iox-#1295 Rework icediscovery example

iceoryx_examples/icediscovery/CMakeLists.txt

@@ -26,39 +26,39 @@ find_package(iceoryx_hoofs CONFIG REQUIRED)
 get_target_property(ICEORYX_CXX_STANDARD iceoryx_posh::iceoryx_posh CXX_STANDARD)
 include(IceoryxPlatform)
 
-add_executable(iox-offer-service ./iox_offer_service.cpp)
-target_link_libraries(iox-offer-service
+add_executable(iox-cpp-offer-service ./iox_offer_service.cpp)
+target_link_libraries(iox-cpp-offer-service
     iceoryx_posh::iceoryx_posh
 )
-target_compile_options(iox-offer-service PRIVATE ${ICEORYX_WARNINGS} ${ICEORYX_SANITIZER_FLAGS})
+target_compile_options(iox-cpp-offer-service PRIVATE ${ICEORYX_WARNINGS} ${ICEORYX_SANITIZER_FLAGS})
 
-add_executable(iox-find-service ./iox_find_service.cpp)
-target_link_libraries(iox-find-service
+add_executable(iox-cpp-find-service ./iox_find_service.cpp)
+target_link_libraries(iox-cpp-find-service
     iceoryx_posh::iceoryx_posh
 )
-target_compile_options(iox-find-service PRIVATE ${ICEORYX_WARNINGS} ${ICEORYX_SANITIZER_FLAGS})
+target_compile_options(iox-cpp-find-service PRIVATE ${ICEORYX_WARNINGS} ${ICEORYX_SANITIZER_FLAGS})
 
-add_executable(iox-wait-for-service ./iox_wait_for_service.cpp ./src/discovery_blocking.cpp)
-target_link_libraries(iox-wait-for-service
+add_executable(iox-cpp-wait-for-service ./iox_wait_for_service.cpp ./src/discovery_blocking.cpp)
+target_link_libraries(iox-cpp-wait-for-service
     iceoryx_posh::iceoryx_posh
 )
 
-add_executable(iox-discovery-monitor ./iox_discovery_monitor.cpp ./src/discovery_monitor.cpp)
-target_link_libraries(iox-discovery-monitor
+add_executable(iox-cpp-discovery-monitor ./iox_discovery_monitor.cpp ./src/discovery_monitor.cpp)
+target_link_libraries(iox-cpp-discovery-monitor
     iceoryx_posh::iceoryx_posh
 )
 
-target_include_directories(iox-wait-for-service PRIVATE include)
-target_include_directories(iox-discovery-monitor PRIVATE include)
+target_include_directories(iox-cpp-wait-for-service PRIVATE include)
+target_include_directories(iox-cpp-discovery-monitor PRIVATE include)
 
-target_compile_options(iox-wait-for-service PRIVATE ${ICEORYX_WARNINGS} ${ICEORYX_SANITIZER_FLAGS})
-target_compile_options(iox-discovery-monitor PRIVATE ${ICEORYX_WARNINGS} ${ICEORYX_SANITIZER_FLAGS})
-target_compile_options(iox-offer-service PRIVATE ${ICEORYX_WARNINGS} ${ICEORYX_SANITIZER_FLAGS})
+target_compile_options(iox-cpp-wait-for-service PRIVATE ${ICEORYX_WARNINGS} ${ICEORYX_SANITIZER_FLAGS})
+target_compile_options(iox-cpp-discovery-monitor PRIVATE ${ICEORYX_WARNINGS} ${ICEORYX_SANITIZER_FLAGS})
+target_compile_options(iox-cpp-offer-service PRIVATE ${ICEORYX_WARNINGS} ${ICEORYX_SANITIZER_FLAGS})
 
