IPC Diversion Section

Overview

It is a general-purpose implementation of Inter-processing communication between the Server and Client (IPC section).
It consists mainly of the following:
- IPC library implementation source: src, include
- IPC unit test program: ipc_unit_test

Building Method

Building by following steps:
```
$ mkdir build
$ cd build
$ cmake ..
$ make
```
- The above commands can be executed with the following script:
```
$ ./buildtest.sh
```

The installation described next will be installed on the host PC (/usr/local/). To change the installation destination, change the option passed to cmake.

Example 
$ cmake -DCMAKE_INSTALL_PREFIX=./install ..

Installing Method

$ cd build
$ sudo make install

When succeeded, the following log will be output.

[100%] Built target ipc
Install the project...
-- Install configuration: ""
-- Installing: /usr/local/lib/pkgconfig/ipc.pc
-- Installing: /usr/local/lib/libipc.so.1.0.0
-- Installing: /usr/local/lib/libipc.so.1
-- Installing: /usr/local/lib/libipc.so
-- Installing: /usr/local/include/ipc.h
-- Installing: /usr/local/include/ipc_protocol.h

Building Product

At last, Building will generate the following:
- <installdir>/include/ (External Public header files)
```
ipc.h
ipc_protocol.h
```
- <installdir>/lib/ (Shared library files)
```
libipc.so   ( Symbolic link ) 
libipc.so.1 ( Symbolic link )
libipc.so.1.0.0
```
- build/ipc_unit_test/ (Test program executable file)
```
ipc_unit_test_client
ipc_unit_test_server
```

How to use

This library contains functions for Server and Client; Each has different usage.

Common of Server/Client

The user needs to link with the following libraries.
- libipc.so
User includes the library as following.
- #include <ipc.h>
  - ipc_protocol.h description is not required; it described later within ipc.h (include <ipc.h>).
The header files are used as follows.
- ipc.h
  - Declare a list of available API functions.
- ipc_protocol.h
  - Define IPC usage types and data structures for each usage.
In libraries, Server and Client communicate using Unix Domain Socket.
- Generate different communication files for each usage type.
- By default, a communication file is generated in the execution hierarchy of the Server.
- For changing the location where generating the communication files, set the environment variable "IPC_DOMAIN_PATH"
```
Example)
$ export IPC_DOMAIN_PATH="/tmp"
  →Unix Domain Socket communication files will be generated under /tmp.
```

For IC-Service

Using this library for IC-Service, use the following values and structures (see ipc_protocol.h).
- UsageType：IPC_USAGE_TYPE_IC_SERVICE
- Sending data structure：IPC_DATA_IC_SERVICE_S
- Changing type callback notification (enum)：IPC_KIND_IC_SERVICE_E
- Unix Domain Socket communication File name：IpcIcService
For IC-Service, the Cluster API library (libcluster_api.so) is the IPC Client.
- The API for Client is called from libcluster_api.so (described later)

Server API

Server applied libipc.so can use the following APIs:
- ipcServerStart(IPC_USAGE_TYPE_E usageType);
  - Starting the IPC Server for the specified usageType.
- ipcSendMessage(IPC_USAGE_TYPE_E usageType, const void* pData, signed int size);
  - Sending data to the IPC Client for the specified usageType.
  - Specifying address and size of the sending data by pData and size arguments.
  - Sending data is stored in the Data Pool prepared on the IPC Client side.
- ipcServerStop(IPC_USAGE_TYPE_E usageType);
  - Terminate the IPC Server for the specified usageType.

Client API

The Client applied libipc.so can use the following APIs:
- ipcClientStart(IPC_USAGE_TYPE_E usageType);
  - Starting the IPC Client for the specified usageType.
  - Connecting with IPC Server for the same usageType.
- ipcReadDataPool(IPC_USAGE_TYPE_E usageType, void* pData, signed int* pSize);
  - Reading all data in the Data Pool for the specified usageType.
  - The address where storing the read data is specified in pData. Moreover, the size of storing data is specified in pSize.
  - The contents of the Data Pool output to pData, and the actual read size output to pSize.
- ipcRegisterCallback(IPC_USAGE_TYPE_E usageType, IPC_CHANGE_NOTIFY_CB changeNotifyCb);
  - When receiving data from the IPC Server, register the callback function for the specified usageType, which receiving notification of which data changed to what.
- ipcClientStop(IPC_USAGE_TYPE_E usageType);
  - Terminate the IPC Client for the specified usageType.

