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Re-enable iceoryx2 backend in feo-com #54

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24 changes: 9 additions & 15 deletions src/feo-com/BUILD.bazel
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Original file line number Diff line number Diff line change
Expand Up @@ -17,53 +17,47 @@ rust_library(
name = "libfeo_com_rust_mw_com",
srcs = [
"src/interface.rs",
# Disabled due to compilation error of iceoryx2
# "src/iox2/mod.rs",
"src/iox2/mod.rs",
"src/lib.rs",
"src/linux_shm/mod.rs",
"src/linux_shm/shared_memory.rs",
"src/mw_com/mod.rs",
],
crate_features = [
# Disabled due to compilation error of iceoryx2
# "ipc_iceoryx2",
"ipc_iceoryx2",
"ipc_linux_shm",
"ipc_mw_com",
],
crate_name = "feo_com",
visibility = ["//visibility:public"],
deps = [
# Disabled due to compilation error of iceoryx2
# "@score_crates//:iceoryx2",
"@score_crates//:nix",
"@score_crates//:rand",
"@score_baselibs_rust//src/log/score_log",
"@score_communication//score/mw/com/impl/rust/com-api/com-api",
"@score_crates//:iceoryx2",
"@score_crates//:nix",
"@score_crates//:rand",
],
)

rust_library(
name = "libfeo_com_rust",
srcs = [
"src/interface.rs",
# Disabled due to compilation error of iceoryx2
# "src/iox2/mod.rs",
"src/iox2/mod.rs",
"src/lib.rs",
"src/linux_shm/mod.rs",
"src/linux_shm/shared_memory.rs",
],
crate_features = [
# Disabled due to compilation error of iceoryx2
# "ipc_iceoryx2",
"ipc_iceoryx2",
"ipc_linux_shm",
],
crate_name = "feo_com",
visibility = ["//visibility:public"],
deps = [
# Disabled due to compilation error of iceoryx2
# "@score_crates//:iceoryx2",
"@score_baselibs_rust//src/log/score_log",
"@score_crates//:iceoryx2",
"@score_crates//:nix",
"@score_crates//:rand",
"@score_baselibs_rust//src/log/score_log",
],
)
76 changes: 50 additions & 26 deletions src/feo-com/src/iox2/mod.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -13,16 +13,16 @@

//! iceoryx2 com backend

use crate::interface::FeoComData;
use crate::interface::FeoComDefault;
use crate::interface::{
ActivityInput, ActivityOutput, ActivityOutputDefault, Error, InputGuard, OutputGuard, OutputUninitGuard, Topic,
TopicHandle,
};
use alloc::boxed::Box;
use alloc::format;
use core::fmt;
use core::mem::MaybeUninit;
use core::ops::{Deref, DerefMut};
use feo_log::{error, info};
use iceoryx2::config::Config;
use iceoryx2::node::{Node, NodeBuilder, NodeState};
use iceoryx2::port::publisher::Publisher;
Expand All @@ -32,11 +32,15 @@ use iceoryx2::sample::Sample;
use iceoryx2::sample_mut::SampleMut;
use iceoryx2::sample_mut_uninit::SampleMutUninit;
use iceoryx2::service::ipc;
use score_log::{error, info};
use std::process;

/// Initialize topic with the given number of writers (publishers) and readers (subscribers).
pub fn init_topic<T: core::fmt::Debug + 'static>(topic: Topic, writers: usize, readers: usize) -> TopicHandle {
info!("Initializing topic {topic} (Iceoryx2, {writers} writers and {readers} readers)");
pub fn init_topic<T: FeoComData + 'static>(topic: Topic, writers: usize, readers: usize) -> TopicHandle {
info!(
"Initializing topic {} (Iceoryx2, {} writers and {} readers)",
topic, writers, readers
);
let port_factory = ipc_node()
.service_builder(&(*topic).try_into().unwrap_or_else(|_| panic!("invalid topic {topic}")))
.publish_subscribe::<T>()
Expand All @@ -53,14 +57,14 @@ pub fn init_topic<T: core::fmt::Debug + 'static>(topic: Topic, writers: usize, r
#[derive(Debug)]
pub struct Iox2Input<T>
where
T: fmt::Debug + 'static,
T: FeoComData + 'static,
{
subscriber: Subscriber<ipc::Service, T, ()>,
}

impl<T> Iox2Input<T>
where
T: fmt::Debug + 'static,
T: FeoComData + 'static,
{
// Create a new instance for the given `topic`
pub fn new(topic: &str) -> Self {
Expand All @@ -78,9 +82,9 @@ where

impl<T> ActivityInput<T> for Iox2Input<T>
where
T: fmt::Debug + 'static,
T: FeoComData + 'static,
{
fn read(&self) -> Result<InputGuard<T>, Error> {
fn read(&self) -> Result<InputGuard<'_, T>, Error> {
match self.subscriber.receive() {
Ok(Some(sample)) => Ok(InputGuard::Iox2(Iox2InputGuard { sample })),
Ok(None) | Err(_) => Err(Error::NoEmptyBuffer),
Expand All @@ -92,14 +96,14 @@ where
#[derive(Debug)]
pub struct Iox2Output<T>
where
T: fmt::Debug + 'static,
T: FeoComData + 'static,
{
publisher: Publisher<ipc::Service, T, ()>,
}

impl<T> Iox2Output<T>
where
T: fmt::Debug + 'static,
T: FeoComData + 'static,
{
// Create a new instance for the given `topic`
pub fn new(topic: &str) -> Self {
Expand All @@ -117,10 +121,10 @@ where

