-Got value: (3, 3, 3)
-Got value: (3, 3, 3)
+Got value: 2
+Got value: 2
+
+
+Got value: 3
+Got value: 3
 ```
 
 ## Code walkthrough
@@ -293,8 +283,7 @@ need to take care about all cases, but it is advised to do so.
 In the `and_then` case the content of the sample is printed to the command line:
 ```cpp
 auto object = static_cast<const RadarObject*>(sample->get());
-std::cout << "Got value: (" << object->x << ", " << object->y << ", " << object->z << ")"
-            << std::endl;
+std::cout << "Got value: " << object->x << std::endl;
 ```
 
 Please note the `static_cast` before reading out the data. It is necessary, because the untyped subscriber is unaware

iceoryx_examples/icedelivery/iox_publisher_typed.cpp

@@ -42,7 +42,7 @@ int main()
     iox::popo::TypedPublisher<RadarObject> typedPublisher({"Radar", "FrontLeft", "Object"});
     typedPublisher.offer();
 
-    float_t ct = 0.0;
+    double ct = 0.0;
     while (!killswitch)
     {
         ++ct;
@@ -96,7 +96,7 @@ int main()
         typedPublisher.publishResultOf(getRadarObject, ct);
         typedPublisher.publishResultOf([&ct](RadarObject* object) { *object = RadarObject(ct, ct, ct); });
 
-        std::cout << "Sent five times value: (" << ct << ", " << ct << ", " << ct << ")" << std::endl;
+        std::cout << "Sent five times value: " << ct << std::endl;
 
         std::this_thread::sleep_for(std::chrono::seconds(1));
     }

iceoryx_examples/icedelivery/iox_publisher_untyped.cpp

@@ -37,7 +37,7 @@ int main()
     iox::popo::UntypedPublisher untypedPublisher({"Radar", "FrontLeft", "Object"});
     untypedPublisher.offer();
 
-    float_t ct = 0.0;
+    double ct = 0.0;
     while (!killswitch)
     {
         ++ct;
@@ -73,7 +73,7 @@ int main()
                 // Do something with error
             });
 
-        std::cout << "Sent two times value: (" << ct << ", " << ct << ", " << ct << ")" << std::endl;
+        std::cout << "Sent two times value: " << ct << std::endl;
 
         std::this_thread::sleep_for(std::chrono::seconds(1));
     }

iceoryx_examples/icedelivery/iox_publisher_with_history.cpp

@@ -41,7 +41,7 @@ int main()
     iox::popo::TypedPublisher<RadarObject> typedPublisher({"Radar", "FrontLeft", "Object"}, publisherOptions);
     typedPublisher.offer();
 
-    float_t ct = 0.0;
+    double ct = 0.0;
     while (!killswitch)
     {
         ++ct;
@@ -55,6 +55,8 @@ int main()
             sample.publish();
         });
 
+        std::cout << "Sent value: " << ct << std::endl;
+
         std::this_thread::sleep_for(std::chrono::milliseconds(400));
     }
 

iceoryx_examples/icedelivery/iox_subscriber_typed.cpp

@@ -49,10 +49,9 @@ int main()
         {
             typedSubscriber.take()
                 .and_then([](iox::popo::Sample<const RadarObject>& object) {
-                    std::cout << "Got value: (" << object->x << ", " << object->y << ", " << object->z << ")"
-                              << std::endl;
+                    std::cout << "Got value: " << object->x << std::endl;
                 })
-                .if_empty([] { std::cout << "Didn't get a value, but do something anyway." << std::endl; })
+                .if_empty([] { std::cout << std::endl; })
                 .or_else([](iox::popo::ChunkReceiveError) { std::cout << "Error receiving chunk." << std::endl; });
         }
         else

iceoryx_examples/icedelivery/iox_subscriber_untyped.cpp

@@ -50,10 +50,9 @@ int main()
             untypedSubscriber.take()
                 .and_then([](iox::popo::Sample<const void>& sample) {
                     auto object = static_cast<const RadarObject*>(sample.get());
-                    std::cout << "Got value: (" << object->x << ", " << object->y << ", " << object->z << ")"
-                              << std::endl;
+                    std::cout << "Got value: " << object->x << std::endl;
                 })
-                .if_empty([] { std::cout << "Didn't get a value, but do something anyway." << std::endl; })
+                .if_empty([] { std::cout << std::endl; })
                 .or_else([](iox::popo::ChunkReceiveError) { std::cout << "Error receiving chunk." << std::endl; });
         }
         else

iceoryx_examples/icedelivery/iox_subscriber_with_history.cpp

@@ -40,8 +40,8 @@ int main()
     iox::popo::SubscriberOptions subscriberOptions;
     subscriberOptions.queueCapacity = 10U;
     // When starting the subscriber late it will miss the first samples which the
-    // publisher has send. The history ensures that we at least get the last 10
-    // samples send by the publisher when we subscribe.
