iceoryx data transport

Author: piotrchodorowski

MODULE.bazel

@@ -102,6 +102,12 @@ git_override(
     remote = "https://github.com/eclipse-score/score-crates.git",
 )
 
+bazel_dep(name = "iceoryx2", version = "0.7.0")
+local_path_override(
+    module_name = "iceoryx2",
+    path = "/home/piotr/score/iceoryx2",
+)
+
 bazel_dep(name = "boost.program_options", version = "1.87.0")
 bazel_dep(name = "download_utils", version = "1.0.1")
 

score/mw/com/impl/BUILD

@@ -173,6 +173,7 @@ cc_library(
         ":skeleton_field",
         "//score/mw/com/impl/methods:skeleton_method",
         "//score/mw/com/impl/plumbing:event",
+        "@iceoryx2//:iceoryx2-cxx-static",
     ],
 )
 
@@ -272,6 +273,7 @@ cc_library(
         "//score/mw/com/impl/plumbing",
         "//score/mw/com/impl/tracing:skeleton_tracing",
         "@score_baselibs//score/language/futurecpp",
+        "@iceoryx2//:iceoryx2-cxx-static",
     ],
 )
 
@@ -323,6 +325,7 @@ cc_library(
         "//score/mw/com/impl/plumbing",
         "@score_baselibs//score/language/futurecpp",
         "@score_baselibs//score/result",
+        "@iceoryx2//:iceoryx2-cxx-static",
     ],
 )
 
@@ -348,6 +351,7 @@ cc_library(
         "//score/mw/com/impl/tracing:proxy_event_tracing_data",
         "@score_baselibs//score/language/futurecpp",
         "@score_baselibs//score/language/safecpp/scoped_function:scope",
+        "@iceoryx2//:iceoryx2-cxx-static",
     ],
 )
 

score/mw/com/impl/plumbing/BUILD

@@ -523,7 +523,10 @@ cc_library(
     features = COMPILER_WARNING_FEATURES,
     tags = ["FFI"],
     visibility = ["//score/mw/com/impl:__subpackages__"],
-    deps = ["//score/mw/com/impl/bindings/lola:event"],
+    deps = [
+        "//score/mw/com/impl/bindings/lola:event",
+        "@iceoryx2//:iceoryx2-cxx-static",
+    ],
 )
 
 cc_library(

score/mw/com/impl/plumbing/sample_allocatee_ptr.h

@@ -23,6 +23,8 @@
 #include <utility>
 #include <variant>
 
+#include "iox2/iceoryx2.hpp"
+
 namespace score::mw::com::impl
 {
 
@@ -105,7 +107,7 @@ class SampleAllocateePtr
     // coverity[autosar_cpp14_a15_5_3_violation : FALSE]
     pointer operator->() const noexcept;
 
-  private:
+  
     template <typename T>
     // Suppress "AUTOSAR C++14 A0-1-3" rule finding. This rule states: "Every function defined in an anonymous
     // namespace, or static function with internal linkage, or private member function shall be used.".
@@ -114,7 +116,17 @@ class SampleAllocateePtr
     explicit SampleAllocateePtr(T ptr) : internal_{std::move(ptr)}
     {
     }
+    template <typename T>
+    explicit SampleAllocateePtr(T ptr, std::shared_ptr<iox2::SampleMut<iox2::ServiceType::Ipc, SampleType, void>> iox2_sample) : 
+    internal_{std::move(ptr)}, iox2_sample_{std::move(iox2_sample)}
+    {
+    }
 
+    std::shared_ptr<iox2::SampleMut<iox2::ServiceType::Ipc, SampleType, void>> GetIox2Sample() const noexcept
+    {
+        return iox2_sample_;
+    }
+  private:
     // Suppress "AUTOSAR C++14 A11-3-1", The rule states: "Friend declarations shall not be used".
     // Friend class required to access private constructor as we do not have everything we need public.
     // This is because we want to shield the end user from implementation details and avoid wrong usage.
@@ -133,7 +145,8 @@ class SampleAllocateePtr
     friend class SampleAllocateePtrMutableView;
 
