ice_waitset_trigger.cpp

// Copyright (c) 2020 - 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

#include "iceoryx_posh/popo/enum_trigger_type.hpp"
#include "iceoryx_posh/popo/wait_set.hpp"
#include "iceoryx_posh/runtime/posh_runtime.hpp"
#include "iox/optional.hpp"

#include <iostream>
#include <thread>

std::atomic_bool keepRunning{true};

using WaitSet = iox::popo::WaitSet<>;

// The two states and events the MyTriggerClass offers
//! [state enum]
enum class MyTriggerClassStates : iox::popo::StateEnumIdentifier
{
    HAS_PERFORMED_ACTION,
    IS_ACTIVATED
};
//! [state enum]

//! [event enum]
enum class MyTriggerClassEvents : iox::popo::EventEnumIdentifier
{
    PERFORM_ACTION_CALLED,
    ACTIVATE_CALLED
};
//! [event enum]

// Triggerable class which has two states and events which can be
// attached to a WaitSet.
class MyTriggerClass
{
  public:
    MyTriggerClass() = default;
    ~MyTriggerClass() = default;

    // IMPORTANT: For now the WaitSet does not support that the origin is moved
    //            or copied. To support that we have to inform the waitset about
    //            our new origin, otherwise the WaitSet would end up in the wrong
    //            memory location when it calls the 'hasTriggerCallback' with the
    //            old origin (already moved) pointer. The same applies to
    //            the resetCallback which is used when the WaitSet goes out of scope
    //            and is pointing also to the old origin.
    //! [no move and copy]
    MyTriggerClass(const MyTriggerClass&) = delete;
    MyTriggerClass(MyTriggerClass&&) = delete;
    MyTriggerClass& operator=(const MyTriggerClass&) = delete;
    MyTriggerClass& operator=(MyTriggerClass&&) = delete;
    //! [no move and copy]

    //! [activate and performAction]
    // When you call this method you will trigger the ACTIVATE event
    void activate(const uint64_t activationCode) noexcept
    {
        m_activationCode = activationCode;
        m_isActivated = true;
        m_activateTrigger.trigger();
    }

    // Calling this method will trigger the PERFORMED_ACTION event
    void performAction() noexcept
    {
        m_hasPerformedAction = true;
        m_onActionTrigger.trigger();
    }
    //! [activate and performAction]

    uint64_t getActivationCode() const noexcept
    {
        return m_activationCode;
    }

    //! [state checks]
    // required by the m_onActionTrigger to ask the class if it was triggered
    bool hasPerformedAction() const noexcept
    {
        return m_hasPerformedAction;
    }

    // required by the m_activateTrigger to ask the class if it was triggered
    bool isActivated() const noexcept
    {
        return m_isActivated;
    }
    //! [state checks]

    // reset PERFORMED_ACTION and ACTIVATE event
    void reset(const MyTriggerClassStates event) noexcept
    {
        switch (event)
        {
        case MyTriggerClassStates::HAS_PERFORMED_ACTION:
            m_hasPerformedAction = false;
            break;
        case MyTriggerClassStates::IS_ACTIVATED:
            m_isActivated = false;
            break;
        }
    }

    static void callOnAction(MyTriggerClass* const triggerClassPtr)
    {
        // Ignore unused variable warning
        (void)triggerClassPtr;
        std::cout << "action performed" << std::endl;
    }

    //! [attorney]
    friend iox::popo::NotificationAttorney;
    //! [attorney]

  private:
    /// @brief Only usable by the WaitSet, not for public use
    // This method attaches a state of the class to a waitset.
    // The state is choosen by the state parameter. Additionally, you can
    // set an eventId to group multiple instances and a custom callback.
    //! [enableState]
    void enableState(iox::popo::TriggerHandle&& triggerHandle, const MyTriggerClassStates state) noexcept
    {
        switch (state)
        {
        case MyTriggerClassStates::HAS_PERFORMED_ACTION:
            m_onActionTrigger = std::move(triggerHandle);
            break;
        case MyTriggerClassStates::IS_ACTIVATED:
            m_activateTrigger = std::move(triggerHandle);
            break;
        }
    }
    //! [enableState]

    /// @brief Only usable by the WaitSet, not for public use
    // This method attaches an event of the class to a waitset.
    // The event is choosen by the event parameter. Additionally, you can
    // set an eventId to group multiple instances and a custom callback.
    //! [enableEvent]
    void enableEvent(iox::popo::TriggerHandle&& triggerHandle, const MyTriggerClassEvents event) noexcept
    {
        switch (event)
        {
        case MyTriggerClassEvents::PERFORM_ACTION_CALLED:
            m_onActionTrigger = std::move(triggerHandle);
            break;
        case MyTriggerClassEvents::ACTIVATE_CALLED:
            m_activateTrigger = std::move(triggerHandle);
            break;
        }
    }
    //! [enableEvent]

    /// @brief Only usable by the WaitSet, not for public use
    // we offer the waitset a method to invalidate a trigger if it goes
    // out of scope
    //! [invalidateTrigger]
    void invalidateTrigger(const uint64_t uniqueTriggerId)
    {
        if (m_onActionTrigger.getUniqueId() == uniqueTriggerId)
        {
            m_onActionTrigger.invalidate();
        }
        else if (m_activateTrigger.getUniqueId() == uniqueTriggerId)
        {
            m_activateTrigger.invalidate();
        }
    }
    //! [invalidateTrigger]

