publisher.hpp

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// Copyright (c) 2024 Contributors to the Eclipse Foundation
//
// See the NOTICE file(s) distributed with this work for additional
// information regarding copyright ownership.
//
// This program and the accompanying materials are made available under the
// terms of the Apache Software License 2.0 which is available at
// https://www.apache.org/licenses/LICENSE-2.0, or the MIT license
// which is available at https://opensource.org/licenses/MIT.
//
// SPDX-License-Identifier: Apache-2.0 OR MIT
 
#ifndef IOX2_PUBLISHER_HPP
#define IOX2_PUBLISHER_HPP
 
#include "iox2/bb/expected.hpp"
#include "iox2/bb/slice.hpp"
#include "iox2/connection_failure.hpp"
#include "iox2/deployment/iceoryx2_cxx_feature_flags.hpp"
#include "iox2/iceoryx2.h"
#include "iox2/internal/helper.hpp"
#include "iox2/marker.hpp"
#include "iox2/port_name.hpp"
#include "iox2/sample_mut.hpp"
#include "iox2/sample_mut_uninit.hpp"
#include "iox2/service_type.hpp"
#include "iox2/unique_port_id.hpp"
 
#include <cstdint>
#include <type_traits>
 
#if IOX2_FEATURE_FLATBUFFERS
#include "iox2/internal/resizable_memory_publish_subscribe.hpp"
#include <flatbuffers/flatbuffer_builder.h>
#endif
 
namespace iox2 {
template <ServiceType S, typename Payload, typename UserHeader>
class Publisher {
    using ValueType = typename PayloadInfo<Payload>::ValueType;
 
  public:
    Publisher(Publisher&& rhs) noexcept;
    auto operator=(Publisher&& rhs) noexcept -> Publisher&;
    ~Publisher();
 
    Publisher(const Publisher&) = delete;
    auto operator=(const Publisher&) -> Publisher& = delete;
 
    auto id() const -> UniquePublisherId;
 
    auto name() const -> PortNameView;
 
    auto backpressure_strategy() const -> BackpressureStrategy;
 
    template <typename T = Payload, typename = std::enable_if_t<bb::IsSlice<T>::VALUE, void>>
    auto initial_max_slice_len() const -> uint64_t;
 
    auto max_loaned_samples() const -> uint64_t;
 
    template <typename T = Payload, typename = std::enable_if_t<bb::IsSlice<T>::VALUE, void>>
    auto allocation_strategy() const -> AllocationStrategy;
 
    template <typename T = Payload, typename = std::enable_if_t<!bb::IsSlice<T>::VALUE, void>>
    auto send_copy(const Payload& payload) const -> bb::Expected<size_t, SendError>;
 
    template <typename T = Payload, typename = std::enable_if_t<bb::IsSlice<T>::VALUE, void>>
    auto send_slice_copy(bb::ImmutableSlice<ValueType>& payload) const -> bb::Expected<size_t, SendError>;
 
#if IOX2_FEATURE_FLATBUFFERS
    template <typename T = Payload, typename = std::enable_if_t<has_flatbuffer_marker<T>(), void>>
    auto loan_flatbuffer() -> bb::Expected<SampleMutUninit<S, Payload, UserHeader>, LoanError>;
#endif // IOX2_FEATURE_FLATBUFFERS
 
    template <typename T = Payload,
              typename = std::enable_if_t<!bb::IsSlice<T>::VALUE && !has_flatbuffer_marker<T>(), void>>
    auto loan_uninit() -> bb::Expected<SampleMutUninit<S, Payload, UserHeader>, LoanError>;
 
    template <typename T = Payload,
              typename = std::enable_if_t<!bb::IsSlice<T>::VALUE && !has_flatbuffer_marker<T>(), void>>
    auto loan() -> bb::Expected<SampleMut<S, Payload, UserHeader>, LoanError>;
 
    template <typename T = Payload, typename = std::enable_if_t<bb::IsSlice<T>::VALUE, void>>
    auto loan_slice(uint64_t number_of_elements) -> bb::Expected<SampleMut<S, T, UserHeader>, LoanError>;
 
    template <typename T = Payload, typename = std::enable_if_t<bb::IsSlice<T>::VALUE, void>>
    auto loan_slice_uninit(uint64_t number_of_elements) -> bb::Expected<SampleMutUninit<S, T, UserHeader>, LoanError>;
 
    auto update_connections() -> bb::Expected<void, ConnectionFailure>;
 
