iox-#27 Add UntypedServer and UntypedServerImpl

doc/design/diagrams/request_response/untyped_api.puml

@@ -6,11 +6,11 @@ class UntypedClient {
   disconnect(): void
   getConnectionState(): ConnectionState
   loan(userPayloadSize: uint32_t, userPayloadAlignment: uint32_t): expected<void*, Error>
-  send(request: void*): void
-  freeRequest(request: void*): void
+  send(requestPayload: void*): void
+  freeRequest(requestPayload: void*): void
   hasResponses(): bool
   take(): expected<void*, Error>
-  releaseResponse(response: void*): void
+  releaseResponse(responsePayload: void*): void
   releaseQueuedResponses(): void
   hasMissedResponses(): bool
 }
@@ -23,12 +23,12 @@ class UntypedServer {
   hasClients(): bool
   hasRequests(): bool
   take(): expected<void*, Error>
-  releaseRequest(request: void*): void
+  releaseRequest(requestPayload: void*): void
   releaseQueuedRequests(): void
   hasMissedRequests(): bool
   loan(requestHeader: RequestHeader*, userPayloadSize: uint32_t, userPayloadAlignment: uint32_t): expected<void*, Error>
-  send(response: void*): void
-  freeResponse(response: void*): void
+  send(responsePayload: void*): void
+  freeResponse(responsePayload: void*): void
 }
 
 @enduml

iceoryx_posh/include/iceoryx_posh/internal/popo/untyped_server_impl.hpp

@@ -0,0 +1,51 @@
+// 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
+
+#ifndef IOX_POSH_POPO_UNTYPED_SERVER_IMPL_HPP
+#define IOX_POSH_POPO_UNTYPED_SERVER_IMPL_HPP
+
+#include "iceoryx_posh/capro/service_description.hpp"
+#include "iceoryx_posh/internal/popo/base_server.hpp"
+#include "iceoryx_posh/popo/server_options.hpp"
+
+namespace iox
+{
+namespace popo
+{
+template <typename BaseServerT = BaseServer<>>
+class UntypedServerImpl : public BaseServerT
+{
+  public:
+    explicit UntypedServerImpl(const capro::ServiceDescription& service,
+                               const ServerOptions& serverOptions = {}) noexcept;
+
+    cxx::expected<const void*, ServerRequestResult> take() noexcept;
+    void releaseRequest(const void* const requestPayload) noexcept;
+
+    cxx::expected<void*, AllocationError>
+    loan(const RequestHeader* requestHeader, const uint32_t payloadSize, const uint32_t payloadAlignment) noexcept;
+    void send(void* const responsePayload) noexcept;
+    void freeResponse(void* const responsePayload) noexcept;
+
+  protected:
+    using BaseServerT::port;
+};
+} // namespace popo
+} // namespace iox
+
+#include "iceoryx_posh/internal/popo/untyped_server_impl.inl"
+
+#endif // IOX_POSH_POPO_UNTYPED_SERVER_IMPL_HPP