A usage of request/response problem

[leiBravo]

hi, I want to use Listener and Waitset both in one request , I modified code according example iceoryx_examples/request_response/client_cxx_waitset.cpp .

I want to implement a function that when request_send has only one parameter, requestHandler, the response is obtained through callback. When request_send has two parameters, requestHandler and responseHandler, the response is obtained directly in request_send.

here is my code

// 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

//! [iceoryx includes]
#include "request_and_response_types.hpp"

#include "iceoryx_posh/popo/client.hpp"
#include "iceoryx_posh/popo/wait_set.hpp"
#include "iceoryx_posh/popo/listener.hpp"
#include "iceoryx_posh/popo/user_trigger.hpp"
#include "iceoryx_posh/runtime/posh_runtime.hpp"
#include "iox/signal_handler.hpp"
#include "iox/signal_watcher.hpp"
//! [iceoryx includes]

#include <atomic>
#include <iostream>
#include <iomanip>

constexpr char APP_NAME[] = "iox-cpp-request-response-client-class";

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

struct ContextData {
    uint64_t fibonacciLast             = 0;
    uint64_t fibonacciCurrent          = 1;
    int64_t requestSequenceId          = 0;
    int64_t expectedResponseSequenceId = requestSequenceId;
};

class AddClient {
public:
    //! [ctor]
    AddClient(iox::popo::ClientOptions options)
        : client({ "Example", "Request-Response", "Add" }, options)
    {
        waitset.attachState(client, iox::popo::ClientState::HAS_RESPONSE).or_else([](auto) {
            std::cerr << "failed to attach client" << std::endl;
            std::exit(EXIT_FAILURE);
        });

        m_listener
            .attachEvent(client,
                iox::popo::ClientEvent::RESPONSE_RECEIVED,
                iox::popo::createNotificationCallback(onSampleReceivedCallback, *this))
            .or_else([](auto) {
                std::cerr << "unable to attach client" << std::endl;
                std::exit(EXIT_FAILURE);
            });
    }
    //! [ctor]

    ~AddClient()
    {
        m_listener.detachEvent(client, iox::popo::ClientEvent::RESPONSE_RECEIVED);
    }

    int send_request(std::function<void(AddRequest &)> requestHandler, std::function<void(const AddResponse &)> responseHandler = nullptr)
    {
        //! [send request]
        client.loan()
            .and_then([&](auto &request) {
                request.getRequestHeader().setSequenceId(ctx.requestSequenceId);
                ctx.expectedResponseSequenceId = ctx.requestSequenceId;
                ctx.requestSequenceId += 1;

                requestHandler(*request);

                request.send().or_else(
                    [&](auto &error) { std::cout << "Could not send Request! Error: " << error << std::endl; });
            })
            .or_else([](auto &error) { std::cout << "Could not allocate Request! Error: " << error << std::endl; });
        //! [send request]

        if (responseHandler == nullptr) {
            return 0;
        }

        // We block and wait for samples to arrive, when the time is up we send the request again
        //! [wait and check if the client triggered]
        auto notificationVector = waitset.timedWait(iox::units::Duration::fromMilliseconds(30));
        if (notificationVector.empty()) {
            std::cout << "timeout occur" << std::endl;
            return -1;
        }

        for (auto &notification : notificationVector) {
            if (notification->doesOriginateFrom(&client)) {
                //! [take response]
                while (client.take().and_then([&](const auto &response) {
                    auto receivedSequenceId = response.getResponseHeader().getSequenceId();
                    if (receivedSequenceId == ctx.expectedResponseSequenceId) {
                        responseHandler(*response);
                    } else {
                        std::cout << "Got Response with outdated sequence ID! Expected = "
                                  << ctx.expectedResponseSequenceId << "; Actual = " << receivedSequenceId
                                  << "! -> skip" << std::endl;
                    }
                })) {
                }
                //! [take response]
            }
        }