Unit test executing method

Limitations
- Currently 2020/12/25, this test program connects Server and Client for IC-Service.
- The Unix domain socket communication files are generated under /tmp/ with the file name ipcIcService.

Since Inter processing communication takes place between ipc_unit_test_server and ipc_unit_test_client, so start each one in a separate terminal. Testing example as bellow (Manually operated):

Starting Server and then starting Client
```
(Terminal 1)
$ ./ipc_unit_test_server
command (h=help, q=quit):
```
```
(Terminal 2)
$ ./ipc_unit_test_client
command (h=help, q=quit):
```
At this point, the Server and Client connection for IC-Service is completed. (Executing ipcServerStart () and ipcClientStart ())

Editing and Sending Server data

(Terminal 1)
command (h=help, q=quit):w ←★input w 
write command (h=help q=goto main menu):2 1 ←★input 2 1
write command (h=help q=goto main menu):70 50 ←★input 70 50
write command (h=help q=goto main menu):l ←★input 1
★Sending data list is displayed, the result of input contents as below. 
  2: brake(4) = 1 ←★write command 2 1 result
  70: oTempUnitVal(4) = 50 ←★write command 70 50 result
write command (h=help q=goto main menu):q ←★input q
command (h=help, q=quit):s ←★input s (Executing ipcSendMessage())
ipcSendMessage return:0
command (h=help, q=quit):

On the Client side, The callback function should be responding.

(Terminal 2)
command (h=help, q=quit):Enter changeNotifyCb ←★callback
kind = 2, size = 4, data=1 ←★Notification of brake value changed to 1 
Leave changeNotifyCb

★oFor TempUnitVal change as an IC-Service, there is no callback since it is not monitored.

Check Client side receiving.

(Terminal 2)
command (h=help, q=quit):r ←★input r
★Sending data list is displayed, Sending data contained as bellow. 
  2: brake(4) = 1
 70: oTempUnitVal(4) = 50

Exit Client then Server.

(Terminal 2)
command (h=help, q=quit):q
bye...
$

(Terminal 1)
command (h=help, q=quit):q
bye...
$

Adding/Changing IPC usage type method

First, the implementation only for IC-Service, but configured to add data for other services easily.
Information for each usage type is managed in the following files:
- include/ipc_protocol.h (External Public header)
- src/ipc_usage_info_table.c (IPC Internal Source)
Adding information for new service or changing information for existed service only by two files above.
- No changes are required other than .c or .h files in ipc.
- However, Regarding the application and test program used IPC, It is necessary to take measures according to the adding/changing of the ipc_protocol.h definition.
Ideally, code can be generated automatically using tools and else. We do not consider that implementation this time.

Sample code for adding/changing the usage type (Sample code difference)

First, the sample code for adding/changing two files as follow.

Example 1: When adding a new usage type

The following example shows differences when adding the temporary usage type NEW_SERVICE. (Parameters influenced when adding new usage type within the IPC)

diff --git a/include/ipc_protocol.h b/include/ipc_protocol.h
index c0ad861..2bc1115 100644
--- a/include/ipc_protocol.h
+++ b/include/ipc_protocol.h
@@ -6,6 +6,7 @@
 typedef enum {
     IPC_USAGE_TYPE_IC_SERVICE = 0,
     IPC_USAGE_TYPE_FOR_TEST,
+    IPC_USAGE_TYPE_NEW_SERVICE, // Adding usage type
     IPC_USAGE_TYPE_MAX
 } IPC_USAGE_TYPE_E;

@@ -145,4 +146,17 @@ typedef struct {
     signed int test;
 } IPC_DATA_FOR_TEST_S;

+// for IPC_USAGE_TYPE_NEW_SERVICE
+typedef enum { // Preparing only the type which we want to monitor/notify data change
+    IPC_KIND_NS_PARAM1 = 0,
+    IPC_KIND_NS_PARAM2
+} IPC_KIND_NEW_SERVICE_E;
+
+typedef struct { // This part for sending and receiving all data 
+    int param1;
+    int param2;
+    int param3;
+    int param4;
+} IPC_DATA_NEW_SERVICE_S;
+
 #endif // IPC_PROTOCOL_H
diff --git a/src/ipc_usage_info_table.c b/src/ipc_usage_info_table.c
index 976cc73..51264c6 100644
--- a/src/ipc_usage_info_table.c
+++ b/src/ipc_usage_info_table.c
@@ -51,16 +51,24 @@ static IPC_CHECK_CHANGE_INFO_S g_ipcCheckChangeForTest[] = {
     DEFINE_OFFSET_SIZE(IPC_DATA_FOR_TEST_S, test, IPC_KIND_TEST_TEST)
 };