    //! [disableState]
    void disableState(const MyTriggerClassStates state) noexcept
    {
        switch (state)
        {
        case MyTriggerClassStates::HAS_PERFORMED_ACTION:
            m_onActionTrigger.reset();
            break;
        case MyTriggerClassStates::IS_ACTIVATED:
            m_activateTrigger.reset();
            break;
        }
    }
    //! [disableState]

    //! [disableEvent]
    void disableEvent(const MyTriggerClassEvents event) noexcept
    {
        switch (event)
        {
        case MyTriggerClassEvents::PERFORM_ACTION_CALLED:
            m_onActionTrigger.reset();
            break;
        case MyTriggerClassEvents::ACTIVATE_CALLED:
            m_activateTrigger.reset();
            break;
        }
    }
    //! [disableEvent]

    /// @brief Only usable by the WaitSet, not for public use
    //! [condition satisfied]
    iox::popo::WaitSetIsConditionSatisfiedCallback
    getCallbackForIsStateConditionSatisfied(const MyTriggerClassStates event) const noexcept
    {
        switch (event)
        {
        case MyTriggerClassStates::HAS_PERFORMED_ACTION:
            return iox::popo::WaitSetIsConditionSatisfiedCallback(
                iox::in_place, *this, &MyTriggerClass::hasPerformedAction);
        case MyTriggerClassStates::IS_ACTIVATED:
            return iox::popo::WaitSetIsConditionSatisfiedCallback(iox::in_place, *this, &MyTriggerClass::isActivated);
        }
        return iox::nullopt;
    }
    //! [condition satisfied]

  private:
    uint64_t m_activationCode = 0U;
    bool m_hasPerformedAction = false;
    bool m_isActivated = false;

    iox::popo::TriggerHandle m_onActionTrigger;
    iox::popo::TriggerHandle m_activateTrigger;
};

constexpr uint64_t ACTIVATE_ID = 0U;
constexpr uint64_t ACTION_ID = 1U;

void callOnActivate(MyTriggerClass* const triggerClassPtr)
{
    std::cout << "activated with code: " << triggerClassPtr->getActivationCode() << std::endl;
}

// The global event loop. It will create an infinite loop and
// will work on the incoming notifications.
//! [event loop]
void eventLoop(WaitSet& waitset)
{
    while (keepRunning)
    {
        auto notificationVector = waitset.wait();
        for (auto& notification : notificationVector)
        {
            if (notification->getNotificationId() == ACTIVATE_ID)
            {
                // reset MyTriggerClass instance state
                notification->getOrigin<MyTriggerClass>()->reset(MyTriggerClassStates::IS_ACTIVATED);
                // call the callback attached to the trigger
                (*notification)();
            }
            else if (notification->getNotificationId() == ACTION_ID)
            {
                // reset is not required since we attached an notification here. we will be notified once
                (*notification)();
            }
        }
    }
}
//! [event loop]

int main()
{
    iox::runtime::PoshRuntime::initRuntime("iox-cpp-waitset-trigger");

    // we create a waitset and a triggerClass instance inside of the two
    // global optionals
    //! [create]
    WaitSet waitset;
    MyTriggerClass triggerClass;
    //! [create]

    //! [attach]
    // attach the IS_ACTIVATED state to the waitset and assign a callback
    waitset
        .attachState(triggerClass,
                     MyTriggerClassStates::IS_ACTIVATED,
                     ACTIVATE_ID,
                     iox::popo::createNotificationCallback(callOnActivate))
        .or_else([](auto) {
            std::cerr << "failed to attach MyTriggerClassStates::IS_ACTIVATED state " << std::endl;
            std::exit(EXIT_FAILURE);
        });
    // attach the PERFORM_ACTION_CALLED event to the waitset and assign a callback
    waitset
        .attachEvent(triggerClass,
                     MyTriggerClassEvents::PERFORM_ACTION_CALLED,
                     ACTION_ID,
                     iox::popo::createNotificationCallback(MyTriggerClass::callOnAction))
        .or_else([](auto) {
            std::cerr << "failed to attach MyTriggerClassEvents::PERFORM_ACTION_CALLED event " << std::endl;
            std::exit(EXIT_FAILURE);
        });
    //! [attach]

    // start the event loop which is handling the events
    //! [start event loop]
    std::thread eventLoopThread(eventLoop, std::ref(waitset));
    //! [start event loop]

    // start a thread which will trigger an event every second
    //! [start trigger]
    std::thread triggerThread([&] {
        uint64_t activationCode = 1U;
        for (auto i = 0U; i < 10; ++i)
        {
            std::this_thread::sleep_for(std::chrono::seconds(1));
            triggerClass.activate(activationCode++);
            std::this_thread::sleep_for(std::chrono::seconds(1));
            triggerClass.performAction();
        }

        std::cout << "Sending final trigger" << std::endl;
        keepRunning = false;
        triggerClass.activate(activationCode++);
        triggerClass.performAction();
    });
    //! [start trigger]

    triggerThread.join();
    eventLoopThread.join();

    return (EXIT_SUCCESS);
}