     // We don't use the pimpl idiom because it would require dynamic memory allocation (that we want to avoid)
-    std::variant<score::cpp::blank, lola::SampleAllocateePtr<SampleType>, std::unique_ptr<SampleType>> internal_;
+    std::variant<score::cpp::blank, lola::SampleAllocateePtr<SampleType>, std::unique_ptr<SampleType>, SampleType*> internal_;
+    std::shared_ptr<iox2::SampleMut<iox2::ServiceType::Ipc, SampleType, void>> iox2_sample_;
 };
 
 template <typename SampleType>
@@ -175,8 +188,13 @@ void SampleAllocateePtr<SampleType>::reset() noexcept
             internal_ptr.reset(nullptr);
         },
         // coverity[autosar_cpp14_a7_1_7_violation]
-        [](const score::cpp::blank&) noexcept -> void {});
+        [](const score::cpp::blank&) noexcept -> void {},
+        [](SampleType* internal_ptr) noexcept -> void {
+            internal_ptr = nullptr;
+        }
+    );
     std::visit(visitor, internal_);
+    //iox2_sample_.reset();
 }
 
 template <typename SampleType>
@@ -185,6 +203,7 @@ void SampleAllocateePtr<SampleType>::Swap(SampleAllocateePtr<SampleType>& other)
     // Search for custom swap functions via ADL, and use std::swap if none are found.
     using std::swap;
     swap(internal_, other.internal_);
+    swap(iox2_sample_, other.iox2_sample_);
 }
 
 template <typename SampleType>
@@ -213,7 +232,12 @@ auto SampleAllocateePtr<SampleType>::Get() const noexcept -> pointer
         // coverity[autosar_cpp14_a7_1_7_violation]
         [](const score::cpp::blank&) noexcept -> ReturnType {
             return nullptr;
-        });
+        },
+        [](SampleType* internal_ptr) noexcept -> ReturnType {
+            return internal_ptr;
+        }
+    
+    );
 
     return std::visit(visitor, internal_);
 }
@@ -241,7 +265,11 @@ SampleAllocateePtr<SampleType>::operator bool() const noexcept
         // coverity[autosar_cpp14_a7_1_7_violation]
         [](const score::cpp::blank&) noexcept -> bool {
             return false;
-        });
+        },
+        [](SampleType* internal_ptr) noexcept -> bool {
+            return internal_ptr != nullptr;
+        }
+    );
 
     return std::visit(visitor, internal_);
 }
@@ -273,7 +301,11 @@ typename std::add_lvalue_reference<SampleType>::type SampleAllocateePtr<SampleTy
         // coverity[autosar_cpp14_a7_1_7_violation]
         [](const score::cpp::blank&) noexcept -> ReturnType {
             std::terminate();
-        });
+        },
+        [](SampleType* internal_ptr) noexcept -> ReturnType {
+            return *internal_ptr;
+        }
+    );
 
     return std::visit(visitor, internal_);
 }
@@ -304,7 +336,11 @@ auto SampleAllocateePtr<SampleType>::operator->() const noexcept -> pointer
         // coverity[autosar_cpp14_a7_1_7_violation]
         [](const score::cpp::blank&) noexcept -> ReturnType {
             std::terminate();
-        });
+        },
+        [](SampleType* internal_ptr) noexcept -> ReturnType {
+            return internal_ptr;
+        }
+    );
 
     return std::visit(visitor, internal_);
 }
@@ -353,7 +389,7 @@ class SampleAllocateePtrView
         return std::get_if<T>(&ptr_.internal_);
     }
 
