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iox-#27 Add typed API for client and server
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iceoryx_posh/include/iceoryx_posh/internal/popo/client_impl.hpp
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// 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 | ||
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||
#ifndef IOX_POSH_POPO_CLIENT_IMPL_HPP | ||
#define IOX_POSH_POPO_CLIENT_IMPL_HPP | ||
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#include "iceoryx_posh/capro/service_description.hpp" | ||
#include "iceoryx_posh/internal/popo/base_client.hpp" | ||
#include "iceoryx_posh/internal/popo/request_deleter.hpp" | ||
#include "iceoryx_posh/internal/popo/response_deleter.hpp" | ||
#include "iceoryx_posh/internal/popo/rpc_interface.hpp" | ||
#include "iceoryx_posh/popo/client_options.hpp" | ||
#include "iceoryx_posh/popo/request.hpp" | ||
#include "iceoryx_posh/popo/response.hpp" | ||
#include "iceoryx_posh/popo/trigger_handle.hpp" | ||
#include "iceoryx_posh/runtime/posh_runtime.hpp" | ||
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namespace iox | ||
{ | ||
namespace popo | ||
{ | ||
template <typename Req, typename Res, typename BaseClientT = BaseClient<>> | ||
class ClientImpl : public BaseClientT, public RpcInterface<Request<Req>> | ||
{ | ||
public: | ||
explicit ClientImpl(const capro::ServiceDescription& service, const ClientOptions& clientOptions = {}) noexcept; | ||
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template <typename... Args> | ||
cxx::expected<Request<Req>, AllocationError> loan(Args&&... args) noexcept; | ||
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void send(Request<Req>&& request) noexcept override; | ||
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cxx::expected<Response<const Res>, ChunkReceiveResult> take() noexcept; | ||
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private: | ||
using BaseClientT::port; | ||
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cxx::expected<Request<Req>, AllocationError> loanUninitialized() noexcept; | ||
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using RequestSampleDeleter = RequestDeleter<typename BaseClientT::PortType>; | ||
RequestSampleDeleter m_requestDeleter{port()}; | ||
using ResponseSampleDeleter = ResponseDeleter<typename BaseClientT::PortType>; | ||
ResponseSampleDeleter m_responseDeleter{port()}; | ||
}; | ||
} // namespace popo | ||
} // namespace iox | ||
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#include "iceoryx_posh/internal/popo/client_impl.inl" | ||
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#endif // IOX_POSH_POPO_CLIENT_IMPL_HPP |
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iceoryx_posh/include/iceoryx_posh/internal/popo/client_impl.inl
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// 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 | ||
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#ifndef IOX_POSH_POPO_CLIENT_IMPL_INL | ||
#define IOX_POSH_POPO_CLIENT_IMPL_INL | ||
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#include "iceoryx_posh/internal/popo/client_impl.hpp" | ||
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namespace iox | ||
{ | ||
namespace popo | ||
{ | ||
template <typename Req, typename Res, typename BaseClientT> | ||
ClientImpl<Req, Res, BaseClientT>::ClientImpl(const capro::ServiceDescription& service, | ||
const ClientOptions& clientOptions) noexcept | ||
: BaseClientT(service, clientOptions) | ||
{ | ||
} | ||
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template <typename Req, typename Res, typename BaseClientT> | ||
cxx::expected<Request<Req>, AllocationError> ClientImpl<Req, Res, BaseClientT>::loanUninitialized() noexcept | ||
{ | ||
auto result = port().allocateRequest(sizeof(Req), alignof(Req)); | ||
if (result.has_error()) | ||
{ | ||
return cxx::error<AllocationError>(result.get_error()); | ||
} | ||
else | ||
{ | ||
auto requestHeader = result.value(); | ||
auto payload = mepoo::ChunkHeader::fromUserHeader(requestHeader)->userPayload(); | ||
auto request = cxx::unique_ptr<Req>(reinterpret_cast<Req*>(payload), m_requestDeleter); | ||
return cxx::success<Request<Req>>(Request<Req>{std::move(request), *this}); | ||
} | ||
} | ||
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template <typename Req, typename Res, typename BaseClientT> | ||
template <typename... Args> | ||
cxx::expected<Request<Req>, AllocationError> ClientImpl<Req, Res, BaseClientT>::loan(Args&&... args) noexcept | ||
{ | ||
return std::move( | ||
loanUninitialized().and_then([&](auto& request) { new (request.get()) Req(std::forward<Args>(args)...); })); | ||