  private:
    template <ServiceType, typename, typename>
    friend class PortFactoryPublisher;
 
    explicit Publisher(iox2_publisher_h handle);
    void drop();
 
    iox2_publisher_h m_handle = nullptr;
};
 
template <ServiceType S, typename Payload, typename UserHeader>
inline Publisher<S, Payload, UserHeader>::Publisher(iox2_publisher_h handle)
    : m_handle { handle } {
}
 
template <ServiceType S, typename Payload, typename UserHeader>
inline void Publisher<S, Payload, UserHeader>::drop() {
    if (m_handle != nullptr) {
        iox2_publisher_drop(m_handle);
        m_handle = nullptr;
    }
}
 
template <ServiceType S, typename Payload, typename UserHeader>
inline Publisher<S, Payload, UserHeader>::Publisher(Publisher&& rhs) noexcept {
    *this = std::move(rhs);
}
 
template <ServiceType S, typename Payload, typename UserHeader>
inline auto Publisher<S, Payload, UserHeader>::operator=(Publisher&& rhs) noexcept -> Publisher& {
    if (this != &rhs) {
        drop();
        m_handle = rhs.m_handle;
        rhs.m_handle = nullptr;
    }
 
    return *this;
}
 
template <ServiceType S, typename Payload, typename UserHeader>
inline Publisher<S, Payload, UserHeader>::~Publisher() {
    drop();
}
 
template <ServiceType S, typename Payload, typename UserHeader>
inline auto Publisher<S, Payload, UserHeader>::backpressure_strategy() const -> BackpressureStrategy {
    return iox2::bb::into<BackpressureStrategy>(static_cast<int>(iox2_publisher_backpressure_strategy(&m_handle)));
}
 
 
template <ServiceType S, typename Payload, typename UserHeader>
template <typename T, typename>
inline auto Publisher<S, Payload, UserHeader>::initial_max_slice_len() const -> uint64_t {
    return iox2_publisher_initial_max_slice_len(&m_handle);
}
 
template <ServiceType S, typename Payload, typename UserHeader>
inline auto Publisher<S, Payload, UserHeader>::max_loaned_samples() const -> uint64_t {
    return iox2_publisher_max_loaned_samples(&m_handle);
}
 
template <ServiceType S, typename Payload, typename UserHeader>
template <typename T, typename>
inline auto Publisher<S, Payload, UserHeader>::allocation_strategy() const -> AllocationStrategy {
    return iox2::bb::into<AllocationStrategy>(static_cast<int>(iox2_publisher_allocation_strategy(&m_handle)));
}
 
template <ServiceType S, typename Payload, typename UserHeader>
inline auto Publisher<S, Payload, UserHeader>::id() const -> UniquePublisherId {
    iox2_unique_publisher_id_h id_handle = nullptr;
 
    iox2_publisher_id(&m_handle, nullptr, &id_handle);
    return UniquePublisherId { id_handle };
}
 
template <ServiceType S, typename Payload, typename UserHeader>
inline auto Publisher<S, Payload, UserHeader>::name() const -> PortNameView {
    const auto* port_name_ptr = iox2_publisher_name(&m_handle);
    return PortNameView::from_native_ptr(port_name_ptr);
}
 
template <ServiceType S, typename Payload, typename UserHeader>
template <typename T, typename>
inline auto Publisher<S, Payload, UserHeader>::send_copy(const Payload& payload) const
    -> bb::Expected<size_t, SendError> {
    static_assert(std::is_trivially_copyable<Payload>::value,
                  "The publisher supports only trivially copyable payload types.");
 
    size_t number_of_recipients = 0;
    auto result =
        iox2_publisher_send_copy(&m_handle, static_cast<const void*>(&payload), sizeof(Payload), &number_of_recipients);
 
    if (result == IOX2_OK) {
        return number_of_recipients;
    }
 
    return bb::err(iox2::bb::into<SendError>(result));
}
 
template <ServiceType S, typename Payload, typename UserHeader>
template <typename T, typename>
inline auto Publisher<S, Payload, UserHeader>::send_slice_copy(bb::ImmutableSlice<ValueType>& payload) const
    -> bb::Expected<size_t, SendError> {
    size_t number_of_recipients = 0;
    auto result = iox2_publisher_send_slice_copy(&m_handle,
                                                 payload.data(),
                                                 sizeof(typename Payload::ValueType),
                                                 payload.number_of_elements(),
                                                 &number_of_recipients);
 
