Add middleware abstraction (#62)

Co-authored-by: Dominic Sudy <[email protected]>

.vscode/settings.json

@@ -70,6 +70,8 @@
         "typeinfo": "cpp",
         "valarray": "cpp",
         "variant": "cpp",
-        "*.inc": "cpp"
+        "*.inc": "cpp",
+        "regex": "cpp",
+        "shared_mutex": "cpp"
     }
 }

NOTICE-3RD-PARTY-CONTENT.md

@@ -18,12 +18,12 @@
 |identify|2.5.24|MIT|
 |idna|3.4|BSD|
 |Jinja2|3.1.2|New BSD|
-|lxml|4.9.2|New BSD|
+|lxml|4.9.3|New BSD|
 |MarkupSafe|2.1.3|New BSD|
 |node-semver|0.6.1|MIT|
 |nodeenv|1.8.0|BSD|
 |patch-ng|1.17.4|MIT|
-|platformdirs|3.8.0|MIT|
+|platformdirs|3.8.1|MIT|
 |pluginbase|1.0.1|BSD|
 |pre-commit|2.20.0|MIT|
 |Pygments|2.15.1|Simplified BSD|

README.md

@@ -55,7 +55,7 @@ With the runtime running in the background, you can run the app.
 Open the `Run Task` view in VSCode and select `Local - VehicleApp (Dapr run)`.
 
 ### With debugging
-You can simply launch the example in the Debugging Tab. Make sure the `VehicleApp - Debug (dapr run)` is selected at the top. After the selection is done, you can also simply hit `F5`, to start the debugging session. 
+You can simply launch the example in the Debugging Tab. Make sure the `Example - <example of your choice>` is selected at the top. After the selection is done, you can also simply hit `F5`, to start the debugging session. 
 
 *Note: This launch task will also make sure to re-build the app if it has been modified!*
 