} | ||
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template <typename Req, typename Res, typename BaseClientT> | ||
void ClientImpl<Req, Res, BaseClientT>::send(Request<Req>&& request) noexcept | ||
{ | ||
auto payload = request.release(); // release the Request ownership of the chunk before publishing | ||
auto* requestHeader = static_cast<RequestHeader*>(mepoo::ChunkHeader::fromUserPayload(payload)->userHeader()); | ||
port().sendRequest(requestHeader); | ||
} | ||
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template <typename Req, typename Res, typename BaseClientT> | ||
cxx::expected<Response<const Res>, ChunkReceiveResult> ClientImpl<Req, Res, BaseClientT>::take() noexcept | ||
{ | ||
auto result = port().getResponse(); | ||
if (result.has_error()) | ||
{ | ||
return cxx::error<ChunkReceiveResult>(result.get_error()); | ||
} | ||
auto responseHeader = result.value(); | ||
auto payload = mepoo::ChunkHeader::fromUserHeader(responseHeader)->userPayload(); | ||
auto response = cxx::unique_ptr<const Res>(static_cast<const Res*>(payload), m_responseDeleter); | ||
return cxx::success<Response<const Res>>(Response<const Res>{std::move(response)}); | ||
} | ||
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} // namespace popo | ||
} // namespace iox | ||
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#endif // IOX_POSH_POPO_CLIENT_IMPL_INL |
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iceoryx_posh/include/iceoryx_posh/internal/popo/server_impl.hpp
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// 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 | ||
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#ifndef IOX_POSH_POPO_SERVER_IMPL_HPP | ||
#define IOX_POSH_POPO_SERVER_IMPL_HPP | ||
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#include "iceoryx_posh/capro/service_description.hpp" | ||
#include "iceoryx_posh/internal/popo/base_server.hpp" | ||
#include "iceoryx_posh/internal/popo/request_deleter.hpp" | ||
#include "iceoryx_posh/internal/popo/response_deleter.hpp" | ||
#include "iceoryx_posh/internal/popo/rpc_interface.hpp" | ||
#include "iceoryx_posh/popo/request.hpp" | ||
#include "iceoryx_posh/popo/response.hpp" | ||
#include "iceoryx_posh/popo/server_options.hpp" | ||
#include "iceoryx_posh/popo/trigger_handle.hpp" | ||
#include "iceoryx_posh/runtime/posh_runtime.hpp" | ||
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namespace iox | ||
{ | ||
namespace popo | ||
{ | ||
template <typename Req, typename Res, typename BaseServerT = BaseServer<>> | ||
class ServerImpl : public BaseServerT, public RpcInterface<Response<Res>> | ||
{ | ||
public: | ||
explicit ServerImpl(const capro::ServiceDescription& service, const ServerOptions& serverOptions = {}) noexcept; | ||
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cxx::expected<Request<const Req>, ServerRequestResult> take() noexcept; | ||
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template <typename... Args> | ||
cxx::expected<Response<Res>, AllocationError> loan(const Request<const Req>& request, Args&&... args) noexcept; | ||
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void send(Response<Res>&& response) noexcept override; | ||
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private: | ||
using BaseServerT::port; | ||
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cxx::expected<Response<Res>, AllocationError> loanUninitialized(const Request<const Req>& request) noexcept; | ||
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using RequestSampleDeleter = RequestDeleter<typename BaseServerT::PortType>; | ||
RequestSampleDeleter m_requestDeleter{port()}; | ||
using ResponseSampleDeleter = ResponseDeleter<typename BaseServerT::PortType>; | ||
ResponseSampleDeleter m_responseDeleter{port()}; | ||
}; | ||
} // namespace popo | ||
} // namespace iox | ||
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#include "iceoryx_posh/internal/popo/server_impl.inl" | ||
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#endif // IOX_POSH_POPO_SERVER_IMPL_HPP |
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iceoryx_posh/include/iceoryx_posh/internal/popo/server_impl.inl
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// 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 | ||
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#ifndef IOX_POSH_POPO_SERVER_IMPL_INL | ||
#define IOX_POSH_POPO_SERVER_IMPL_INL | ||
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#include "iceoryx_posh/internal/popo/server_impl.hpp" | ||
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namespace iox | ||
{ | ||
namespace popo | ||
{ | ||