-    const std::variant<score::cpp::blank, lola::SampleAllocateePtr<SampleType>, std::unique_ptr<SampleType>>&
+    const std::variant<score::cpp::blank, lola::SampleAllocateePtr<SampleType>, std::unique_ptr<SampleType>, SampleType*>&
     GetUnderlyingVariant() const noexcept
     {
         return ptr_.internal_;
@@ -370,7 +406,7 @@ class SampleAllocateePtrMutableView
   public:
     explicit SampleAllocateePtrMutableView(SampleAllocateePtr<SampleType>& ptr) : ptr_{ptr} {}
 
-    std::variant<score::cpp::blank, lola::SampleAllocateePtr<SampleType>, std::unique_ptr<SampleType>>&
+    std::variant<score::cpp::blank, lola::SampleAllocateePtr<SampleType>, std::unique_ptr<SampleType>, SampleType*>&
     GetUnderlyingVariant() noexcept
     {
         // Suppress "AUTOSAR C++14 A9-3-1", The rule states: "Member functions shall not return non-const “raw” pointers

score/mw/com/impl/proxy_base.cpp

@@ -35,6 +35,9 @@ ProxyBase::ProxyBase(std::unique_ptr<ProxyBinding> proxy_binding, HandleType han
       fields_{},
       methods_{}
 {
+    iox2_node_ = std::make_unique<iox2::Node<iox2::ServiceType::Ipc>>(
+        iox2::NodeBuilder().create<iox2::ServiceType::Ipc>().expect("successful node creation")
+    );
 }
 
 ProxyBase::ProxyBase(ProxyBase&& other) noexcept

score/mw/com/impl/proxy_base.h

@@ -26,6 +26,8 @@
 
 #include <memory>
 
+#include "iox2/iceoryx2.hpp"
+
 namespace score::mw::com::impl
 {
 
@@ -82,6 +84,8 @@ class ProxyBase
     /// \return Handle identifying the service that this proxy is connected to.
     const HandleType& GetHandle() const noexcept;
 
+    std::unique_ptr<iox2::Node<iox2::ServiceType::Ipc>> iox2_node_;
+
   protected:
     using ProxyEvents = std::map<std::string_view, std::reference_wrapper<ProxyEventBase>>;
     using ProxyFields = std::map<std::string_view, std::reference_wrapper<ProxyFieldBase>>;

score/mw/com/impl/proxy_event.h

@@ -34,6 +34,8 @@
 #include <string_view>
 #include <utility>
 
+#include "iox2/iceoryx2.hpp"
+
 namespace score::mw::com::impl
 {
 
@@ -122,6 +124,8 @@ class ProxyEvent final : public ProxyEventBase
     template <typename F>
     Result<std::size_t> GetNewSamples(F&& receiver, std::size_t max_num_samples) noexcept;
 
+    Result<std::size_t> GetNumNewSamplesAvailable() const noexcept;
+
     void InjectMock(IProxyEvent<SampleType>& proxy_event_mock)
     {
         proxy_event_mock_ = &proxy_event_mock;
@@ -130,7 +134,8 @@ class ProxyEvent final : public ProxyEventBase
 
   private:
     ProxyEventBinding<SampleType>* GetTypedEventBinding() const noexcept;
-
+    std::unique_ptr<iox2::PortFactoryPublishSubscribe<iox2::ServiceType::Ipc, SampleDataType, void>> iox2_service_;
+    std::unique_ptr<iox2::Subscriber<iox2::ServiceType::Ipc, SampleDataType, void>> iox2_subscriber_;
     IProxyEvent<SampleType>* proxy_event_mock_;
 