+    // publisher has send. The history ensures that we at least get the last 5
+    // samples sent by the publisher when we subscribe (if at least 5 were already sent).
     subscriberOptions.historyRequest = 5U;
     iox::popo::TypedSubscriber<RadarObject> typedSubscriber({"Radar", "FrontLeft", "Object"}, subscriberOptions);
     typedSubscriber.subscribe();
@@ -58,8 +58,7 @@ int main()
             {
                 typedSubscriber.take()
                     .and_then([](iox::popo::Sample<const RadarObject>& object) {
-                        std::cout << "Got value: (" << object->x << ", " << object->y << ", " << object->z << ")"
-                                  << std::endl;
+                        std::cout << "Got value: " << object->x << std::endl;
                     })
                     .if_empty([&] { hasMoreSamples = false; });
             } while (hasMoreSamples);

iceoryx_examples/icedelivery_on_c/README.md

@@ -44,7 +44,7 @@ Let's take a look at the `receiving` function which comes with the
     const uint64_t historyRequest = 10U;
     const uint64_t queueCapacity = 5U;
     iox_sub_storage_t subscriberStorage;
-    iox_sub_t subscriber = iox_sub_init(&subscriberStorage, "Radar", "FrontLeft", "Counter", queueCapacity, historyRequest);
+    iox_sub_t subscriber = iox_sub_init(&subscriberStorage, "Radar", "FrontLeft", "Object", queueCapacity, historyRequest);
     ```
 
   3. We subscribe to the service.
@@ -63,8 +63,8 @@ Let's take a look at the `receiving` function which comes with the
              const void* chunk = NULL;
              while (ChunkReceiveError_SUCCESS == iox_sub_get_chunk(subscriber, &chunk))
              {
-                 const struct CounterTopic* sample = (const struct CounterTopic*)(chunk);
-                 printf("Receiving: %u\n", sample->counter);
+                 const struct RadarObject* sample = (const struct RadarObject*)(chunk);
+                 printf("Got value: %.0f\n", sample->x);
                  iox_sub_release_chunk(subscriber, chunk);
              }
          }
@@ -112,7 +112,7 @@ Let's take a look at the `sending` function which comes with the
     ```c
     const uint64_t historyRequest = 10U;
     iox_pub_storage_t publisherStorage;
-    iox_pub_t publisher = iox_pub_init(&publisherStorage, "Radar", "FrontLeft", "Counter", historyRequest);
+    iox_pub_t publisher = iox_pub_init(&publisherStorage, "Radar", "FrontLeft", "Object", historyRequest);
     ```
  3. We offer our service to the world.
     ```c
@@ -123,18 +123,20 @@ Let's take a look at the `sending` function which comes with the
     incrementing number to all subscribers every send and print the
     value of this number to the console.