-set_target_properties(iox-offer-service
-                      iox-find-service
-                      iox-wait-for-service
-                      iox-discovery-monitor
+set_target_properties(iox-cpp-offer-service
+                      iox-cpp-find-service
+                      iox-cpp-wait-for-service
+                      iox-cpp-discovery-monitor
                       PROPERTIES
                       CXX_STANDARD_REQUIRED ON
                       CXX_STANDARD ${ICEORYX_CXX_STANDARD}
@@ -67,8 +67,8 @@ set_target_properties(iox-offer-service
 
 # ========================================================== //
 
-install(TARGETS iox-offer-service
-                iox-find-service
-                iox-wait-for-service
-                iox-discovery-monitor               
+install(TARGETS iox-cpp-offer-service
+                iox-cpp-find-service
+                iox-cpp-wait-for-service
+                iox-cpp-discovery-monitor
         RUNTIME DESTINATION bin)

iceoryx_examples/icediscovery/README.md

@@ -12,9 +12,13 @@ In addition the applications `iox-wait-for-service` and `iox-discovery-monitor`
 to write custom discovery functionality to wait for specific services or monitor
 the availability of services respectively.
 
+<!--
 ## Expected Output
 
+/// @todo #1295 re-record asciicast
+
 [![asciicast](https://asciinema.org/a/476673.svg)](https://asciinema.org/a/476673)
+-->
 
 ## Code walkthrough
 
@@ -47,7 +51,7 @@ It is included via:
 On that object we can call the method `findService` which expects the three
 service [string identifiers](../../doc/website/getting-started/overview.md#creating-service-descriptions-for-topics)
 and a callable which will be applied to all matching services.
-In addition we have to specify whether we want to search for publishers (`MessagingPattern::PUB_SUB`)
+In addition, we have to specify whether we want to search for publishers (`MessagingPattern::PUB_SUB`)
 used in publish-subscribe communication or servers (`MessagingPattern::REQ_RES`) used in
 request-response communication.
 
@@ -68,7 +72,7 @@ We can search for exactly matching services:
 ```cpp
 serviceDiscovery.findService(iox::capro::IdString_t{"Radar"},
                              iox::capro::IdString_t{"FrontLeft"},
-                             iox::capro::IdString_t{"Image"},
+                             iox::capro::IdString_t{"Objects"},
                              printSearchResult,
                              iox::popo::MessagingPattern::PUB_SUB);
 ```
@@ -93,7 +97,8 @@ their services, you should see sometimes 5 `Camera` services and sometimes none.
 Start the applications `iox-wait-for-service` and `iox-offer-service`. This can be done in any order,
 but for demonstration purposes `iox-offer-service` should be started last.
 
-`iox-wait-for-service` uses a customized service discovery [Discovery](#implementation-of-discovery-with-blocking-wait) which supports to wait for services by including
+`iox-wait-for-service` uses a customized service discovery [Discovery](#implementation-of-discovery-with-blocking-wait)
+which supports to wait for services by including
 
 <!--[geoffrey][iceoryx_examples/icediscovery/iox_wait_for_service.cpp][include custom discovery]-->
 ```cpp
@@ -121,7 +126,7 @@ auto query = [&]() {
 ```
 
 This is essentially any callable with `bool(void)` signature, but it should depend on the discovery somehow (by capture),
-as it is only checked when the service availability changes in some way. Here we require some specific service to be found
+as it is only checked when the service availability changes in some way. Here, we require some specific service to be found
 before we proceed.
 
