vsomeip-双机通信例子
参考
（https://github.com/COVESA/vsomeip/wiki/vsomeip-in-10-minutes#prep）
（http://www.voycn.com/article/guanyusomeipdelijie）
简介
someip是位于七层网络协议的会话层，其是车载以太网引入的一个协议．与CAN相比，其只有在接收方有需求时，server端才会给client发送消息，因此会减少总线上的负载率．
服务是SOME/IP的最核心概念。在一个服务中，定义了Server和Client两个角色：Server提供服务，Client调用服务。对于同一个服务，只能存在一个Server，但可以同时存在多个Client调用服务。server就是一个提供一组method/event/field的接口
- Method
其包含两种：
带response（request/response）（Request/Response methods allow calls with answers.）
不带response (fire&forget)（Fire&Forgetmethods do not have answer messages.）
event
是server向client发送的单向消息，其是server主动向订阅了相关event的client发送的消息．（Events are simple messages from Server to Client.）field
其包含3部分：
Getter : Request/Response
Setter: Request/Response
Notifier : Events
上面两种方式的组合，field可以被订阅，用于消息通知，还具有set和get的功能，对消息进行读写操作．（Fields are properties that may include a Getter, a Setter, and a Notification.）
Server端
1. 配置文件（vsomeip.json）(/system/etc)
{"unicast" : "本机的ip","logging" : {"level" : "trace","console" : "true","file" : {"enable" : "false"},"dlt" : "false"},"applications" : [{"name" : "World","id" : "0x3489"}],"services" : [{"service" : "0x1234","instance" : "0x5678","reliable" : {"port" : "40001","enable-magic-cookies" : "false"},"events" : [{"event" : "9001","is_field" : "true","update-cycle" : 2000},{"event" : "9002","is_field" : "true","update-cycle" : 2000 }],"eventgroups" : [{"eventgroup" : "0x5555","events" : ["9001","9002"]}]}],"routing" : "vsomeipd","service-discovery" : {"enable" : "true","mode" : "unicast","unicast" : ["要通信的ip1","要通信的ip2"],"multicast" : "224.224.224.245","port" : "30490","protocol" : "udp","initial_delay_min" : "10","initial_delay_max" : "100","cyclic_offer_delay":"10000","request_response_delay":"1500"}
}
2. 代码
其主要代码：
1)创建application(world)(vsomeip::runtime::get()->create_application(“World”))，并进行初始化()(app->init())
2)为特定的service，instance，method/event的消息注册callback(app->register_message_handler())
3)向路由注册application(world)提供的service(app->offer_service())，为了让其他的application可以发现该service．注：为了向外部网络提供服务，配置必须包含提供的服务实例的端口。如果没有提供这样的端口配置，服务在设备外部是不可见的．
4)向路由注册application(world)提供的event(app->offer_event())，允许其他application订阅event/field，以及获取和设置field值。
5)启动消息处理(app->start())，它将阻塞，直到使用stop方法或通过接收信号终止消息处理。它处理通过套接字接收到的消息，并使用注册的回调函数将它们传递给用户应用程序。
#include <condition_variable>
#include <iomanip>
#include <iostream>
#include <sstream>
#include <thread>
#include <vsomeip/vsomeip.hpp>#define SAMPLE_SERVICE_ID 0x1234
#define SAMPLE_INSTANCE_ID 0x5678
#define SAMPLE_METHOD_ID 0x07
#define SAMPLE_EVENTGROUP_ID 0x5555
#define SAMPLE_EVENT_ID 9001
std::shared_ptr<vsomeip::application> app;
std::mutex mutex;
std::condition_variable condition;void on_filed_message(const std::shared_ptr<vsomeip::message>& _request) {std::shared_ptr<vsomeip::payload> its_payload = _request->get_payload();std::cout << "SERVICE:Received filed message: " << std::hex << _request->get_method()<< ". client: " << std::hex << _request->get_client() << ". data: " << std::hex<< its_payload->get_data() << std::endl;// send responsestd::shared_ptr<vsomeip::message> its_response =vsomeip::runtime::get()->create_response(_request);its_payload = vsomeip::runtime::get()->create_payload();const vsomeip::byte_t its_data[] = {0x11};its_payload = vsomeip::runtime::get()->create_payload();its_payload->set_data(its_data, sizeof(its_data));its_response->set_payload(its_payload);app->send(its_response, true);