+//   for IPC_USAGE_TYPE_FOR_TEST
+static IPC_CHECK_CHANGE_INFO_S g_ipcCheckChangeNewService[] = { // Describing only the type which we want to monitor/notify data change
+    DEFINE_OFFSET_SIZE(IPC_DATA_NEW_SERVICE_S, param1, IPC_KIND_NS_PARAM1),
+    DEFINE_OFFSET_SIZE(IPC_DATA_NEW_SERVICE_S, param2, IPC_KIND_NS_PARAM2)
+}; //This example not monitoring/notifying changes of param3, param4 data
+
 // == usage info table ==
 //   index of [] is IPC_USAGE_TYPE_E
 IPC_DOMAIN_INFO_S g_ipcDomainInfoList[] =
 {
     {sizeof(IPC_DATA_IC_SERVICE_S), "ipcIcService"},
-    {sizeof(IPC_DATA_FOR_TEST_S), "ipcForTest"}
+    {sizeof(IPC_DATA_FOR_TEST_S), "ipcForTest"},
+    {sizeof(IPC_DATA_NEW_SERVICE_S), "ipcNewService"} // add sending/receiving size information for new Service 
 };

 IPC_CHECK_CHANGE_INFO_TABLE_S g_ipcCheckChangeInfoTbl[] = {
     DEFINE_CHANGE_INFO_TABLE(g_ipcCheckChangeIcService),
-    DEFINE_CHANGE_INFO_TABLE(g_ipcCheckChangeForTest)
+    DEFINE_CHANGE_INFO_TABLE(g_ipcCheckChangeForTest),
+    DEFINE_CHANGE_INFO_TABLE(g_ipcCheckChangeNewService) // Registering data change monitoring table for new Service
 };

Example 2: Deleting part of the existing usage type data

The following example shows differences when deleting the member variable brake from usage sending/receiving data of existing IC-Service. (Parameters influenced when a member variable is deleted within the IPC)

diff --git a/include/ipc_protocol.h b/include/ipc_protocol.h
index c0ad861..7fed8bf 100644
--- a/include/ipc_protocol.h
+++ b/include/ipc_protocol.h
@@ -13,7 +13,6 @@ typedef enum {
 typedef enum {
     IPC_KIND_ICS_TURN_R = 0,
     IPC_KIND_ICS_TURN_L,
-    IPC_KIND_ICS_BRAKE,
     IPC_KIND_ICS_SEATBELT,
     IPC_KIND_ICS_HIGHBEAM,
     IPC_KIND_ICS_DOOR,
@@ -51,7 +50,6 @@ typedef struct {
     // Telltale
     signed int turnR;
     signed int turnL;
-    signed int brake;
     signed int seatbelt;
     signed int frontRightSeatbelt;
     signed int frontCenterSeatbelt;
diff --git a/src/ipc_usage_info_table.c b/src/ipc_usage_info_table.c
index 976cc73..40ac8df 100644
--- a/src/ipc_usage_info_table.c
+++ b/src/ipc_usage_info_table.c
@@ -12,7 +12,6 @@
 static IPC_CHECK_CHANGE_INFO_S g_ipcCheckChangeIcService[] = {
     DEFINE_OFFSET_SIZE(IPC_DATA_IC_SERVICE_S, turnR, IPC_KIND_ICS_TURN_R),
     DEFINE_OFFSET_SIZE(IPC_DATA_IC_SERVICE_S, turnL, IPC_KIND_ICS_TURN_L),
-    DEFINE_OFFSET_SIZE(IPC_DATA_IC_SERVICE_S, brake, IPC_KIND_ICS_BRAKE),
     DEFINE_OFFSET_SIZE(IPC_DATA_IC_SERVICE_S, seatbelt, IPC_KIND_ICS_SEATBELT),
     DEFINE_OFFSET_SIZE(IPC_DATA_IC_SERVICE_S, highbeam, IPC_KIND_ICS_HIGHBEAM),
     DEFINE_OFFSET_SIZE(IPC_DATA_IC_SERVICE_S, door, IPC_KIND_ICS_DOOR),

Common items regarding new addition of usage type

Adding some new enumerations/structures, with addition to existing enumeration/structure. There are no restrictions on the names.