@@ -69,6 +69,24 @@ docker run --net="host" --mount type=bind,source="$(pwd)"/.dapr,target=/.dapr da
 docker run --rm -it --net="host" -e DAPR_GRPC_PORT=50001 -e DAPR_HTTP_PORT=3500 localhost:12345/vehicleapp:local
 ```
 
+### Middleware configuration for the example apps
+
+You can configure the middleware to be used (i.e. either `dapr` or `native`) via environment variables of the app processs.
+
+| Middleware | Environment Variable            | Default             | Meaning
+|------------|---------------------------------|---------------------|------------------------------------
+|            | `SDV_MIDDLEWARE_TYPE`           | `dapr`              | Defines the middleware to be used by the app (either `dapr` or `native`)
+|
+| Dapr       | `SDV_MQTT_ADDRESS`              | `localhost:1883`    | Address of the MQTT broker - needs to be set explicitly as the C++ SDK does not support Dapr PubSub, yet
+|            | `SEATSERVICE_DAPR_APP_ID`       | `seatservice`       | Application id used by Dapr to discover the application providing the seat service
+|            | `VEHICLEDATABROKER_DAPR_APP_ID` | `vehicledatabroker` | Application id used by Dapr to discover the application providing the Kuksa (Vehicle) Data Broker
+|            | (`DAPR_GRPC_PORT`)              | -                   | Usually, `DAPR_GRPC_PORT` and `DAPR_HTTP_PORT` don't need to be configured manually. They are set by `dapr run` when starting the app and its sidecar.
+|            | (`DAPR_HTTP_PORT`)              | -                   | If you need to start your app separately, please make sure these environment variables are equally available to both the app and its sidecar with identical values (see above).
+|            | 
+| native     | `SDV_MQTT_ADDRESS`              | `localhost:1883`    | Address of the MQTT broker
+|            | `SDV_SEATSERVICE_ADDRESS`       | -                   | Address of the seat service
+|            | `SDV_VEHICLEDATABROKER_ADDRESS` | `localhost:55555`   | Address of the Kuksa (Vehicle) Data Broker
+
 ## Documentation
 * [Velocitas Development Model](https://eclipse.dev/velocitas/docs/concepts/development_model/)
 * [Vehicle App SDK Overview](https://eclipse.dev/velocitas/docs/concepts/development_model/vehicle_app_sdk/)

conanfile.py

@@ -19,7 +19,7 @@
 
 class VehicleAppCppSdkConan(ConanFile):
     name = "vehicle-app-sdk"
-    version = "0.3.2"
+    version = "0.3.3"
     license = "Apache-2.0"
     url = "https://github.com/eclipse-velocitas/vehicle-app-cpp-sdk"
     description = "The Vehicle App SDK for c++ allows to create Vehicle Apps from the Velocitas development model in the c++ programming language."

examples/seat-adjuster/src/SeatAdjusterApp.cpp

@@ -1,5 +1,5 @@
 /**
- * Copyright (c) 2022 Robert Bosch GmbH
+ * Copyright (c) 2022-2023 Robert Bosch GmbH
  *
  * This program and the accompanying materials are made available under the
  * terms of the Apache License, Version 2.0 which is available at
@@ -40,7 +40,7 @@ const auto STATUS_FAIL = 1;
 
 SeatAdjusterApp::SeatAdjusterApp()
     : VehicleApp(velocitas::IVehicleDataBrokerClient::createInstance("vehicledatabroker"),
-                 velocitas::IPubSubClient::createInstance("localhost:1883", "SeatAdjusterApp"))
+                 velocitas::IPubSubClient::createInstance("SeatAdjusterApp"))
     , m_vehicleModel(std::make_shared<velocitas::Vehicle>()) {}
 
 void SeatAdjusterApp::onStart() {

examples/set-data-points/src/SetDataPointsApp.cpp

@@ -1,5 +1,5 @@
 /**
- * Copyright (c) 2022 Robert Bosch GmbH
+ * Copyright (c) 2022-2023 Robert Bosch GmbH
  *
  * This program and the accompanying materials are made available under the
  * terms of the Apache License, Version 2.0 which is available at
@@ -30,25 +30,45 @@ namespace example {
 class SetDataPointsApp : public velocitas::VehicleApp {
 public:
     SetDataPointsApp()
-        : VehicleApp(
-              velocitas::IVehicleDataBrokerClient::createInstance("vehicledatabroker"),
-              velocitas::IPubSubClient::createInstance("localhost:1883", "SetDataPointsApp")) {}
+        : VehicleApp(velocitas::IVehicleDataBrokerClient::createInstance("vehicledatabroker"),
+                     velocitas::IPubSubClient::createInstance("SetDataPointsApp")) {}
 
     void onStart() override {
-        velocitas::logger().info("Setting data points!");
+        // set a single data point
+        try {
+            velocitas::logger().info("Setting single data point ...");
+
+            Vehicle.Speed.set(100.0F)->await();
+