impl<T> ActivityOutput<T> for Iox2Output<T>
where
T: fmt::Debug + 'static,
T: FeoComData + 'static,
{
/// Get a handle to an uninitialized buffer
fn write_uninit(&mut self) -> Result<OutputUninitGuard<T>, Error> {
fn write_uninit(&mut self) -> Result<OutputUninitGuard<'_, T>, Error> {
self.publisher
.loan_uninit()
.map(|sample| OutputUninitGuard::Iox2(Iox2OutputUninitGuard { sample }))
Expand All @@ -130,10 +134,10 @@ where

impl<T> ActivityOutputDefault<T> for Iox2Output<T>
where
T: fmt::Debug + Default + 'static,
T: FeoComData + FeoComDefault + 'static,
{
/// Get a handle to a buffer initialized with the [Default] trait
fn write_init(&mut self) -> Result<OutputGuard<T>, Error> {
fn write_init(&mut self) -> Result<OutputGuard<'_, T>, Error> {
self.publisher
.loan()
.map(|sample| OutputGuard::Iox2(Iox2OutputGuard { sample }))
Expand All @@ -142,11 +146,11 @@ where
}

/// Handle to an input buffer
pub struct Iox2InputGuard<T: fmt::Debug> {
pub struct Iox2InputGuard<T: FeoComData> {
sample: Sample<ipc::Service, T, ()>,
}

impl<T: fmt::Debug> Deref for Iox2InputGuard<T> {
impl<T: FeoComData> Deref for Iox2InputGuard<T> {
type Target = T;

fn deref(&self) -> &Self::Target {
Expand All @@ -155,42 +159,42 @@ impl<T: fmt::Debug> Deref for Iox2InputGuard<T> {
}

/// Handle to an initialized output buffer
pub struct Iox2OutputGuard<T: fmt::Debug> {
pub struct Iox2OutputGuard<T: FeoComData> {
sample: SampleMut<ipc::Service, T, ()>,
}

impl<T> Iox2OutputGuard<T>
where
T: fmt::Debug,
T: FeoComData,
{
/// Send this buffer, making it receivable as input and consuming the buffer
pub(crate) fn send(self) -> Result<(), Error> {
self.sample.send().map(|_| {}).map_err(|_| Error::SendFailed)
}
}

impl<T: fmt::Debug> Deref for Iox2OutputGuard<T> {
impl<T: FeoComData> Deref for Iox2OutputGuard<T> {
type Target = T;

fn deref(&self) -> &Self::Target {
self.sample.payload()
}
}

impl<T: fmt::Debug> DerefMut for Iox2OutputGuard<T> {
impl<T: FeoComData> DerefMut for Iox2OutputGuard<T> {
fn deref_mut(&mut self) -> &mut Self::Target {
self.sample.payload_mut()
}
}

/// Handle to an uninitialized output buffer
pub struct Iox2OutputUninitGuard<T: fmt::Debug> {
pub struct Iox2OutputUninitGuard<T: FeoComData> {
sample: SampleMutUninit<ipc::Service, MaybeUninit<T>, ()>,
}

impl<T> Iox2OutputUninitGuard<T>
where
T: fmt::Debug,
T: FeoComData,
{
/// Assume the backing buffer is initialized
///
Expand All @@ -211,7 +215,7 @@ where

impl<T> Iox2OutputUninitGuard<T>
where
T: fmt::Debug + Default,
T: FeoComData + FeoComDefault,
{
/// Initialize this buffer with its [Default] implementation
pub(crate) fn init(self) -> Iox2OutputGuard<T> {
Expand All @@ -220,15 +224,15 @@ where
}
}

impl<T: fmt::Debug> Deref for Iox2OutputUninitGuard<T> {
impl<T: FeoComData> Deref for Iox2OutputUninitGuard<T> {
type Target = MaybeUninit<T>;

fn deref(&self) -> &Self::Target {
self.sample.payload()
}
}

impl<T: fmt::Debug> DerefMut for Iox2OutputUninitGuard<T> {
impl<T: FeoComData> DerefMut for Iox2OutputUninitGuard<T> {
fn deref_mut(&mut self) -> &mut Self::Target {
self.sample.payload_mut()
}
Expand All @@ -249,7 +253,10 @@ fn ipc_node() -> &'static Node<ipc::Service> {
Node::<ipc::Service>::list(&config, |node_state| {
if let NodeState::<ipc::Service>::Dead(view) = node_state {
if let Err(e) = view.remove_stale_resources() {
error!("Failed to clean iceoryx2 resources: {:?}", e);
error!(
"Failed to clean iceoryx2 resources: {:?}",
NodeCleanupFailureScoreDebug(e)
);
}
}
CallbackProgression::Continue
Expand All @@ -265,3 +272,20 @@ fn ipc_node() -> &'static Node<ipc::Service> {
.expect("failed to create ipc node")
})
}

struct NodeCleanupFailureScoreDebug(iceoryx2::node::NodeCleanupFailure);

impl score_log::fmt::ScoreDebug for NodeCleanupFailureScoreDebug {
fn fmt(
&self,
w: &mut dyn score_log::fmt::ScoreWrite,
spec: &score_log::fmt::FormatSpec,
) -> Result<(), score_log::fmt::Error> {
use iceoryx2::node::NodeCleanupFailure;
match self.0 {
NodeCleanupFailure::Interrupt => w.write_str("interrupt", spec),
NodeCleanupFailure::InternalError => w.write_str("internal error", spec),
NodeCleanupFailure::InsufficientPermissions => w.write_str("insufficient permissions", spec),
}
}
}
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