Adding Information to include/ipc_protocol.h

For one usage type, adding the following three items of information.
- Add usage type name.
- For new usage, Define enumeration for the change notification type.
- For new usage, Define sending/receiving data structure.
Adding usage type name
- Sample code of this part will be as follow:
```
 typedef enum {
     IPC_USAGE_TYPE_IC_SERVICE = 0,
     IPC_USAGE_TYPE_FOR_TEST,
+    IPC_USAGE_TYPE_NEW_SERVICE, // Adding usage type
     IPC_USAGE_TYPE_MAX
 } IPC_USAGE_TYPE_E;
```
- Adding a member for the usage type in enum IPC_USAGE_TYPE_E.
- Make sure to add it just before IPC_USAGE_TYPE_MAX (Avoiding effect on existing definitions)
- The value defined here is used to specify the argument usageType such as ipcServerStart() defined in ipc.h.
For new usage, Define enumeration for the change notification type.
- Sample code of this part will be as follow:
```
+typedef enum { // Preparing only the type which we want to monitor data change
+    IPC_KIND_NS_PARAM1 = 0,
+    IPC_KIND_NS_PARAM2
+} IPC_KIND_NEW_SERVICE_E;
```
- Adding an enumeration for the data change notification type. Related to the sending/receiving data structures will describe next.
- This value is used to specify the third argument kind of callback function registered by ipcRegisterCallback().
- There are no restrictions for naming enumeration and member.
For new usage, Define sending/receiving data structure.
- Sample code of this part will be as follow:
```
+typedef struct { // This part for sending and receiving all data
+    int param1;
+    int param2;
+    int param3;
+    int param4;
+} IPC_DATA_NEW_SERVICE_S;
```
- For new usage, adding send/receive data structures.
- The IPC Server will send all the data in the defined structure to the IPC Client.

Regarding adding src/ipc_usage_info_table.c

For one usage type, adding the following three items of information.
- Add a type mapping table for data change notification.
- Add communication domain information (Communication size and file name).
- Add mapping table for a relationship between usage and change type.
Add a type mapping table for data change notification.
- Sample code of this part will be as follow:
```
+//   for IPC_USAGE_TYPE_FOR_TEST
+static IPC_CHECK_CHANGE_INFO_S g_ipcCheckChangeNewService[] = { // Preparing only the type which we want to monitor data change
+    DEFINE_OFFSET_SIZE(IPC_DATA_NEW_SERVICE_S, param1, IPC_KIND_NS_PARAM1),
+    DEFINE_OFFSET_SIZE(IPC_DATA_NEW_SERVICE_S, param2, IPC_KIND_NS_PARAM2)
+}; // This example not monitoring/notifying changes of param3, param4 data
```
- For new usage, add a structure array of IPC_CHECK_CHANGE_INFO_S.
- Describing a table that maps the definition of change notification type enumeration (defined in ipc_protocol.h) with the data structure members.
- This table is used for Callback notification of the last receiving data type change when the IPC Client received data from the IPC Server.
- In structure array, describing multiple macros which defining matching as shown below.
```
DEFINE_OFFSET_SIZE(<Data structure name>, <Structure member name>, Change notification enumeration member name),
```
- In the case of the above sample code, g_ipcCheckChangeNewService[] will be as follows.
  - If the value of param1 is different from the value of the previous receiving, the callback change type IPC_KIND_NS_PARAM1 is notified to the IPC Client.
  - If the value of param2 is different from the value of the previous receiving, the callback change type IPC_KIND_NS_PARAM2 is notified to the IPC Client.
  - For param3 and param4 are not described, the callback does not notify even if the value of the previous receiving is different.
Add communication domain information (Communication size and file name).
- Sample code of this part will be as follow:
```
 IPC_DOMAIN_INFO_S g_ipcDomainInfoList[] =
 {
     {sizeof(IPC_DATA_IC_SERVICE_S), "ipcIcService"},
-    {sizeof(IPC_DATA_FOR_TEST_S), "ipcForTest"}
+    {sizeof(IPC_DATA_FOR_TEST_S), "ipcForTest"},
+    {sizeof(IPC_DATA_NEW_SERVICE_S), "ipcNewService"} //add sending/receiving size information for new Service 
 };
```
- In structure array g_ipcDomainInfoList[], adding the domain information for new usage.
- This addition determines the sending/receiving data size used for the newly added usage type and Domain file name used for Unix Domain Socket communication.
- It is necessary to match the definition order of the enum IPC_USAGE_TYPE_E of ipc_protocol.h, so ensure adding it at the end.
- Add communication data size structure and the domain filename information to the end of g_ipcDomainInfoList[], as follows:
```
{sizeof(<communication data structure name>), "domain file name"},
```
Add mapping table for a relationship between usage and change type.
- Sample code of this part will be as follow:
```
 IPC_CHECK_CHANGE_INFO_TABLE_S g_ipcCheckChangeInfoTbl[] = {i
     DEFINE_CHANGE_INFO_TABLE(g_ipcCheckChangeIcService),
-    DEFINE_CHANGE_INFO_TABLE(g_ipcCheckChangeForTest)
+    DEFINE_CHANGE_INFO_TABLE(g_ipcCheckChangeForTest),
+    DEFINE_CHANGE_INFO_TABLE(g_ipcCheckChangeNewService) // Registering data change monitoring table for new service
 };
```
- In structure array g_ipcCheckChangeInfoTbl[], adding information about the mapping table for a relationship between new usage and change notification type.
- It is necessary to match the definition order of the enum IPC_USAGE_TYPE_E of ipc_protocol.h, so ensure adding it at the end.
- Describing the above-mentioned "change notification type mapping table structure" in the following macro, then add it to the end of g_ipcCheckChangeInfoTbl[].
```
DEFINE_CHANGE_INFO_TABLE(<change notification type mapping table structure name>), 
```

