#fix REQREPLY-221: Update RPC examples (#724)

* REQREPLY-221: Update RPC examples

* REQREPLY-221: Fix precondition error because the participant is stil alive by the time we call finalize factory

* REQREPLY-221: Add logging

* REQREPLY-221: Remove white spaces

* REQREPLY-221: Add timeout to request reply cs example

* REQREPLY-221: Update code to use the new apis to wait for service

* REQREPLY-221: Undo changes in Inventory.py

* REQREPLY-221: Apply PR feedback

* REQREPLY-221: Fix format

* REQREPLY-221: Add test specification and test implementation

* REQREPLY-221: Add makefile for java

* REQREPLY-221: add csproj

* REQREPLY-221: Undo change in script

* REQREPLY-221: Fix tests paths

* REQREPLY-221: Improve test scripts

* Revert "REQREPLY-221: Improve test scripts"

This reverts commit ae0e3c1.

* REQREPLY-221: Fix testing

* REQREPLY-221: Apply PR feedback

examples/connext_dds/remote_procedure_call/c++11/Inventory_service.cxx

@@ -81,31 +81,14 @@ class InventoryImpl : public InventoryService {
     std::mutex mutex;
 };
 
-int main(int argc, char *argv[])
+void run_server(int domain_id, unsigned int delay, unsigned int service_timeout)
 {
-    using namespace application;
-
-    // Parse arguments
-    auto arguments = parse_arguments(argc, argv, false);
-    if (arguments.parse_result == ParseReturn::exit) {
-        return EXIT_SUCCESS;
-    } else if (arguments.parse_result == ParseReturn::failure) {
-        return EXIT_FAILURE;
-    }
-
-    // Sets Connext verbosity to help debugging
-    rti::config::Logger::instance().verbosity(arguments.verbosity);
-
-    // To turn on additional logging, include <rti/config/Logger.hpp> and
-    // uncomment the following line:
-    // rti::config::Logger::instance().verbosity(rti::config::Verbosity::STATUS_ALL);
-
     // Create a DomainParticipant with default Qos. The Service will communicate
     // only with Clients that join the same domain_id
-    dds::domain::DomainParticipant participant(arguments.domain_id);
+    dds::domain::DomainParticipant participant(domain_id);
 
     // Create an instance of the service interface
-    auto service_impl = std::make_shared<InventoryImpl>(arguments.delay);
+    auto service_impl = std::make_shared<InventoryImpl>(delay);
 
     // A server provides the execution environment (a thread pool) for one or
     // more services
@@ -126,7 +109,38 @@ int main(int argc, char *argv[])
     ::InventoryServiceService service(service_impl, server, params);
 
     std::cout << "InventoryService running... " << std::endl;
-    server.run();
+    server.run(std::chrono::seconds(service_timeout));
+}
+
+int main(int argc, char *argv[])
+{
+    using namespace application;
+
+    // Parse arguments
+    auto arguments = parse_arguments(argc, argv, false);
+    if (arguments.parse_result == ParseReturn::exit) {
+        return EXIT_SUCCESS;
+    } else if (arguments.parse_result == ParseReturn::failure) {
+        return EXIT_FAILURE;
+    }
+
+    // Sets Connext verbosity to help debugging
+    rti::config::Logger::instance().verbosity(arguments.verbosity);
+
+    // To turn on additional logging, include <rti/config/Logger.hpp> and
+    // uncomment the following line:
+    // rti::config::Logger::instance().verbosity(rti::config::Verbosity::STATUS_ALL);
+
+    try {
+        run_server(
+                arguments.domain_id,
+                arguments.delay,
+                arguments.service_timeout);
+    } catch (const std::exception &ex) {
+        // This will catch DDS exceptions
+        std::cerr << "Exception in run_server(): " << ex.what() << std::endl;
+        return EXIT_FAILURE;
+    }
 
     // Releases the memory used by the participant factory. Optional at
     // application exit

examples/connext_dds/remote_procedure_call/c++11/application.hpp

@@ -29,6 +29,7 @@ struct ApplicationArguments {
     std::string item_name;
     unsigned int quantity;
     unsigned int delay;
+    unsigned int service_timeout;
     rti::config::Verbosity verbosity;
 
