Revised IPC Implementation: Drivers and Test Applications

examples/tests/ipc/package_name_client-libtock/Makefile

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+# Makefile for user application
+
+# Specify this directory relative to the current application.
+TOCK_USERLAND_BASE_DIR = ../../../..
+
+# Which files to compile.
+C_SRCS := $(wildcard *.c)
+
+# Include userland master makefile. Contains rules and flags for actually
+# building the application.
+include $(TOCK_USERLAND_BASE_DIR)/AppMakefile.mk

examples/tests/ipc/package_name_client-libtock/README.md

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+# Package Name Client - libtock
+
+Discovers an IPC service via TBF Header Package Name using the asynchronous
+libtock IPC Registry Package Name driver.
+
+This is intended to be loaded alongside [package_name_server-libtock](../package_name_server-libtock). When
+loaded with the Package Name Server the expected behavior is:
+
+```
+SERVER: Starting server.
+CLIENT: Starting client.
+SERVER: IPC Registry Package Name capsule exists.
+CLIENT: IPC Registry Package Name capsule exists.
+CLIENT: Discovering: "tbf_package_name_service"
+CLIENT: Discovery started.
+CLIENT: Discovery complete. Service not found.
+SERVER: Registering with my package name (see Makefile).
+SERVER: Registration started.
+SERVER: Registration complete. Succeeded!
+CLIENT: Discovering: "tbf_package_name_service"
+CLIENT: Discovery started.
+CLIENT: Discovery complete. Succeeded! Found IPC ID: 0000000000000001
+```
+
+Note that above IPC IDs may not match depending on the order the apps are
+loaded and the configuration of your board.
+

examples/tests/ipc/package_name_client-libtock/main.c

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+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include <libtock-sync/services/alarm.h>
+#include <libtock/ipc/ipc_registry_package_name.h>
+
+// Service name (specified in Makefile of service)
+char service_name[] = "tbf_package_name_service";
+
+static void ipc_discovery_complete(returncode_t ret, uint64_t ipc_id) {
+  if (ret == RETURNCODE_SUCCESS) {
+    uint32_t lower = (uint32_t)ipc_id;
+    uint32_t upper = (uint32_t)(ipc_id >> 32);
+    printf("CLIENT: Discovery complete. Succeeded! Found IPC ID: %08X%08X\n", (unsigned int)upper, (unsigned int)lower);
+  } else if (ret == RETURNCODE_ENODEVICE) {
+    printf("CLIENT: Discovery complete. Service not found.\n");
+  } else {
+    printf("CLIENT: Discovery complete. Failed with returncode: %d\n", ret);
+  }
+}
+
+int main(void) {
+  returncode_t ret = RETURNCODE_SUCCESS;
+  printf("CLIENT: Starting client.\n");
+
+  // Check that we can find the driver at all
+  if (!libtock_ipc_registry_package_name_exists()) {
+    printf("CLIENT: IPC Registry Package Name capsule does not exist on this board.\n");
+    return 1;
+  } else {
+    printf("CLIENT: IPC Registry Package Name capsule exists.\n");
+  }
+
+  // Delay a bit
+  libtocksync_alarm_delay_ms(1000);
+
+  // Attempt to discover (this should fail as the server hasn't registered yet)
+  printf("CLIENT: Discovering: \"%s\"\n", service_name);
+  ret = libtock_ipc_registry_package_name_discover_service(ipc_discovery_complete, (uint8_t*)service_name,
+                                                           strlen(service_name));
+  if (ret != RETURNCODE_SUCCESS) {
+    printf("CLIENT: Discovery failed. Returncode: %d\n", ret);
+  } else {
+    printf("CLIENT: Discovery started.\n");
+  }
+
+  // Delay for a bit
+  libtocksync_alarm_delay_ms(5000);
+
+  // Re-attempt to discover (this should now succeed)
+  printf("CLIENT: Discovering: \"%s\"\n", service_name);
+  ret = libtock_ipc_registry_package_name_discover_service(ipc_discovery_complete, (uint8_t*)service_name,
+                                                           strlen(service_name));
+  if (ret != RETURNCODE_SUCCESS) {
+    printf("CLIENT: Discovery failed. Returncode: %d\n", ret);
+  } else {
+    printf("CLIENT: Discovery started.\n");
+  }
+
+  while (1) {
+    yield();
+  }
+}

