Merge pull request #417 from ApexAI/iox-#91-minor-roudi-cleanups

Iox #91 Clean up todo's in RouDi classes

GOVERNANCE.md

@@ -9,9 +9,9 @@ An up to date list of the maintainers can be found at the [Eclipse project page]
 
 ## Bi-weekly meetup
 
-Bi-weekly every Thursday for 1 hour. Everyone is welcome to join.
+Bi-weekly every first and third Thursday for 1 hour. Everyone is welcome to join.
 
-You can join by using this Zoom link: **ADD LINK HERE**
+You can join by using this Zoom link: https://eclipse.zoom.us/j/95918504483?pwd=RWM5Y1pkeStKVDZsU09EY1hnclREUT09
 
 ```
 08:00 PST (GMT - 8)
@@ -51,8 +51,11 @@ If you have points that you want to discuss, please send your points to the [mai
 ```
 # Eclipse iceoryx developer meetup
 
-Date: 1st January 1900
-Time: 17:00 CET
+**Date:** 1900/01/01
+
+**Time:** 17:00 CET
+
+**Link:** https://eclipse.zoom.us/j/95918504483?pwd=RWM5Y1pkeStKVDZsU09EY1hnclREUT09
 
 ## Attendees
 

iceoryx_dds/include/iceoryx_dds/dds/dds_config.hpp

@@ -21,6 +21,7 @@ namespace iox
 {
 namespace dds
 {
+using namespace units::duration_literals;
 static constexpr units::Duration DISCOVERY_PERIOD = 1000_ms;
 static constexpr units::Duration FORWARDING_PERIOD = 50_ms;
 static constexpr uint32_t SUBSCRIBER_CACHE_SIZE = 128u;

iceoryx_examples/singleprocess/single_process.cpp

@@ -98,7 +98,7 @@ int main()
 
     iox::roudi::RouDi roudi(roudiComponents.m_rouDiMemoryManager,
                             roudiComponents.m_portManager,
-                            iox::roudi::RouDi::RoudiStartupParameters{iox::config::MonitoringMode::OFF, false});
+                            iox::roudi::RouDi::RoudiStartupParameters{iox::roudi::MonitoringMode::OFF, false});
 
     // create a single process runtime for inter thread communication
     iox::runtime::PoshRuntimeSingleProcess runtime("/singleProcessDemo");

iceoryx_posh/CMakeLists.txt

@@ -218,6 +218,7 @@ add_library(iceoryx_posh_roudi
     source/roudi/roudi_lock.cpp
     source/roudi/roudi_process.cpp
     source/roudi/service_registry.cpp
+    source/roudi/iceoryx_roudi_components.cpp
 )
 
 add_library(${PROJECT_NAMESPACE}::iceoryx_posh_roudi ALIAS iceoryx_posh_roudi)

iceoryx_posh/include/iceoryx_posh/gateway/gateway_generic.hpp

@@ -26,6 +26,7 @@
 #include "iceoryx_utils/cxx/string.hpp"
 #include "iceoryx_utils/cxx/vector.hpp"
 #include "iceoryx_utils/internal/concurrent/smart_lock.hpp"
+#include "iceoryx_utils/internal/units/duration.hpp"
 
 #include <atomic>
 #include <thread>
@@ -34,6 +35,8 @@ namespace iox
 {
 namespace gw
 {
+using namespace iox::units::duration_literals;
+
 enum class GatewayError : uint8_t
 {
     UNSUPPORTED_SERVICE_TYPE,

iceoryx_posh/include/iceoryx_posh/gateway/toml_gateway_config_parser.hpp

@@ -52,7 +52,7 @@ class TomlGatewayConfigParser
 {
   public:
     static cxx::expected<GatewayConfig, TomlGatewayConfigParseError> parse();
-    static cxx::expected<GatewayConfig, TomlGatewayConfigParseError> parse(const ConfigFilePathString_t& path);
+    static cxx::expected<GatewayConfig, TomlGatewayConfigParseError> parse(const roudi::ConfigFilePathString_t& path);
 
   protected:
     static cxx::expected<TomlGatewayConfigParseError> validate(const cpptoml::table& parsedToml) noexcept;

iceoryx_posh/include/iceoryx_posh/iceoryx_posh_types.hpp

@@ -19,6 +19,7 @@
 #include "iceoryx_utils/cxx/variant_queue.hpp"
 #include "iceoryx_utils/cxx/vector.hpp"
 #include "iceoryx_utils/internal/units/duration.hpp"
+#include "iceoryx_utils/log/logstream.hpp"
 