+            velocitas::logger().info("Setting single data point successfully done.");
+        } catch (velocitas::AsyncException& e) {
+            velocitas::logger().error("Error on setting single data point: {}", e.what());
+        }
 
         // set multiple data points at the same time
-        Vehicle.setMany()
-            .add(Vehicle.Cabin.Seat.Row1.Pos1.Position, 1000)
-            .add(Vehicle.Cabin.Seat.Row1.Pos2.Position, 1000)
-            .apply()
-            ->await();
+        try {
+            velocitas::logger().info("Setting batch of data points ...");
 
-        // set a single data point
-        Vehicle.Speed.set(100.0F)->await();
+            auto result = Vehicle.setMany()
+                              .add(Vehicle.Cabin.Seat.Row1.Pos1.Position, 1000)
+                              .add(Vehicle.Cabin.Seat.Row1.Pos2.Position, 1000)
+                              .apply()
+                              ->await();
+
+            if (result.empty()) {
+                velocitas::logger().info("Setting batch of data points successfully done.");
+            } else {
+                velocitas::logger().error("Some data points of batch could not be set:");
+                for (auto datapointError : result) {
+                    velocitas::logger().error("    '{}' -> {}", datapointError.first,
+                                              datapointError.second);
+                }
+            }
+        } catch (velocitas::AsyncException& e) {
+            velocitas::logger().error("Error on setting batch of data points: {}", e.what());
+        }
 
-        // get a single data point
-        Vehicle.Cabin.Seat.Row1.Pos1.Position.get()->await();
+        velocitas::logger().info("Done. (Press Ctrl+C to terminate the app.)");
     }
 
 private:

examples/vehicle_model/Cabin/SeatService/SeatService.cpp

@@ -1,5 +1,5 @@
 /**
- * Copyright (c) 2022 Robert Bosch GmbH
+ * Copyright (c) 2022-2023 Robert Bosch GmbH
  *
  * This program and the accompanying materials are made available under the
  * terms of the Apache License, Version 2.0 which is available at
@@ -81,11 +81,15 @@ Status toInternalStatus(grpc::Status status) {
 }
 
 SeatService::SeatService(Model* parent)
-    : Service("VehicleService", parent) {
+    : Service("SeatService", parent) {
     m_asyncGrpcFacade = std::make_shared<SeatServiceAsyncGrpcFacade>(
-        grpc::CreateChannel("localhost:50051", grpc::InsecureChannelCredentials()));
-    m_asyncGrpcFacade->setContextModifier(
-        [this](auto& context) { context.AddMetadata("dapr-app-id", getName()); });
+        grpc::CreateChannel(getLocation(), grpc::InsecureChannelCredentials()));
+    Middleware::Metadata metadata = getMiddlewareMetadata();
+    m_asyncGrpcFacade->setContextModifier([metadata](auto& context) {
+        for (auto metadatum : metadata) {
+            context.AddMetadata(metadatum.first, metadatum.second);
+        }
+    });
 }
 
 AsyncResultPtr_t<VoidResult> SeatService::move(const SeatService::Seat& seat) {

sdk/include/sdk/IPubSubClient.h

@@ -1,5 +1,5 @@
 /**
- * Copyright (c) 2022 Robert Bosch GmbH
+ * Copyright (c) 2022-2023 Robert Bosch GmbH
  *
  * This program and the accompanying materials are made available under the
  * terms of the Apache License, Version 2.0 which is available at
@@ -30,6 +30,23 @@ namespace velocitas {
  */
 class IPubSubClient {
 public:
+    /**
+     * @brief Create an instance of a pub/sub client according to the defined middleware
+     * configuration
+     *
+     * @param clientId used to identify the client at the pub/sub server
+     * @return std::shared_ptr<IPubSubClient> reference to the created pub/sub client
+     */
+    static std::shared_ptr<IPubSubClient> createInstance(const std::string& clientId);
+
+    /**
+     * @brief Create a new instance of an MQTT client connecting to a broker at the specified
+     * address
+     *
+     * @param brokerUri address of the MQTT broker to connect to
+     * @param clientId used to identify the client at the MQTT broker
+     * @return std::shared_ptr<IPubSubClient> reference to the created MQTT client
+     */
     static std::shared_ptr<IPubSubClient> createInstance(const std::string& brokerUri,
                                                          const std::string& clientId);
 

sdk/include/sdk/Model.h

@@ -1,5 +1,5 @@
 /**
- * Copyright (c) 2022 Robert Bosch GmbH
+ * Copyright (c) 2022-2023 Robert Bosch GmbH
  *
  * This program and the accompanying materials are made available under the
  * terms of the Apache License, Version 2.0 which is available at