        return 0;
    }

private:
    static void onSampleReceivedCallback(iox::popo::Client<AddRequest, AddResponse> *client, AddClient *self)
    {
        while (client->take().and_then([client, self](const auto &response) {
            auto receivedSequenceId = response.getResponseHeader().getSequenceId();
            if (receivedSequenceId == self->ctx.expectedResponseSequenceId) {
                self->ctx.fibonacciLast    = self->ctx.fibonacciCurrent;
                self->ctx.fibonacciCurrent = response->sum;
                std::cout << APP_NAME << " Callback Got Response : " << self->ctx.fibonacciCurrent << std::endl;
            } else {
                std::cout << "Got Response with outdated sequence ID! Expected = "
                          << self->ctx.expectedResponseSequenceId << "; Actual = " << receivedSequenceId
                          << "! -> skip" << std::endl;
            }
        })) {
        }
    }

    //! [members]
    WaitSet waitset;
    iox::popo::Client<AddRequest, AddResponse> client;

    iox::popo::Listener m_listener;
    //! [members]
public:
    ContextData ctx;    
};

int main()
{
    std::chrono::high_resolution_clock::time_point start, end;
    iox::runtime::PoshRuntime::initRuntime(APP_NAME);

    iox::popo::ClientOptions options;
    options.responseQueueCapacity = 2U;

    AddClient requestSvc(options);

    // test request client
    for (int i = 0; i < 20; ++i) {
        start = std::chrono::high_resolution_clock::now();

        auto request_handler = [&](AddRequest &request_data) {
            request_data.augend = requestSvc.ctx.fibonacciLast;
            request_data.addend = requestSvc.ctx.fibonacciCurrent;
        };
        auto response_handler = [&](const AddResponse &response_data) {
            requestSvc.ctx.fibonacciLast    = requestSvc.ctx.fibonacciCurrent;
            requestSvc.ctx.fibonacciCurrent = response_data.sum;
            std::cout << APP_NAME << " Normal Got Response : " << requestSvc.ctx.fibonacciCurrent << std::endl;
        };
        requestSvc.send_request(request_handler, response_handler);

        end = std::chrono::high_resolution_clock::now();

        std::chrono::duration<double, std::milli> durationtime = end - start;
        std::cout << "request response execution time: " << durationtime.count() << " ms" << std::endl;

        constexpr std::chrono::milliseconds SLEEP_TIME { 150U };
        std::this_thread::sleep_for(SLEEP_TIME);
    }

    // test callback client
    for (int i = 0; i < 20; ++i) {
        auto request_handler = [&](AddRequest &request_data) {
            request_data.augend = requestSvc.ctx.fibonacciLast;
            request_data.addend = requestSvc.ctx.fibonacciCurrent;
        };
        requestSvc.send_request(request_handler);

        constexpr std::chrono::milliseconds SLEEP_TIME { 150U };
        std::this_thread::sleep_for(SLEEP_TIME);
    }

    return (EXIT_SUCCESS);
}

here is the output trace， But the result was not what I expected. The waitSet is replaced by listener. How should I do?