}void on_message(const std::shared_ptr<vsomeip::message>& _request) {std::shared_ptr<vsomeip::payload> its_payload = _request->get_payload();vsomeip::length_t l = its_payload->get_length();// Get payloadstd::stringstream ss;for (vsomeip::length_t i = 0; i < l; i++) {ss << std::setw(2) << std::setfill('0') << std::hex << (int)*(its_payload->get_data() + i)<< " ";}std::cout << "SERVICE: Received message with Client/Session [" << std::setw(4)<< std::setfill('0') << std::hex << _request->get_client() << "/" << std::setw(4)<< std::setfill('0') << std::hex << _request->get_session() << "] " << ss.str()<< std::endl;// Send responsestd::shared_ptr<vsomeip::message> its_response =vsomeip::runtime::get()->create_response(_request);its_payload = vsomeip::runtime::get()->create_payload();std::vector<vsomeip::byte_t> its_payload_data;for (int i = 9; i >= 0; i--) {its_payload_data.push_back(i % 256);}its_payload->set_data(its_payload_data);its_response->set_payload(its_payload);app->send(its_response, true);// Notify eventconst vsomeip::byte_t its_data[] = {0x10};its_payload = vsomeip::runtime::get()->create_payload();its_payload->set_data(its_data, sizeof(its_data));app->notify(SAMPLE_SERVICE_ID, SAMPLE_INSTANCE_ID, SAMPLE_EVENT_ID, its_payload);std::cout << "service: notify over!!" << std::endl;
}int main() {app = vsomeip::runtime::get()->create_application("World");std::set<vsomeip::eventgroup_t> its_groups;its_groups.insert(SAMPLE_EVENTGROUP_ID);app->init();//注册method的监听app->register_message_handler(SAMPLE_SERVICE_ID, SAMPLE_INSTANCE_ID, SAMPLE_METHOD_ID,on_message);//注册field的监听app->register_message_handler(SAMPLE_SERVICE_ID, SAMPLE_INSTANCE_ID, SAMPLE_EVENT_ID,on_filed_message);app->offer_service(SAMPLE_SERVICE_ID, SAMPLE_INSTANCE_ID);app->offer_event(SAMPLE_SERVICE_ID, SAMPLE_INSTANCE_ID, SAMPLE_EVENT_ID, its_groups, true);app->offer_event(SAMPLE_SERVICE_ID, SAMPLE_INSTANCE_ID, SAMPLE_EVENT_ID + 1, its_groups, true);app->start();
}
Client端
1. 配置文件(vsomeip.json)(/system/etc)
{ "unicast":"本机的ip","logging":{ "level":"trace","console":"true","file":{ "enable":"false"},"dlt":"false"},"performance-measurement": {"enable":"true","client":"true","server":"false","interval":60},"applications" : [{"name" : "Hello","id" : "0x1210"}],"services" :[{"service" : "0x7788","instance" : "0x98","reliable" : {"port" : "40004","enable-magic-cookies" : "true"},"events" : [{"event" : "90","is_field" : "true"},{"event" : "91","is_field" : "true"}],"eventgroups" : [{"eventgroup" : "0x333","events" : ["90","91"]}]}],"routing" : "vsomeipd","service-discovery" : {"enable" : "true","mode" : "unicast","unicast" : ["要通信的ip1","要通信的ip2"],"multicast" : "224.224.224.245","port" : "30490","protocol" : "udp","initial_delay_min" : "10","initial_delay_max" : "100","cyclic_offer_delay":"10000","request_response_delay":"1500"}
}
2. 代码
其主要代码：
1)创建application(world)(vsomeip::runtime::get()->create_application(“Hello”))，并进行初始化()(app->init())
2)向路由中注册一个监听application(world)状态的callback (app->register_state_handler()).当其反馈在路由中注册成功后，去请求service(app->request_service())
3)注册一个要请求的service的状态的监听，当service出现或消失时会被调用(app->register_availability_handler())，当其反馈service可用时，可以创建request( vsomeip::runtime::get()->create_request(true))向service发送消息(app->send())，和向service注册某些event(app->request_event())的监听(app->subscribe())
4)为特定的service，instance，method/event的消息注册callback(app->register_message_handler())
5)开启一个发送消息的线程(std::thread sender(run))
6)启动消息处理(app->start())
#include <condition_variable>
#include <iomanip>
#include <iostream>
#include <sstream>
#include <thread>
#include <vsomeip/vsomeip.hpp>#define SAMPLE_SERVICE_ID 0x1234
#define SAMPLE_INSTANCE_ID 0x5678
#define SAMPLE_METHOD_ID 0x07
#define SAMPLE_EVENTGROUP_ID 0x5555
#define SAMPLE_EVENT_ID 9001std::shared_ptr<vsomeip::application> app;
std::mutex mutex;
std::condition_variable condition;void run() {std::unique_lock<std::mutex> its_lock(mutex);condition.wait(its_lock);//注册监听std::set<vsomeip::eventgroup_t> its_groups;its_groups.insert(SAMPLE_EVENTGROUP_ID);app->request_event(SAMPLE_SERVICE_ID, SAMPLE_INSTANCE_ID, SAMPLE_EVENT_ID, its_groups, true);app->request_event(SAMPLE_SERVICE_ID, SAMPLE_INSTANCE_ID, SAMPLE_EVENT_ID + 1, its_groups, true);app->subscribe(SAMPLE_SERVICE_ID, SAMPLE_INSTANCE_ID, SAMPLE_EVENTGROUP_ID);// Send Requeststd::shared_ptr<vsomeip::message> request;request = vsomeip::runtime::get()->create_request(true);request->set_service(SAMPLE_SERVICE_ID);request->set_instance(SAMPLE_INSTANCE_ID);request->set_method(SAMPLE_METHOD_ID);std::shared_ptr<vsomeip::payload> its_payload = vsomeip::runtime::get()->create_payload();std::vector<vsomeip::byte_t> its_payload_data;for (vsomeip::byte_t i = 0; i < 10; i++) {its_payload_data.push_back(i % 256);}its_payload->set_data(its_payload_data);request->set_payload(its_payload);app->send(request, true);std::this_thread::sleep_for(std::chrono::milliseconds(2000));// send field requeststd::shared_ptr<vsomeip::message> request_filed;request_filed = vsomeip::runtime::get()->create_request(true);request_filed->set_service(SAMPLE_SERVICE_ID);request_filed->set_instance(SAMPLE_INSTANCE_ID);request_filed->set_method(SAMPLE_EVENT_ID);std::shared_ptr<vsomeip::payload> filed_payload = vsomeip::runtime::get()->create_payload();const vsomeip::byte_t its_data[] = {0x12};filed_payload->set_data(its_data, sizeof(its_data));request_filed->set_payload(filed_payload);app->send(request_filed, true);
}void on_message(const std::shared_ptr<vsomeip::message>& _response) {std::stringstream its_message;its_message << "CLIENT: received a notification for event [" << std::setw(4)<< std::setfill('0') << std::hex << _response->get_service() << "." << std::setw(4)<< std::setfill('0') << std::hex << _response->get_instance() << "." << std::setw(4)<< std::setfill('0') << std::hex << _response->get_method()<< "message_type: " << std::hex << static_cast<int>(_response->get_message_type())<< "] to Client/Session [" << std::setw(4) << std::setfill('0') << std::hex<< _response->get_client() << "/" << std::setw(4) << std::setfill('0') << std::hex<< _response->get_session() << "] = ";std::shared_ptr<vsomeip::payload> its_payload = _response->get_payload();its_message << "(" << std::dec << its_payload->get_length() << ") ";for (uint32_t i = 0; i < its_payload->get_length(); ++i)its_message << std::hex << std::setw(2) << std::setfill('0')<< (int)its_payload->get_data()[i] << " ";std::cout << its_message.str() << std::endl;}void on_availability(vsomeip::service_t _service, vsomeip::instance_t _instance,bool _is_available) {std::cout << "CLIENT: Service [" << std::setw(4) << std::setfill('0') << std::hex << _service<< "." << _instance << "] is " << (_is_available ? "available." : "NOT available.")<< std::endl;if (_is_available) {condition.notify_one();}
}void on_state_cbk(vsomeip::state_type_e _state) {std::cout << "on_state_cbk, state: " << static_cast<int>(_state) << std::endl;if (_state == vsomeip::state_type_e::ST_REGISTERED) {//注册成功后请求service，然后等待on_availability的callback// we are registered at the runtime now we can request the service// and wait for the on_availability callback to be calledapp->request_service(SAMPLE_SERVICE_ID, SAMPLE_INSTANCE_ID);}
}int main() {app = vsomeip::runtime::get()->create_application("Hello");std::set<vsomeip::eventgroup_t> its_groups;its_groups.insert(SLAVE_EVENTGROUP_ID);app->init();//把这个application注册到路由管理器中，on_state_cbk：callback注册结果app->register_state_handler(on_state_cbk);app->register_availability_handler(SAMPLE_SERVICE_ID, SAMPLE_INSTANCE_ID, on_availability);app->register_message_handler(vsomeip::ANY_SERVICE, vsomeip::ANY_INSTANCE, vsomeip::ANY_METHOD,on_message);std::thread sender(run);app->start();
}
android.mk
将上述两个代码编译成bin文件，push进设备中执行
cc_binary {name: "someipservice_test",proprietary: true,srcs: ["someip_test_service.cpp",],include_dirs: ["SomeIP/vsomeip/arm64/include","SomeIP/boost/arm64/include",],shared_libs: ["libbase","libvsomeip",],cflags: ["-Wall","-Wno-unused-parameter","-Werror","-Wunused-variable","-Wno-unused-variable","-Wformat","-Wc++11-narrowing",],
}cc_binary {name: "someipclient_test",proprietary: true,srcs: ["someip_test_client.cpp",],include_dirs: ["SomeIP/vsomeip/arm64/include","SomeIP/boost/arm64/include",],shared_libs: ["libbase","libvsomeip",],cflags: ["-Wall","-Wno-unused-parameter","-Werror","-Wunused-variable","-Wno-unused-variable","-Wformat","-Wc++11-narrowing",],
}
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