 #include <cstdint>
 
@@ -49,8 +50,6 @@ using UniquePortId = popo::TypedUniqueId<popo::BasePortData>;
 
 using SubscriberPortType = iox::build::CommunicationPolicy;
 
-constexpr char MQ_ROUDI_NAME[] = "/roudi";
-
 /// @brief The socket is created in the current path if no absolute path is given hence
 ///      we need an absolut path so that every application knows where our sockets can
 ///      be found.
@@ -60,20 +59,6 @@ using IpcChannelType = iox::posix::UnixDomainSocket;
 using IpcChannelType = iox::posix::MessageQueue;
 #endif
 
-/// shared memmory segment for the iceoryx managment data
-constexpr char SHM_NAME[] = "/iceoryx_mgmt";
-
-// Make the user-defined literal operators accessible
-using namespace units::duration_literals;
-
-// Timeout
-constexpr units::Duration PROCESS_DEFAULT_KILL_DELAY = 45_s;
-constexpr units::Duration PROCESS_TERMINATED_CHECK_INTERVAL = 250_ms;
-constexpr units::Duration PROCESS_WAITING_FOR_ROUDI_TIMEOUT = 60_s;
-constexpr units::Duration DISCOVERY_INTERVAL = 100_ms;
-constexpr units::Duration PROCESS_KEEP_ALIVE_INTERVAL = 3 * DISCOVERY_INTERVAL;         // > DISCOVERY_INTERVAL
-constexpr units::Duration PROCESS_KEEP_ALIVE_TIMEOUT = 5 * PROCESS_KEEP_ALIVE_INTERVAL; // > PROCESS_KEEP_ALIVE_INTERVAL
-
 /// @todo remove MAX_RECEIVERS_PER_SENDERPORT when the new port building blocks are used
 constexpr uint32_t MAX_RECEIVERS_PER_SENDERPORT = build::IOX_MAX_SUBSCRIBERS_PER_PUBLISHER;
 
@@ -191,19 +176,53 @@ struct DefaultChunkQueueConfig
 };
 
 // alias for cxx::string
-using ConfigFilePathString_t = cxx::string<1024>;
 using ProcessName_t = cxx::string<MAX_PROCESS_NAME_LENGTH>;
 using NodeName_t = cxx::string<100>;
 using ShmName_t = cxx::string<128>;
 
 namespace capro
 {
-    using IdString_t = cxx::string<100>;
+using IdString_t = cxx::string<100>;
 }
 
+/// @todo Move everything in this namespace to iceoryx_roudi_types.hpp once we move RouDi to a separate CMake target
+namespace roudi
+{
+using ConfigFilePathString_t = cxx::string<1024>;
+
+constexpr char MQ_ROUDI_NAME[] = "/roudi";
+
+/// shared memmory segment for the iceoryx managment data
+constexpr char SHM_NAME[] = "/iceoryx_mgmt";
+
+// Timeout
+using namespace units::duration_literals;
+constexpr units::Duration PROCESS_DEFAULT_KILL_DELAY = 45_s;
+constexpr units::Duration PROCESS_TERMINATED_CHECK_INTERVAL = 250_ms;
+constexpr units::Duration DISCOVERY_INTERVAL = 100_ms;
+
+/// @brief Controls process alive monitoring. Upon timeout, a monitored process is removed
+/// and its resources are made available. The process can then start and register itself again.
+/// Contrarily, unmonitored processes can be restarted but registration will fail.
+/// Once Runlevel Management is extended, it will detect absent processes. Those processes can register again.
+/// ON - all processes are monitored
+/// OFF - no process is monitored
+enum class MonitoringMode
+{
+    ON,
+    OFF
+};
+
+iox::log::LogStream& operator<<(iox::log::LogStream& logstream, const MonitoringMode& mode);
+} // namespace roudi
+
 namespace runtime
 {
 using InstanceContainer = iox::cxx::vector<capro::IdString_t, MAX_NUMBER_OF_INSTANCES>;
+using namespace units::duration_literals;
+constexpr units::Duration PROCESS_WAITING_FOR_ROUDI_TIMEOUT = 60_s;
+constexpr units::Duration PROCESS_KEEP_ALIVE_INTERVAL = 3 * roudi::DISCOVERY_INTERVAL;  // > DISCOVERY_INTERVAL
+constexpr units::Duration PROCESS_KEEP_ALIVE_TIMEOUT = 5 * PROCESS_KEEP_ALIVE_INTERVAL; // > PROCESS_KEEP_ALIVE_INTERVAL
 } // namespace runtime
 