    if (result == IOX2_OK) {
        return number_of_recipients;
    }
 
    return bb::err(iox2::bb::into<SendError>(result));
}
 
#if IOX2_FEATURE_FLATBUFFERS
 
template <ServiceType S, typename Payload, typename UserHeader>
template <typename T, typename>
inline auto Publisher<S, Payload, UserHeader>::loan_flatbuffer()
    -> bb::Expected<SampleMutUninit<S, Payload, UserHeader>, LoanError> {
    SampleMutUninit<S, Payload, UserHeader> sample;
 
    auto result = iox2_publisher_loan_slice_uninit(&m_handle, &sample.m_sample.m_sample, &sample.m_sample.m_handle, 1);
 
    if (result != IOX2_OK) {
        return bb::err(iox2::bb::into<LoanError>(result));
    }
 
    iox2_resizable_memory_publish_subscribe_h resizable_memory_handle {};
    iox2_sample_mut_create_resizable_memory(&sample.m_sample.m_handle, nullptr, &resizable_memory_handle);
 
    // NOLINTNEXTLINE(cppcoreguidelines-owning-memory) The FlatBufferBuilder takes the ownership and the external interface requires a raw pointer.
    sample.m_memory = new internal::ResizableMemoryPublishSubscribe<S>(resizable_memory_handle);
 
    auto initial_size = sample.m_memory->len();
    sample.m_flatbuffer_builder = flatbuffers::FlatBufferBuilder(initial_size, sample.m_memory, true);
 
    return std::move(sample);
}
 
#endif // IOX2_FEATURE_FLATBUFFERS
 
template <ServiceType S, typename Payload, typename UserHeader>
template <typename T, typename>
inline auto Publisher<S, Payload, UserHeader>::loan_uninit()
    -> bb::Expected<SampleMutUninit<S, Payload, UserHeader>, LoanError> {
    SampleMutUninit<S, Payload, UserHeader> sample;
 
    auto result = iox2_publisher_loan_slice_uninit(&m_handle, &sample.m_sample.m_sample, &sample.m_sample.m_handle, 1);
    internal::PlacementDefault<UserHeader>::placement_default(sample);
 
    if (result == IOX2_OK) {
        return std::move(sample);
    }
 
    return bb::err(iox2::bb::into<LoanError>(result));
}
 
template <ServiceType S, typename Payload, typename UserHeader>
template <typename T, typename>
inline auto Publisher<S, Payload, UserHeader>::loan() -> bb::Expected<SampleMut<S, Payload, UserHeader>, LoanError> {
    auto sample = loan_uninit();
 
    if (!sample.has_value()) {
        return bb::err(sample.error());
    }
 
    new (&sample->payload_mut()) Payload();
 
    return assume_init(std::move(*sample));
}
 
template <ServiceType S, typename Payload, typename UserHeader>
template <typename T, typename>
inline auto Publisher<S, Payload, UserHeader>::loan_slice(const uint64_t number_of_elements)
    -> bb::Expected<SampleMut<S, T, UserHeader>, LoanError> {
    auto sample_uninit = loan_slice_uninit(number_of_elements);
 
    if (!sample_uninit.has_value()) {
        return bb::err(sample_uninit.error());
    }
    auto sample_init = std::move(sample_uninit.value());
 
    for (auto& item : sample_init.payload_mut()) {
        new (&item) ValueType();
    }
 
    return assume_init(std::move(sample_init));
}
 
template <ServiceType S, typename Payload, typename UserHeader>
template <typename T, typename>
inline auto Publisher<S, Payload, UserHeader>::loan_slice_uninit(const uint64_t number_of_elements)
    -> bb::Expected<SampleMutUninit<S, T, UserHeader>, LoanError> {
    SampleMutUninit<S, Payload, UserHeader> sample;
 
    auto result = iox2_publisher_loan_slice_uninit(
        &m_handle, &sample.m_sample.m_sample, &sample.m_sample.m_handle, number_of_elements);
    internal::PlacementDefault<UserHeader>::placement_default(sample);
 
    if (result == IOX2_OK) {
        return std::move(sample);
    }
 
    return bb::err(iox2::bb::into<LoanError>(result));
}
 
template <ServiceType S, typename Payload, typename UserHeader>
inline auto Publisher<S, Payload, UserHeader>::update_connections() -> bb::Expected<void, ConnectionFailure> {
    auto result = iox2_publisher_update_connections(&m_handle);
    if (result != IOX2_OK) {
        return bb::err(iox2::bb::into<ConnectionFailure>(result));
    }
 
    return {};
}
} // namespace iox2
 
#endif