 <!--[geoffrey][iceoryx_examples/icediscovery/iox_wait_for_service.cpp][service to wait for]-->
@@ -137,11 +142,11 @@ Now we can wait until the service discovery changes and the service becomes avai
 bool serviceWasAvailable = discovery.waitUntil(query);
 ```
 
-This wait is blocking until the service was available. If it already is available we do not block and proceed.
+This wait blocks until the service is available. If it already is available we do not block and proceed.
 It is important that due to the nature of concurrent systems we cannot know that the service is still available
 once we return from `waitUntil`, as the application offering the service may have stopped doing so in the meantime.
 
-Usually we will assume that the service is available and may continue, e.g. by creating subscribers and running
+Usually, we will assume that the service is available and may continue, e.g. by creating subscribers and running
 application specific code.
 
 We can also block until any unspecified change in the service availability occurs
@@ -154,7 +159,7 @@ This change is relative to the last `findService` call we issued, i.e. if someth
 the available services at this point, we wake up and continue.
 
 We then can check any condition we like, but usually it will be most useful to again check discovery-related conditions.
-Here we check whether a particular service becomes unavailable (essentially the negation of our query before)
+Here, we check whether a particular service becomes unavailable (essentially the negation of our query before)
 <!--[geoffrey][iceoryx_examples/icediscovery/iox_wait_for_service.cpp][check service availability]-->
 ```cpp
 if (discovery.findService(service, instance, event).empty())
@@ -163,7 +168,7 @@ if (discovery.findService(service, instance, event).empty())
 }
 ```
 
-Note that we use a customized `findService` version which returns a result container which can easily be build
+Note that we use a customized `findService` version which returns a result container which can easily be built
 using the version which takes a function to be applied to all services in the search result.
 
 Once the service becomes unavailable, the application exits.
@@ -180,13 +185,13 @@ if (discoveryPtr)
 
 ### Monitor service availability
 
-If we want to continously monitor the availability of some service or check some discovery condition we can do so by
+If we want to continuously monitor the availability of some service or check some discovery condition we can do so by
 using e.g. a listener to conditionally execute [callbacks](../callbacks).
 
 To do so, we start the applications `iox-discovery-monitor` and `iox-offer-service`
 (again in any order, but for demonstration purposes `iox-offer-service` should be started last).
 
-Again we can use a [Discovery](#implementation-of-discovery-monitoring) customized for this purpose by including
+Again, we can use a [Discovery](#implementation-of-discovery-monitoring) customized for this purpose by including
 
 <!--[geoffrey][iceoryx_examples/icediscovery/iox_discovery_monitor.cpp][include custom discovery]-->
 ```cpp
@@ -201,7 +206,7 @@ and creating it like so
 Discovery discovery;
 ```
 
-Afterwards we create a callback to be called whenever the service availability changes.
+Afterwards, we create a callback to be called whenever the service availability changes.
 
 <!--[geoffrey][iceoryx_examples/icediscovery/iox_discovery_monitor.cpp][create monitoring callback]-->
 ```cpp
@@ -222,7 +227,7 @@ auto callback = [&](Discovery& discovery) -> void {
 ```
 
 This callback essentially checks whether a specific service is available or unavailable and generates output accordingly.
-Other reactions are possible as well, such as changing the processing logic of an pplication.
+Other reactions are possible as well, such as changing the processing logic of an application.
 
 To start the monitoring, we register the callback
 
@@ -240,12 +245,12 @@ When we want to stop monitoring we have to deregister the callback
 discovery.deregisterCallback();
 ```
 
-Here this is done at the very end where it is technically not required, but in a more complex application it could be done
-while the application is processing data. The main processing loop of the application is deliberately left empty for simplicty.
+Here, this is done at the very end where it is technically not required, but in a more complex application it could be done
+while the application is processing data. The main processing loop of the application is deliberately left empty for simplicity.
 Usually it would interact with the callback by e.g. changing application behavior whenever the availability of some service changes.
 
-While we only can attach one callback to the general event that the service availability changes in some way, we can generalize the mechanism
-here to check for multiple conditions and react to each of them by e.g. calling a specific function.
+While we only can attach one callback to the general event that the service availability changes in some way, we can
+generalize the mechanism here to check for multiple conditions and react to each of them by e.g. calling a specific function.
 These conditions would still need to be checked in the callback we defined though.
 