examples/tests/ipc/package_name_server-libtock/Makefile

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+# Makefile for user application
+
+# Specify this directory relative to the current application.
+TOCK_USERLAND_BASE_DIR = ../../../..
+
+# Which files to compile.
+C_SRCS := $(wildcard *.c)
+
+# Package name field for TBF headers
+PACKAGE_NAME = tbf_package_name_service
+
+# Include userland master makefile. Contains rules and flags for actually
+# building the application.
+include $(TOCK_USERLAND_BASE_DIR)/AppMakefile.mk

examples/tests/ipc/package_name_server-libtock/README.md

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+# Package Name Server - libtock
+
+Registers as an IPC service via TBF Header Package Name using the asynchronous
+libtock IPC Registry Package Name driver.
+
+The Package Name for this server is specified in the [Makefile](./Makefile) as
+`PACKAGE_NAME = tbf_package_name_service`.
+
+This is intended to be loaded alongside [package_name_client-libtock](../package_name_client-libtock). When
+loaded with the Package Name Client the expected behavior is:
+
+```
+SERVER: Starting server.
+CLIENT: Starting client.
+SERVER: IPC Registry Package Name capsule exists.
+CLIENT: IPC Registry Package Name capsule exists.
+CLIENT: Discovering: "tbf_package_name_service"
+CLIENT: Discovery started.
+CLIENT: Discovery complete. Service not found.
+SERVER: Registering with my package name (see Makefile).
+SERVER: Registration started.
+SERVER: Registration complete. Succeeded!
+CLIENT: Discovering: "tbf_package_name_service"
+CLIENT: Discovery started.
+CLIENT: Discovery complete. Succeeded! Found IPC ID: 0000000000000001
+```
+
+Note that above IPC IDs may not match depending on the order the apps are
+loaded and the configuration of your board.
+

examples/tests/ipc/package_name_server-libtock/main.c

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+#include <stdio.h>
+#include <stdlib.h>
+
+#include <libtock-sync/services/alarm.h>
+#include <libtock/ipc/ipc_registry_package_name.h>
+
+static void ipc_registration_complete(returncode_t ret) {
+  if (ret == RETURNCODE_SUCCESS) {
+    printf("SERVER: Registration complete. Succeeded!\n");
+  } else {
+    printf("SERVER: Registration complete. Failed with returncode: %d\n", ret);
+  }
+}
+
+int main(void) {
+  printf("SERVER: Starting server.\n");
+
+  // Check that we can find the driver at all
+  if (!libtock_ipc_registry_package_name_exists()) {
+    printf("SERVER: IPC Registry Package Name capsule does not exist on this board.\n");
+    return 1;
+  } else {
+    printf("SERVER: IPC Registry Package Name capsule exists.\n");
+  }
+
+  // Delay a bit
+  libtocksync_alarm_delay_ms(5000);
+
+  // Attempt to register
+  printf("SERVER: Registering with my package name (see Makefile).\n");
+  returncode_t ret = libtock_ipc_registry_package_name_register_service(ipc_registration_complete);
+  if (ret != RETURNCODE_SUCCESS) {
+    printf("SERVER: Registration failed. Returncode: %d\n", ret);
+  } else {
+    printf("SERVER: Registration started.\n");
+  }
+
+  while (1) {
+    yield();
+  }
+}

examples/tests/ipc/relay_request_client-libtock/Makefile

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+# Makefile for user application
+
+# Specify this directory relative to the current application.
+TOCK_USERLAND_BASE_DIR = ../../../..
+
+# Which files to compile.
+C_SRCS := $(wildcard *.c)
+
+# Include userland master makefile. Contains rules and flags for actually
+# building the application.
+include $(TOCK_USERLAND_BASE_DIR)/AppMakefile.mk