     ApplicationArguments(
@@ -38,13 +39,15 @@ struct ApplicationArguments {
             const std::string &item_name_param,
             unsigned int quantity_param,
             unsigned int delay_param,
+            unsigned int service_timeout_param,
             rti::config::Verbosity verbosity_param)
             : parse_result(parse_result_param),
               domain_id(domain_id_param),
               add(add_param),
               item_name(item_name_param),
               quantity(quantity_param),
               delay(delay_param),
+              service_timeout(service_timeout_param),
               verbosity(verbosity_param)
     {
     }
@@ -82,6 +85,7 @@ inline ApplicationArguments parse_arguments(int argc, char *argv[], bool client)
     unsigned int domain_id = 0;
     unsigned int quantity = 1;
     unsigned int delay = 0;
+    unsigned int service_timeout = INT32_MAX;
     std::string item_name = "";
     bool add = true;
     rti::config::Verbosity verbosity(rti::config::Verbosity::EXCEPTION);
@@ -131,6 +135,12 @@ inline ApplicationArguments parse_arguments(int argc, char *argv[], bool client)
                     || strcmp(argv[arg_processing], "--delay") == 0)) {
             delay = atoi(argv[arg_processing + 1]);
             arg_processing += 2;
+        } else if (
+                (argc > arg_processing + 1)
+                && (strcmp(argv[arg_processing], "-s") == 0
+                    || strcmp(argv[arg_processing], "--service-timeout") == 0)) {
+            service_timeout = atoi(argv[arg_processing + 1]);
+            arg_processing += 2;
         } else {
             std::cout << "Bad parameter." << std::endl;
             show_usage = true;
@@ -147,16 +157,18 @@ inline ApplicationArguments parse_arguments(int argc, char *argv[], bool client)
 
     if (show_usage) {
         std::cout << "Usage:\n"\
-        "    -d, --domain       <int>   Domain ID this application will\n" \
-        "                               subscribe in.  \n"
-        "                               Default: 0\n"\
-        "    -a, --add <item_name>      Add an item to the inventory\n"\
-        "    -r, --remove <item_name>   Remove an item from the inventory\n"\
-        "    -q, --quantity <int>       Number of items to add or remove\n"\
-        "                               Default: 1\n"
-        "    -v, --verbosity    <int>   How much debugging output to show.\n"\
-        "                               Range: 0-3 \n"
-        "                               Default: 1"
+        "    -d, --domain       <int>    Domain ID this application will\n" \
+        "                                subscribe in.  \n"
+        "                                Default: 0\n"\
+        "    -a, --add <item_name>       Add an item to the inventory\n"\
+        "    -r, --remove <item_name>    Remove an item from the inventory\n"\
+        "    -q, --quantity <int>        Number of items to add or remove\n"\
+        "                                Default: 1\n"
+        "    -s, --service-timeout <int> Numbers of senconds the service will run\n"\
+        "                                Default: infinite\n"
+        "    -v, --verbosity    <int>    How much debugging output to show.\n"\
+        "                                Range: 0-3 \n"
+        "                                Default: 1"
         << std::endl;
     }
 
@@ -167,6 +179,7 @@ inline ApplicationArguments parse_arguments(int argc, char *argv[], bool client)
             item_name,
             quantity,
             delay,
+            service_timeout,
             verbosity);
 }
 

examples/connext_dds/remote_procedure_call/py/Inventory.idl

@@ -0,0 +1,30 @@
+/*******************************************************************************
+ (c) 2024 Copyright, Real-Time Innovations, Inc.  All rights reserved.
+ RTI grants Licensee a license to use, modify, compile, and create derivative
+ works of the Software.  Licensee has the right to distribute object form only
+ for use with RTI products.  The Software is provided "as is", with no warranty
+ of any type, including any warranty for fitness for any purpose. RTI is under
+ no obligation to maintain or support the Software.  RTI shall not be liable for
+ any incidental or consequential damages arising out of the use or inability to
+ use the software.
+ ******************************************************************************/
+
+struct Item {
+    string name;
+    int64 quantity;
+};
+
+struct InventoryContents {
+    sequence<Item> items;
+};
+
+exception UnknownItemError {
+    string name;
+};
+
+@service("DDS")
+interface InventoryService {
+    InventoryContents get_inventory();
+    void add_item(Item item);
+    void remove_item(Item item) raises (UnknownItemError);
+};

examples/connext_dds/remote_procedure_call/py/README.md

@@ -104,3 +104,14 @@ Updated inventory:  InventoryContents(items=[Item(name='apples', quantity=100),
 For a description of the concurrency model, see the
 [Remote Procedure Calls](https://community.rti.com/static/documentation/connext-dds/7.2.0/doc/api/connext_dds/api_python/rpc.html#remote-procedure-calls)
 section of the Connext Python API Reference.
+
+## Code Generation
+
+If you want to modify the DDS Service in the idl you will have to re-generate
+the service code using **rtiddsgen**
+
+```sh
+<install dir>/bin/rtiddsgen -language Python -update typefiles Inventory.idl
+```
+
+Where `<install dir>` refers to your RTI Connext installation.

examples/connext_dds/remote_procedure_call/py/inventory_client.py

@@ -31,7 +31,11 @@ async def run_client(args):
     client = InventoryClient(
         participant, "Inventory", max_wait_per_call=dds.Duration(20)
     )
+
+    # For versions 7.4.0 and below:
     await wait_for_service(client)
+    # For newer versions you can use the following:
+    # await client.wait_for_service_async(dds.Duration(20))
 
     print("Initial inventory: ", await client.get_inventory())
 

examples/connext_dds/remote_procedure_call/py/inventory_service.py

@@ -10,6 +10,8 @@
 #
 
 import argparse
+import asyncio
+import sys
 import rti.connextdds as dds
 import rti.rpc as rpc
 import rti.asyncio
@@ -60,6 +62,13 @@ async def remove_item(self, item: Item):
             del self.inventory[item.name]
 