 ### Implementation of Discovery with blocking wait
@@ -263,7 +268,8 @@ ServiceDiscovery& serviceDiscovery()
 }
 ```
 
-This is useful as the `ServiceDiscovery` may be fairly large and in general there is no point in having multiple `ServiceDiscovery` objects that all have the same purpose and (if updated) same view of the available services.
+This is useful as the `ServiceDiscovery` may be fairly large and in general there is no point in having multiple
+`ServiceDiscovery` objects that all have the same purpose and (if updated) the same view of the available services.
 
 The key idea is to use a waitset and attach to the event that the service availability changes
 
@@ -346,7 +352,8 @@ void Discovery::unblockWait()
 }
 ```
 
-This is can only be called once and makes all future wait calls non-blocking. It is useful to unblock any wait calls to be able to stop the application.
+This can only be called once and makes all future wait calls non-blocking. It is useful to unblock any wait calls to be
+able to stop the application.
 
 Finally we provide a custom implementation of `findService` which returns a container of our choice, in this case a `std::vector`.
 
@@ -363,8 +370,8 @@ ServiceContainer Discovery::findService(const iox::cxx::optional<iox::capro::IdS
 }
 ```
 
-It is implemenented by using the native `findService` call of the `ServiceDiscovery` with an appropriate filter function.
-The benefit is that this way we can choose containers which do not necessrily reside on the stack.
+It is implemented by using the native `findService` call of the `ServiceDiscovery` with an appropriate filter function.
+The benefit is that this way we can choose containers which do not necessarily reside on the stack.
 
 ### Implementation of Discovery monitoring
 
@@ -391,7 +398,7 @@ m_listener.attachEvent(*m_discovery, iox::runtime::ServiceDiscoveryEvent::SERVIC
 ```
 