 namespace version
@@ -216,4 +235,6 @@ using BuildDateString_t = cxx::string<BUILD_DATE_STRING_SIZE>;
 
 } // namespace iox
 
+#include "iceoryx_posh/iceoryx_posh_types.inl"
+
 #endif // IOX_POSH_ICEORYX_POSH_TYPES_HPP

iceoryx_posh/include/iceoryx_posh/iceoryx_posh_types.inl

@@ -0,0 +1,41 @@
+// Copyright (c) 2020 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.
+#ifndef IOX_POSH_ICEORYX_POSH_TYPES_INL
+#define IOX_POSH_ICEORYX_POSH_TYPES_INL
+
+namespace iox
+{
+namespace roudi
+{
+inline iox::log::LogStream& operator<<(iox::log::LogStream& logstream, const MonitoringMode& mode)
+{
+    switch (mode)
+    {
+    case MonitoringMode::OFF:
+        logstream << "MonitoringMode::OFF";
+        break;
+    case MonitoringMode::ON:
+        logstream << "MonitoringMode::ON";
+        break;
+    default:
+        logstream << "MonitoringMode::UNDEFINED";
+        break;
+    }
+    return logstream;
+}
+} // namespace roudi
+
+} // namespace iox
+
+#endif // IOX_POSH_ICEORYX_POSH_TYPES_INL

iceoryx_posh/include/iceoryx_posh/internal/roudi/introspection/mempool_introspection.inl

@@ -1,4 +1,4 @@
-// Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
+// Copyright (c) 2019, 2020 by Robert Bosch GmbH, 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.
@@ -14,6 +14,7 @@
 #ifndef IOX_POSH_ROUDI_INTROSPECTION_MEMPOOL_INTROSPECTION_INL
 #define IOX_POSH_ROUDI_INTROSPECTION_MEMPOOL_INTROSPECTION_INL
 
+#include "iceoryx_utils/posix_wrapper/thread.hpp"
 #include "mempool_introspection.hpp"
 
 namespace iox
@@ -30,9 +31,7 @@ MemPoolIntrospection<MemoryManager, SegmentManager, PublisherPort>::MemPoolIntro
 {
     m_publisherPort.offer();
 
-    /// @todo create a wrapper function which takes care of the 16 character limitation of the thread name
-    // set thread name
-    pthread_setname_np(m_thread.native_handle(), "MemPoolIntr");
+    posix::setThreadName(m_thread.native_handle(), "MemPoolIntr");
 }
 
 template <typename MemoryManager, typename SegmentManager, typename PublisherPort>

iceoryx_posh/include/iceoryx_posh/internal/roudi/introspection/port_introspection.hpp

@@ -21,7 +21,7 @@
 #include "iceoryx_posh/mepoo/chunk_header.hpp"
 #include "iceoryx_posh/roudi/introspection_types.hpp"
 #include "iceoryx_utils/cxx/helplets.hpp"
-#include "iceoryx_utils/platform/pthread.hpp"
+#include "iceoryx_utils/posix_wrapper/thread.hpp"
 
 #include <atomic>
 #include <mutex>

iceoryx_posh/include/iceoryx_posh/internal/roudi/introspection/port_introspection.inl

@@ -1,4 +1,4 @@
-// Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
+// Copyright (c) 2019, 2020 by Robert Bosch GmbH, 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.
@@ -14,6 +14,8 @@
 #ifndef IOX_POSH_ROUDI_INTROSPECTION_PORT_INTROSPECTION_INL
 #define IOX_POSH_ROUDI_INTROSPECTION_PORT_INTROSPECTION_INL
 