examples/tests/ipc/relay_request_client-libtock/README.md

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+# Relay Request Client - libtock
+
+Discovers an IPC service via a provided string name using the asynchronous
+libtock IPC Registry String Name driver and then periodically sends requests to
+it using the asynchronous libtock IPC Relay Request driver.
+
+This is intended to be loaded alongside [relay_request_server-libtock](../relay_request_server-libtock). When
+loaded with the Relay Request Server the expected behavior is:
+
+```
+SERVER: Starting server.
+CLIENT: Starting client.
+SERVER: IPC Registry String Name capsule exists.
+CLIENT: IPC Registry String Name capsule exists.
+SERVER: IPC Relay Request capsule exists.
+CLIENT: IPC Relay Request capsule exists.
+SERVER: Enabled request waiting callbacks.
+CLIENT: Discovering: "Request_Service"
+SERVER: Registering with string name: "Request_Service"
+CLIENT: Discovery started.
+SERVER: Registration started.
+CLIENT: Discovery complete. Service not found.
+SERVER: Registration complete. Succeeded!
+tock$ CLIENT: Discovering: "Request_Service"
+CLIENT: Discovery started.
+CLIENT: Discovery complete. Succeeded! Found IPC ID: 0000000000000001
+CLIENT: Sending request with data { AA BB CC DD EE FF }
+CLIENT: Request initiated.
+SERVER: New request waiting from IPC ID: 0000000000000000
+SERVER: Got a request from IPC ID: 0000000000000000
+SERVER: Request data {AA BB CC DD EE FF }
+CLIENT: Waiting for response (1 of 10)
+CLIENT: Waiting for response (2 of 10)
+CLIENT: Waiting for response (3 of 10)
+SERVER: Sent response.
+CLIENT: Received response. Data { 12 34 56 78 }
+CLIENT: Sending request with data { AA BB CC DD EE FF }
+...
+```
+
+Note that above IPC IDs may not match depending on the order the apps are
+loaded and the configuration of your board.
+
+## Fault Handling
+
+This app is designed to handle faults gracefully. Communication is
+intentionally slowed down to provide time to manually trigger faults between
+certain actions to see the response. Using the Process Console is the easiest
+way to intentionally cause a fault to test this. If your board is configured
+with the process Fault Policy `RestartFaultPolicy`, then after one process
+restarts discovery will be re-initiated and communication will resume.
+
+For example, you can fault the server with the command `fault
+relay_request_server-libtock`.
+
+```
+SERVER: Got a request from IPC ID: 0000000000000000
+SERVER: Request data {AA BB CC DD EE FF }
+CLIENT: Waiting for response (1 of 10)
+CLIENT: Waiting for response (2 of 10)
+CLIENT: Waiting for response (3 of 10)
+SERVER: Sent response.
+CLIENT: Received response. Data { 12 34 56 78 }
+$ fault relay_request_server-libtock
+
+Process relay_request_server-libtock now faulted
+SERVER: Starting server.
+SERVER: IPC Registry String Name capsule exists.
+SERVER: IPC Relay Request capsule exists.
+SERVER: Enabled request waiting callbacks.
+SERVER: Registering with string name: "Request_Service"
+SERVER: Registration started.
+SERVER: Registration complete. Succeeded!
+CLIENT: Sending request with data { AA BB CC DD EE FF }
+CLIENT: Server disappeared? Discover it again.
+CLIENT: Discovering: "Request_Service"
+CLIENT: Discovery started.
+CLIENT: Discovery complete. Succeeded! Found IPC ID: 0000000000000002
+CLIENT: Sending request with data { AA BB CC DD EE FF }
+CLIENT: Request initiated.
+SERVER: New request waiting from IPC ID: 0000000000000000
+SERVER: Got a request from IPC ID: 0000000000000000
+SERVER: Request data {AA BB CC DD EE FF }
+```
+