 The callback is stored as a `cxx::function` which does not require dynamic memory (but limits the size of the stored function,
-which is relvant e.g. for capturing lambdas). If dynamic memory is no concern we can also use a `std::function`.
+which is relevant e.g. for capturing lambdas). If dynamic memory is no concern we can also use a `std::function`.
 The callback can be any callable with a `(void)(discovery::Discovery&)` signature.
 Again the callback signature can be generalized somewhat but there are constraints to use it with the listener.
 Since the listener can only call static or free functions, we use an additional indirection to call the actual callback
@@ -406,10 +413,10 @@ void Discovery::invokeCallback(ServiceDiscovery*, Discovery* self)
 ```
 
 As soon as the callback is registered, the listener thread will invoke it on any service availability change.
-There is a small caveat though that while callback is called on any change, we can only access
+There is a small caveat though that while a callback is called on any change, we can only access
 the latest discovery information by e.g. calling `findService`.
-This means all intermediate changes cannot be detected, in particular we may encounter an ABA problem of service availabilty:
-the service is availalable, becomes unavailable and available again in quick succession.
+This means all intermediate changes cannot be detected, in particular we may encounter an ABA problem of service availability:
+the service is available, becomes unavailable and available again in quick succession.
 If the callback issues a `findService`, it will not observe any change in this case.
 As one is usually mainly interested in the available services this can be considered a minor limitation.
 
@@ -429,7 +436,8 @@ void Discovery::deregisterCallback()
 
 which detaches the callback from the listener.
 
-As before we built on an `iox::runtime::ServiceDiscovery` by composition and define a custom`findService` function which returns a `std::vector`.
+As before we built on an `iox::runtime::ServiceDiscovery` by composition and defined a custom`findService` function
+which returns a `std::vector`.
 
 <center>
 [Check out icediscovery on GitHub :fontawesome-brands-github:](https://github.com/eclipse-iceoryx/iceoryx/tree/master/iceoryx_examples/icediscovery){ .md-button } <!--NOLINT github url required for website-->

iceoryx_examples/icediscovery/include/discovery_blocking.hpp

@@ -51,6 +51,7 @@ class Discovery
     void unblockWait();
 
     /// @brief get all services matching a findService query
+    /// @return ServiceContainer, containing the found services
     /// @note invokes findService of the native iceoryx ServiceDiscovery API
     ServiceContainer findService(const iox::cxx::optional<iox::capro::IdString_t>& service,
                                  const iox::cxx::optional<iox::capro::IdString_t>& instance,

iceoryx_examples/icediscovery/iox_find_service.cpp

@@ -43,11 +43,11 @@ int main()
     {
         std::cout << "\n=========================================" << std::endl;
 
-        std::cout << "\nSearched for {'Radar', 'FrontLeft', 'Image'}. Found the following services:" << std::endl;
+        std::cout << "\nSearched for {'Radar', 'FrontLeft', 'Objects'}. Found the following services:" << std::endl;
         //! [search for unique service]
         serviceDiscovery.findService(iox::capro::IdString_t{"Radar"},
                                      iox::capro::IdString_t{"FrontLeft"},
-                                     iox::capro::IdString_t{"Image"},
+                                     iox::capro::IdString_t{"Objects"},
                                      printSearchResult,
                                      iox::popo::MessagingPattern::PUB_SUB);
         //! [search for unique service]

iceoryx_examples/icediscovery/iox_offer_service.cpp

@@ -25,8 +25,8 @@ int main()
     iox::runtime::PoshRuntime::initRuntime(APP_NAME);
 
     // offer services by creating publishers
-    iox::popo::Publisher<uint32_t> radarLeft({"Radar", "FrontLeft", "Image"});
-    iox::popo::Publisher<uint32_t> radarRight({"Radar", "FrontRight", "Image"});
+    iox::popo::Publisher<uint32_t> radarLeft({"Radar", "FrontLeft", "Objects"});
+    iox::popo::Publisher<uint32_t> radarRight({"Radar", "FrontRight", "Objects"});
     iox::popo::Publisher<uint32_t> lidarLeft({"Lidar", "FrontLeft", "Counter"});
 
     iox::cxx::vector<iox::popo::Publisher<uint32_t>, 5> cameraPublishers;

iceoryx_examples/icediscovery_in_c/README.md

@@ -7,9 +7,13 @@ service discovery. It provides two applications - one offering different
 services and one searching for those with different search queries. The
 behavior and structure is quite similar to the [icediscovery C++ example](../icediscovery).
 
+<!--
 ## Expected Output
 
+/// @todo #1295 re-record asciicast
+
 [![asciicast](https://asciinema.org/a/476732.svg)](https://asciinema.org/a/476732)
+-->
 
 ## Code walkthrough
 
@@ -42,10 +46,10 @@ We can now call three different find service functions. Let's start with
 <!--[geoffrey][iceoryx_examples/icediscovery_in_c/iox_c_find_service.c][find service and apply callable]-->
 ```c
 iox_service_discovery_find_service_apply_callable(
-    serviceDiscovery, "Radar", "FrontLeft", "Image", printSearchResult, MessagingPattern_PUB_SUB);
+    serviceDiscovery, "Radar", "FrontLeft", "Objects", printSearchResult, MessagingPattern_PUB_SUB);
 ```
 
-which searches for all `{Radar, FrontLeft, Image}` services offered by
+which searches for all `{Radar, FrontLeft, Objects}` services offered by
 publishers and applies the provided function `printSearchResult` on each of
 them. The function must have the signature
 `void(const iox_service_description_t)`. Here we pass a function that prints the

iceoryx_examples/icediscovery_in_c/iox_c_find_service.c

@@ -84,10 +84,10 @@ int main()
 
         printf("\n=========================================\n");
 
-        printf("\nSearched for {'Radar', 'FrontLeft', 'Image'}. Found the following services:\n");
+        printf("\nSearched for {'Radar', 'FrontLeft', 'Objects'}. Found the following services:\n");
         //! [find service and apply callable]
         iox_service_discovery_find_service_apply_callable(
-            serviceDiscovery, "Radar", "FrontLeft", "Image", printSearchResult, MessagingPattern_PUB_SUB);
+            serviceDiscovery, "Radar", "FrontLeft", "Objects", printSearchResult, MessagingPattern_PUB_SUB);
         //! [find service and apply callable]
 
         printf("\nSearched for {'Radar', *, *}. Found the following services:\n");