Changing of sending data for existing usage

When deleting or renaming a member variable in an existing sending data structure in ipc_protocol.h
- Trying to build each ipc part and application that uses ipc for the service, then fix the part that causing the Compile error.
When adding a member variable in an existing sending data structure in ipc_protocol.h
- Refer to Adding/Changing IPC usage type method, add it to include/ipc_protocol.h and src/ipc_usage_info_table.c.

Supplement

In src/ipc_usage_info_table.c, the information is described in the DEFINE_OFFSET_SIZE() macro, which using offsetof() and sizeof() to get the offset and size of member variables from the head of the related structure.
- In order to make it easier to add usage types, the IPC process does not directly specify variable names in data structures.
- For each usage, by preparing an offset table of the data structure, it becomes possible to know what variables are in which byte of the sending data.
  - This structure makes it possible to check data change without directly specifying the member variable name inside the IPC process.
- Adding the usage type according to Adding/Changing IPC usage type method, the IPC inter processing can process new usage.

Name		Name	Last commit message	Last commit date
Latest commit History 10 Commits
include		include
ipc_unit_test		ipc_unit_test
src		src
.gitignore		.gitignore
CMakeLists.txt		CMakeLists.txt
LICENSE		LICENSE
README.md		README.md
README.md.ja		README.md.ja
buildtest.sh		buildtest.sh
cluster_ipc.pc.in		cluster_ipc.pc.in

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IPC Diversion Section

Overview

Building Method

Installing Method

Building Product

How to use

Common of Server/Client

For IC-Service

Server API

Client API

Unit test executing method

Adding/Changing IPC usage type method

Sample code for adding/changing the usage type (Sample code difference)

Example 1: When adding a new usage type

Example 2: Deleting part of the existing usage type data

Common items regarding new addition of usage type

Adding Information to include/ipc_protocol.h

Regarding adding src/ipc_usage_info_table.c

Changing of sending data for existing usage

Supplement

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IPC Diversion Section

Overview

Building Method

Installing Method

Building Product

How to use

Common of Server/Client

For IC-Service

Server API

Client API

Unit test executing method

Adding/Changing IPC usage type method

Sample code for adding/changing the usage type (Sample code difference)

Example 1: When adding a new usage type

Example 2: Deleting part of the existing usage type data

Common items regarding new addition of usage type

Adding Information to include/ipc_protocol.h

Regarding adding src/ipc_usage_info_table.c

Changing of sending data for existing usage

Supplement

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