template <typename Req, typename Res, typename BaseServerT> | ||
inline ServerImpl<Req, Res, BaseServerT>::ServerImpl(const capro::ServiceDescription& service, | ||
const ServerOptions& serverOptions) noexcept | ||
: BaseServerT(service, serverOptions) | ||
{ | ||
} | ||
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template <typename Req, typename Res, typename BaseServerT> | ||
cxx::expected<Request<const Req>, ServerRequestResult> ServerImpl<Req, Res, BaseServerT>::take() noexcept | ||
{ | ||
auto result = port().getRequest(); | ||
if (result.has_error()) | ||
{ | ||
return cxx::error<ServerRequestResult>(result.get_error()); | ||
} | ||
auto requestHeader = result.value(); | ||
auto payload = mepoo::ChunkHeader::fromUserHeader(requestHeader)->userPayload(); | ||
auto request = cxx::unique_ptr<const Req>(static_cast<const Req*>(payload), m_requestDeleter); | ||
return cxx::success<Request<const Req>>(Request<const Req>{std::move(request)}); | ||
} | ||
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template <typename Req, typename Res, typename BaseServerT> | ||
cxx::expected<Response<Res>, AllocationError> | ||
ServerImpl<Req, Res, BaseServerT>::loanUninitialized(const Request<const Req>& request) noexcept | ||
{ | ||
const auto* requestHeader = &request.getRequestHeader(); | ||
auto result = port().allocateResponse(requestHeader, sizeof(Req), alignof(Req)); | ||
if (result.has_error()) | ||
{ | ||
return cxx::error<AllocationError>(result.get_error()); | ||
} | ||
else | ||
{ | ||
auto responseHeader = result.value(); | ||
auto payload = mepoo::ChunkHeader::fromUserHeader(responseHeader)->userPayload(); | ||
auto response = cxx::unique_ptr<Res>(reinterpret_cast<Res*>(payload), m_responseDeleter); | ||
return cxx::success<Response<Res>>(Response<Res>{std::move(response), *this}); | ||
} | ||
} | ||
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template <typename Req, typename Res, typename BaseServerT> | ||
template <typename... Args> | ||
cxx::expected<Response<Res>, AllocationError> ServerImpl<Req, Res, BaseServerT>::loan(const Request<const Req>& request, | ||
Args&&... args) noexcept | ||
{ | ||
return std::move(loanUninitialized(request).and_then( | ||
[&](auto& response) { new (response.get()) Res(std::forward<Args>(args)...); })); | ||
} | ||
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template <typename Req, typename Res, typename BaseServerT> | ||
void ServerImpl<Req, Res, BaseServerT>::send(Response<Res>&& response) noexcept | ||
{ | ||
auto payload = response.release(); // release the Request ownership of the chunk before publishing | ||
auto* responseHeader = static_cast<ResponseHeader*>(mepoo::ChunkHeader::fromUserPayload(payload)->userHeader()); | ||
port().sendResponse(responseHeader); | ||
} | ||
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} // namespace popo | ||
} // namespace iox | ||
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#endif // IOX_POSH_POPO_SERVER_IMPL_INL |
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// 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 | ||
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#ifndef IOX_POSH_POPO_CLIENT_HPP | ||
#define IOX_POSH_POPO_CLIENT_HPP | ||
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#include "iceoryx_posh/capro/service_description.hpp" | ||
#include "iceoryx_posh/internal/popo/client_impl.hpp" | ||
#include "iceoryx_posh/popo/client_options.hpp" | ||
#include "iceoryx_posh/popo/trigger_handle.hpp" | ||
#include "iceoryx_posh/runtime/posh_runtime.hpp" | ||
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namespace iox | ||
{ | ||
namespace popo | ||
{ | ||
template <typename Req, typename Res> | ||
class Client : public ClientImpl<Req, Res> | ||
{ | ||
public: | ||
using ClientImpl<Req, Res>::ClientImpl; | ||
}; | ||
} // namespace popo | ||
} // namespace iox | ||
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#endif // IOX_POSH_POPO_CLIENT_HPP |
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// 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 | ||
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#ifndef IOX_POSH_POPO_SERVER_HPP | ||
#define IOX_POSH_POPO_SERVER_HPP | ||
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#include "iceoryx_posh/internal/popo/server_impl.hpp" | ||
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namespace iox | ||
{ | ||
namespace popo | ||
{ | ||
template <typename Req, typename Res> | ||
class Server : public ServerImpl<Req, Res> | ||
{ | ||
public: | ||
using ServerImpl<Req, Res>::ServerImpl; | ||
}; | ||
} // namespace popo | ||
} // namespace iox | ||
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#endif // IOX_POSH_POPO_SERVER_HPP |