 
+async def run_service(service: rpc.Service):
+    try:
+        await service.run(close_on_cancel=True)
+    except asyncio.CancelledError:
+        pass
+
+
 async def main():
     parser = argparse.ArgumentParser(description="Inventory client")
     parser.add_argument(
@@ -78,16 +87,30 @@ async def main():
         help="Delay in seconds for the add and remove operations (default: 0)",
     )
 
+    parser.add_argument(
+        "-s",
+        "--service-timeout",
+        type=int,
+        default=sys.maxsize,
+        help="Numbers of senconds the service will run (default: infinite)",
+    )
+
     args = parser.parse_args()
 
     participant = dds.DomainParticipant(args.domain)
     service = rpc.Service(InventoryImpl(args.delay), participant, "Inventory")
 
-    await service.run()
+    print("InventoryService running...")
+    service_task = asyncio.create_task(run_service(service))
+
+    await asyncio.sleep(args.service_timeout)
+
+    service_task.cancel()
 
 
 if __name__ == "__main__":
-    dds.Logger.instance.verbosity = dds.Verbosity.WARNING
+    # Uncomment this to turn on additional logging
+    # dds.Logger.instance.verbosity = dds.Verbosity.WARNING
     try:
         # Run the service until Ctrl-C is pressed
         rti.asyncio.run(main())

examples/connext_dds/request_reply/cs/PrimesProgram.cs

@@ -63,7 +63,9 @@ public static async Task Main(string[] args)
             }
 
             // Set up signal handler to Dispose the DDS entities
-            var cancellationSource = new CancellationTokenSource();
+            var cancellationSource = arguments.Timeout > 0
+                ? new CancellationTokenSource(TimeSpan.FromSeconds(arguments.Timeout))
+                : new CancellationTokenSource();
             Console.CancelKeyPress += (_, eventArgs) =>
             {
                 Console.WriteLine("Shutting down...");
@@ -100,6 +102,7 @@ private class Arguments
             public int Domain { get; set; }
             public int N { get; set; } = int.MaxValue;
             public int PrimesPerReply { get; set; }
+            public int Timeout { get; set; }
         }
 
         // Uses the System.CommandLine package to parse the program arguments.
@@ -124,7 +127,11 @@ private static Arguments ParseArguments(string[] args)
                 description: "The number to calculate primes up to (only applicable with --requester)"),
                 new System.CommandLine.Option<int>(
                     new string[] { "--primes-per-reply", "-p" },
-                getDefaultValue: () => 5)
+                getDefaultValue: () => 5),
+                new System.CommandLine.Option<int>(
+                    new string[] { "--timeout" },
+                getDefaultValue: () => 0,
+                description: "Timeout in seconds to wait for the application to finish (default: infinite)"),
             };
 
             rootCommand.Description = "Example RTI Connext Requester and Replier";

tests/.gitignore

@@ -0,0 +1,2 @@
+!*/java/makefile*
+!*.csproj

tests/examples/connext_dds/dynamic_data_nested_structs/java/DynamicDataNestedStruct.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+cd ${BaseExamplePath}/java
+java -Djava.library.path=$NDDSHOME/lib/x64Linux4gcc7.3.0 -cp ".:$NDDSHOME/lib/java/nddsjava.jar" DynamicDataNestedStruct $@

tests/examples/connext_dds/dynamic_data_nested_structs/java/makefile_DynamicDataNestedStructs_x64Linux4gcc7.3.0

@@ -0,0 +1,38 @@
+######################################################################
+#
+# (c) Copyright, Real-Time Innovations, 2024.
+# All rights reserved.
+# No duplications, whole or partial, manual or electronic, may be made
+# without express written permission.  Any such copies, or
+# revisions thereof, must display this notice unaltered.
+# This code contains trade secrets of Real-Time Innovations, Inc.
+#
+######################################################################
+
+# RTI_JAVA_OPTION=-d64
+
+SOURCE_DIR =
+
+TARGET_ARCH=x64Linux4gcc7.3.0
+
+ifndef DEBUG
+DEBUG=0
+endif
+ifeq ($(DEBUG),1)
+DEBUG_FLAGS += -g
+else
+DEBUG_FLAGS =
+endif
+
+JAVA_PATH = java
+JAVAC_PATH = javac
+
+JAVA_SOURCES = $(SOURCE_DIR)./DynamicDataNestedStruct.java
+CLASS_FILES  = $(JAVA_SOURCES:%.java=%.class)
+
+RTI_CLASSPATH := $(NDDSHOME)/lib/java/nddsjava.jar
+
+%.class : %.java
+	$(JAVAC_PATH) $(DEBUG_FLAGS) -classpath ".:$(RTI_CLASSPATH)" $<
+
+all: $(CLASS_FILES)