2024-07-12 18:10:15.093 [Info ]: Domain ID: 0
2024-07-12 18:10:15.093 [Warn ]: The client is already attached with either the ClientState::HAS_RESPONSE or ClientEvent::RESPONSE_RECEIVED to a WaitSet/Listener. Detaching it from previous one and attaching it to the new one with ClientEvent::RESPONSE_RECEIVED. Best practice is to call detach first.
2024-07-12 18:10:15.093 [Error]: /home/leyi/work/dmcc/uds4pi/3rd/iceoryx/include/iceoryx/v2.90.0/iceoryx_posh/internal/popo/base_client.inl:165 [POPO__BASE_CLIENT_OVERRIDING_WITH_EVENT_SINCE_HAS_RESPONSE_OR_RESPONSE_RECEIVED_ALREADY_ATTACHED (code = 50)] in module [iceoryx_posh (id = 2)]
iox-cpp-request-response-client-class Callback Got Response : 1
timeout occur
request response execution time: 30.1079 ms
iox-cpp-request-response-client-class Callback Got Response : 2
timeout occur
request response execution time: 30.0854 ms
iox-cpp-request-response-client-class Callback Got Response : 3
timeout occur
request response execution time: 30.0726 ms
iox-cpp-request-response-client-class Callback Got Response : 5
timeout occur
request response execution time: 30.07 ms
iox-cpp-request-response-client-class Callback Got Response : 8
timeout occur
request response execution time: 30.0701 ms
iox-cpp-request-response-client-class Callback Got Response : 13
timeout occur
request response execution time: 30.0699 ms
iox-cpp-request-response-client-class Callback Got Response : 21
timeout occur
request response execution time: 30.0766 ms
iox-cpp-request-response-client-class Callback Got Response : 34
timeout occur
request response execution time: 30.076 ms
iox-cpp-request-response-client-class Callback Got Response : 55
timeout occur
request response execution time: 30.0694 ms
iox-cpp-request-response-client-class Callback Got Response : 89
timeout occur
request response execution time: 30.0689 ms
iox-cpp-request-response-client-class Callback Got Response : 144
timeout occur
request response execution time: 30.0774 ms
iox-cpp-request-response-client-class Callback Got Response : 233
timeout occur
request response execution time: 30.071 ms
iox-cpp-request-response-client-class Callback Got Response : 377
timeout occur
request response execution time: 30.0806 ms
iox-cpp-request-response-client-class Callback Got Response : 610
timeout occur
request response execution time: 30.0703 ms
iox-cpp-request-response-client-class Callback Got Response : 987
timeout occur
request response execution time: 30.0708 ms
iox-cpp-request-response-client-class Callback Got Response : 1597
timeout occur
request response execution time: 30.0706 ms
iox-cpp-request-response-client-class Callback Got Response : 2584
timeout occur
request response execution time: 30.0694 ms
iox-cpp-request-response-client-class Callback Got Response : 4181
timeout occur
request response execution time: 30.0716 ms
iox-cpp-request-response-client-class Callback Got Response : 6765
timeout occur
request response execution time: 30.0817 ms
iox-cpp-request-response-client-class Callback Got Response : 10946
timeout occur
request response execution time: 30.0739 ms
iox-cpp-request-response-client-class Callback Got Response : 17711
iox-cpp-request-response-client-class Callback Got Response : 28657
iox-cpp-request-response-client-class Callback Got Response : 46368
iox-cpp-request-response-client-class Callback Got Response : 75025
iox-cpp-request-response-client-class Callback Got Response : 121393
iox-cpp-request-response-client-class Callback Got Response : 196418
iox-cpp-request-response-client-class Callback Got Response : 317811
iox-cpp-request-response-client-class Callback Got Response : 514229
iox-cpp-request-response-client-class Callback Got Response : 832040
iox-cpp-request-response-client-class Callback Got Response : 1346269
iox-cpp-request-response-client-class Callback Got Response : 2178309
iox-cpp-request-response-client-class Callback Got Response : 3524578
iox-cpp-request-response-client-class Callback Got Response : 5702887
iox-cpp-request-response-client-class Callback Got Response : 9227465
iox-cpp-request-response-client-class Callback Got Response : 14930352
iox-cpp-request-response-client-class Callback Got Response : 24157817
iox-cpp-request-response-client-class Callback Got Response : 39088169
iox-cpp-request-response-client-class Callback Got Response : 63245986
iox-cpp-request-response-client-class Callback Got Response : 102334155
iox-cpp-request-response-client-class Callback Got Response : 165580141

[elBoberido]

It is not possible to combine the WaitSet with a Listener. You have to choose one and wit the Client it should be the WaitSet since it is not allowed to use the Client outside the Listener once attached.