@@ -19,6 +19,7 @@
 
 #include "sdk/DataPointBatch.h"
 #include "sdk/Node.h"
+#include "sdk/middleware/Middleware.h"
 
 #include <string>
 
@@ -43,6 +44,9 @@ class Model : public Node {
 class Service : public Node {
 public:
     using Node::Node;
+
+    std::string          getLocation() const;
+    Middleware::Metadata getMiddlewareMetadata() const;
 };
 
 } // namespace velocitas

sdk/include/sdk/Utils.h

@@ -1,5 +1,5 @@
 /**
- * Copyright (c) 2022 Robert Bosch GmbH
+ * Copyright (c) 2022-2023 Robert Bosch GmbH
  *
  * This program and the accompanying materials are made available under the
  * terms of the Apache License, Version 2.0 which is available at
@@ -22,17 +22,61 @@
 
 namespace velocitas {
 
+/**
+ * @brief Get the value of the specified environment variable
+ *
+ * @param varName  Name of the environment variable
+ * @param defaultValue  Default if variable is not set
+ * @return std::string containing the value of the variable or the default value
+ */
+std::string getEnvVar(const std::string& varName, const std::string& defaultValue = "");
+
 /**
  * @brief Provides utility methods for handling strings.
  *
  */
 class StringUtils final {
 public:
+    /**
+     * @brief Return the passed string converted to lowercase
+     *
+     * @param str string to be converted
+     * @return std::string having all uppercase letters contained in the passed string converted to
+     * lowercase
+     */
+    static std::string toLower(const std::string& str);
+
+    /**
+     * @brief Return the passed string converted to uppercase
+     *
+     * @param str string to be converted
+     * @return std::string having all lowercase letters contained in the passed string converted to
+     * uppercase
+     */
+    static std::string toUpper(const std::string& str);
+
+    /**
+     * @brief Concatenate the strings of the passed vector by adding the passed separator between
+     * each two of the array elements.
+     *
+     * Examples:
+     *
+     * stringVector             | separator  | result
+     * -------------------------|------------|--------------------
+     * [] (empty vector)        | don't care | ""
+     * ["hello"]                | don't care | "hello"
+     * ["hello", "world", "eh"] | ", "       | "hello, world, eh"
+     * ["single", "ton"]        | ""         | "singleton"
+     *
+     * @param stringVector vector of strings to be concatenated
+     * @param separator string to be put between each two vector elements
+     * @return std::string containing the joined contents
+     */
     static std::string join(const std::vector<std::string>& stringVector,
                             const std::string&              separator);
 
 private:
-    StringUtils() = default;
+    StringUtils() = delete;
 };
 
 } // namespace velocitas

sdk/include/sdk/dapr/DaprSupport.h

@@ -20,6 +20,7 @@ namespace velocitas::dapr {
  * @brief Wait for the dapr sidecar to become available.
  *
  */
-void waitForSidecar();
+[[deprecated("Don't call - this is handled by middleware internally. Will be removed soon!")]] void
+waitForSidecar();
 
 } // namespace velocitas::dapr

sdk/include/sdk/grpc/VehicleDataBrokerClient.h

@@ -1,5 +1,5 @@
 /**
- * Copyright (c) 2022 Robert Bosch GmbH
+ * Copyright (c) 2022-2023 Robert Bosch GmbH
  *
  * This program and the accompanying materials are made available under the
  * terms of the Apache License, Version 2.0 which is available at
@@ -20,6 +20,7 @@
 #include "sdk/vdb/IVehicleDataBrokerClient.h"
 
 #include <memory>
+#include <string>
 #include <vector>
 
 namespace velocitas {
@@ -33,8 +34,8 @@ class BrokerAsyncGrpcFacade;
  */
 class VehicleDataBrokerClient : public IVehicleDataBrokerClient {
 public:
-    explicit VehicleDataBrokerClient(const std::string& vdbAddress, std::string vdbAppId);
-    explicit VehicleDataBrokerClient(const std::string& vdbAppId);
+    explicit VehicleDataBrokerClient(const std::string& vdbAddress, std::string vdbServiceName);
+    explicit VehicleDataBrokerClient(const std::string& vdbserviceName);
 
     ~VehicleDataBrokerClient() override;
 
@@ -52,11 +53,9 @@ class VehicleDataBrokerClient : public IVehicleDataBrokerClient {
     AsyncSubscriptionPtr_t<DataPointReply> subscribe(const std::string& query) override;
 
 private:
-    static std::string getVdbEndpointAddress();
-
     std::shared_ptr<BrokerAsyncGrpcFacade> m_asyncBrokerFacade;
-    std::string                            m_vdbAppId;
 };
+
 } // namespace velocitas
 
 #endif // VEHICLE_APP_SDK_VEHICLEDATABROKERCLIENT_H