+#include "iceoryx_utils/posix_wrapper/thread.hpp"
+
 namespace iox
 {
 namespace roudi
@@ -99,7 +101,7 @@ void PortIntrospection<PublisherPort, SubscriberPort>::run()
     });
 
     // set thread name
-    pthread_setname_np(m_thread.native_handle(), "PortIntr");
+    posix::setThreadName(m_thread.native_handle(), "PortIntr");
 }
 
 template <typename PublisherPort, typename SubscriberPort>

iceoryx_posh/include/iceoryx_posh/internal/roudi/introspection/process_introspection.inl

@@ -1,4 +1,4 @@
-// Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
+// Copyright (c) 2019, 2020 by Robert Bosch GmbH, 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.
@@ -17,6 +17,7 @@
 #include "process_introspection.hpp"
 
 #include "iceoryx_posh/internal/log/posh_logging.hpp"
+#include "iceoryx_utils/posix_wrapper/thread.hpp"
 
 #include <chrono>
 
@@ -173,7 +174,7 @@ void ProcessIntrospection<PublisherPort>::run()
     });
 
     // set thread name
-    pthread_setname_np(m_thread.native_handle(), "ProcessIntr");
+    posix::setThreadName(m_thread.native_handle(), "ProcessIntr");
 }
 
 template <typename PublisherPort>

iceoryx_posh/include/iceoryx_posh/internal/roudi/roudi.hpp

@@ -52,11 +52,11 @@ class RouDi
     struct RoudiStartupParameters
     {
         RoudiStartupParameters(
-            const config::MonitoringMode monitoringMode = config::MonitoringMode::ON,
+            const roudi::MonitoringMode monitoringMode = roudi::MonitoringMode::ON,
             const bool killProcessesInDestructor = true,
             const MQThreadStart mqThreadStart = MQThreadStart::IMMEDIATE,
             const version::CompatibilityCheckLevel compatibilityCheckLevel = version::CompatibilityCheckLevel::PATCH,
-            const units::Duration processKillDelay = PROCESS_DEFAULT_KILL_DELAY) noexcept
+            const units::Duration processKillDelay = roudi::PROCESS_DEFAULT_KILL_DELAY) noexcept
             : m_monitoringMode(monitoringMode)
             , m_killProcessesInDestructor(killProcessesInDestructor)
             , m_mqThreadStart(mqThreadStart)
@@ -65,7 +65,7 @@ class RouDi
         {
         }
 
-        const config::MonitoringMode m_monitoringMode;
+        const roudi::MonitoringMode m_monitoringMode;
         const bool m_killProcessesInDestructor;
         const MQThreadStart m_mqThreadStart;
         const version::CompatibilityCheckLevel m_compatibilityCheckLevel;
@@ -148,7 +148,7 @@ class RouDi
     MemPoolIntrospectionType m_mempoolIntrospection;
 
   private:
-    config::MonitoringMode m_monitoringMode{config::MonitoringMode::ON};
+    roudi::MonitoringMode m_monitoringMode{roudi::MonitoringMode::ON};
     units::Duration m_processKillDelay;
 };
 

iceoryx_posh/include/iceoryx_posh/internal/roudi_environment/roudi_environment.hpp

@@ -36,7 +36,7 @@ class RouDiEnvironment
 {
   public:
     RouDiEnvironment(const RouDiConfig_t& roudiConfig = RouDiConfig_t().setDefaults(),
-                     config::MonitoringMode monitoringMode = config::MonitoringMode::OFF,
+                     roudi::MonitoringMode monitoringMode = roudi::MonitoringMode::OFF,
                      const uint16_t uniqueRouDiId = 0u);
     virtual ~RouDiEnvironment();
 

iceoryx_posh/include/iceoryx_posh/roudi/iceoryx_roudi_app.hpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
+// Copyright (c) 2019, 2020 by Robert Bosch GmbH, 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.
@@ -29,7 +29,8 @@ class IceOryxRouDiApp : public RouDiApp
     IceOryxRouDiApp(const config::CmdLineParser& cmdLineParser, const RouDiConfig_t& roudiConfig) noexcept;
 
     /// @brief starts the execution of the RouDi daemon
-    void run() noexcept override;
+    /// @return Return code for programm execution
+    uint8_t run() noexcept override;
 };
 
 } // namespace roudi