     /// \brief Indicates whether this event is a field event (i.e. owned by a ProxyField, which is a composite of
@@ -154,6 +159,28 @@ ProxyEvent<SampleType>::ProxyEvent(ProxyBase& base,
         proxy_base_view.MarkServiceElementBindingInvalid();
         return;
     }
+
+    const auto& instance_identifier = proxy_base_view.GetAssociatedHandleType().GetInstanceIdentifier();
+    const auto& service_instance_deployment = InstanceIdentifierView{instance_identifier}.GetServiceInstanceDeployment();
+    auto instance_specifier = service_instance_deployment.instance_specifier_.ToString();
+    std::cout << "Creating ProxyEvent for instance specifier: " << instance_specifier << std::endl;
+    std::string service_name = (std::string(instance_specifier) + "/" + std::string(event_name));
+    std::cout << "Creating iox2 service with name: " << service_name << std::endl;
+    iox2_service_ = std::make_unique<iox2::PortFactoryPublishSubscribe<iox2::ServiceType::Ipc, SampleType, void>>(
+            base.iox2_node_->service_builder(
+                    iox2::ServiceName::create(service_name.c_str()).expect("valid service name")
+                )
+                .publish_subscribe<SampleType>()
+                .open_or_create()
+                .expect("successful service creation/opening")
+    );
+    iox2_subscriber_ = std::make_unique<iox2::Subscriber<iox2::ServiceType::Ipc, SampleType, void>>(
+        iox2_service_->subscriber_builder().create().expect("successful subscriber creation")
+    );
+    if(iox2_subscriber_ != nullptr)
+    {
+        std::cout << "iox2 subscriber created successfully for event: " << event_name << std::endl;
+    }
 }
 
 template <typename SampleType>
@@ -193,6 +220,8 @@ ProxyEvent<SampleType>::ProxyEvent(ProxyEvent&& other) noexcept
       proxy_event_mock_{std::move(other.proxy_event_mock_)},
       is_field_event_{std::move(other.is_field_event_)}
 {
+    iox2_service_ = std::move(other.iox2_service_);
+    iox2_subscriber_ = std::move(other.iox2_subscriber_);
     if (!is_field_event_)
     {
         // Since the address of this event has changed, we need update the address stored in the parent proxy.
@@ -225,10 +254,27 @@ auto ProxyEvent<SampleType>::operator=(ProxyEvent&& other) & noexcept -> ProxyEv
     return *this;
 }
 
+template <typename SampleType>
+Result<std::size_t> ProxyEvent<SampleType>::GetNumNewSamplesAvailable() const noexcept
+{
+    bool has_samples = iox2_subscriber_->has_samples().expect("has_samples succeeds");
+    return has_samples ? 1 : 0;
+}
+
 template <typename SampleType>
 template <typename F>
 Result<std::size_t> ProxyEvent<SampleType>::GetNewSamples(F&& receiver, std::size_t max_num_samples) noexcept
 {
+    size_t samples_num = 0;
+    auto sample = iox2_subscriber_->receive().expect("receive succeeds");
+    while (sample.has_value()) {
+        samples_num++;
+        SampleReferenceGuard reference_guard{};
+        receiver(SamplePtr<SampleType>(std::make_unique<SampleType>(sample->payload()), std::move(reference_guard)));
+        sample = iox2_subscriber_->receive().expect("receive succeeds");
+    }
+    return samples_num;
+
     if (proxy_event_mock_ != nullptr)
     {
         typename IProxyEvent<SampleType>::Callback mock_callback =

score/mw/com/impl/skeleton_base.cpp

@@ -93,6 +93,9 @@ SkeletonBase::SkeletonBase(std::unique_ptr<SkeletonBinding> skeleton_binding,
       skeleton_mock_{nullptr},
       service_offered_flag_{}
 {
+    iox2_node_ = std::make_unique<iox2::Node<iox2::ServiceType::Ipc>>(
+        iox2::NodeBuilder().create<iox2::ServiceType::Ipc>().expect("successful node creation")
+    );
 }
 
 SkeletonBase::~SkeletonBase()

score/mw/com/impl/skeleton_base.h

@@ -35,6 +35,8 @@
 #include <memory>
 #include <string_view>
 
+#include "iox2/iceoryx2.hpp"
+
 namespace score::mw::com::impl
 {
 
@@ -99,6 +101,8 @@ class SkeletonBase
         skeleton_mock_ = &skeleton_mock;
     }
 
+    std::unique_ptr<iox2::Node<iox2::ServiceType::Ipc>> iox2_node_;
+
   protected:
     bool AreBindingsValid() const noexcept;