     ```c
-    uint32_t ct = 0u;
+    double ct = 0.0;
 
     while (!killswitch)
     {
         void* chunk = NULL;
-        if (AllocationResult_SUCCESS == iox_pub_allocate_chunk(publisher, &chunk, sizeof(struct CounterTopic)))
+        if (AllocationResult_SUCCESS == iox_pub_allocate_chunk(publisher, &chunk, sizeof(struct RadarObject)))
         {
-            struct CounterTopic* sample = (struct CounterTopic*)chunk;
+            struct RadarObject* sample = (struct RadarObject*)chunk;
 
-            sample->counter = ct;
+            sample->x = ct;
+            sample->y = ct;
+            sample->z = ct;
 
-            printf("Sending: %u\n", ct);
+            printf("Sent value: %.0f\n", ct);
 
             iox_pub_send_chunk(publisher, chunk);
 

iceoryx_examples/icedelivery_on_c/ice_c_publisher.c

@@ -36,22 +36,24 @@ void sending()
 
     const uint64_t historyRequest = 10U;
     iox_pub_storage_t publisherStorage;
-    iox_pub_t publisher = iox_pub_init(&publisherStorage, "Radar", "FrontLeft", "Counter", historyRequest);
+    iox_pub_t publisher = iox_pub_init(&publisherStorage, "Radar", "FrontLeft", "Object", historyRequest);
 
     iox_pub_offer(publisher);
 
-    uint32_t ct = 0U;
+    double ct = 0.0;
 
     while (!killswitch)
     {
         void* chunk = NULL;
-        if (AllocationResult_SUCCESS == iox_pub_allocate_chunk(publisher, &chunk, sizeof(struct CounterTopic)))
+        if (AllocationResult_SUCCESS == iox_pub_allocate_chunk(publisher, &chunk, sizeof(struct RadarObject)))
         {
-            struct CounterTopic* sample = (struct CounterTopic*)chunk;
+            struct RadarObject* sample = (struct RadarObject*)chunk;
 
-            sample->counter = ct;
+            sample->x = ct;
+            sample->y = ct;
+            sample->z = ct;
 
-            printf("Sending: %u\n", ct);
+            printf("Sent value: %.0f\n", ct);
 
             iox_pub_send_chunk(publisher, chunk);
 

iceoryx_examples/icedelivery_on_c/ice_c_subscriber.c

@@ -43,7 +43,7 @@ void receiving()
     iox_sub_storage_t subscriberStorage;
 
     iox_sub_t subscriber =
-        iox_sub_init(&subscriberStorage, "Radar", "FrontLeft", "Counter", queueCapacity, historyRequest);
+        iox_sub_init(&subscriberStorage, "Radar", "FrontLeft", "Object", queueCapacity, historyRequest);
     iox_sub_subscribe(subscriber);
 
     while (!killswitch)
@@ -55,8 +55,8 @@ void receiving()
             // new sample every 400ms and we check for new samples only every second
             while (ChunkReceiveResult_SUCCESS == iox_sub_get_chunk(subscriber, &chunk))
             {
-                const struct CounterTopic* sample = (const struct CounterTopic*)(chunk);
-                printf("Receiving: %u\n", sample->counter);
+                const struct RadarObject* sample = (const struct RadarObject*)(chunk);
+                printf("Got value: %.0f\n", sample->x);
                 iox_sub_release_chunk(subscriber, chunk);
             }
             printf("\n");

iceoryx_examples/icedelivery_on_c/topic_data.h

@@ -17,9 +17,11 @@
 
 #include <stdint.h>
 
-struct CounterTopic
+struct RadarObject
 {
-    uint32_t counter;
+    double x;
+    double y;
+    double z;
 };
 
 #endif // IOX_EXAMPLES_ICEDELIVERY_TOPIC_DATA_HPP

iceoryx_meta/tests.cmake

@@ -18,7 +18,7 @@ if (BUILD_TEST)
     add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../cmake/googletest ${CMAKE_BINARY_DIR}/dependencies/googletest/prebuild)
 
     ### create component list
-    set(COMPONENTS "posh" "utils")
+    set(COMPONENTS "utils" "posh")
 
     ### possible place for more extensions
     if (DDS_GATEWAY)

iceoryx_posh/include/iceoryx_posh/runtime/posh_runtime.hpp

@@ -26,7 +26,9 @@
 #include "iceoryx_posh/internal/runtime/shared_memory_user.hpp"
 #include "iceoryx_posh/popo/subscriber_options.hpp"
 #include "iceoryx_posh/runtime/port_config_info.hpp"
+#include "iceoryx_utils/cxx/method_callback.hpp"
 #include "iceoryx_utils/cxx/string.hpp"
+#include "iceoryx_utils/internal/concurrent/periodic_task.hpp"
 
 #include <atomic>
 #include <map>
@@ -202,8 +204,9 @@ class PoshRuntime
     void sendKeepAlive() noexcept;
     static_assert(PROCESS_KEEP_ALIVE_INTERVAL > roudi::DISCOVERY_INTERVAL, "Keep alive interval too small");
 
-    /// @note the m_keepAliveTimer should always be the last member, so that it will be the first member to be detroyed
-    iox::posix::Timer m_keepAliveTimer{PROCESS_KEEP_ALIVE_INTERVAL, [&]() { this->sendKeepAlive(); }};
+    /// @note 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{
+        "KeepAlive", PROCESS_KEEP_ALIVE_INTERVAL, *this, &PoshRuntime::sendKeepAlive};
 };
 
 } // namespace runtime