Partially complete test of a multithreaded application Linux. It works, but it doesn't use iface sharing yet.

libuavcan_drivers/linux/apps/test_multithreading.cpp

@@ -0,0 +1,135 @@
+/*
+ * Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <iostream>
+#include <thread>
+#include <uavcan_linux/uavcan_linux.hpp>
+#include <uavcan/node/sub_node.hpp>
+#include <uavcan/protocol/node_status_monitor.hpp>
+#include "debug.hpp"
+
+static uavcan_linux::NodePtr initMainNode(const std::vector<std::string>& ifaces, uavcan::NodeID nid,
+                                          const std::string& name)
+{
+    std::cout << "Initializing main node" << std::endl;
+
+    auto node = uavcan_linux::makeNode(ifaces);
+
+    node->setNodeID(nid);
+    node->setName(name.c_str());
+
+    node->getLogger().setLevel(uavcan::protocol::debug::LogLevel::DEBUG);
+
+    const int start_res = node->start();
+    ENFORCE(0 == start_res);
+
+    uavcan::NetworkCompatibilityCheckResult init_result;
+    ENFORCE(0 == node->checkNetworkCompatibility(init_result));
+    if (!init_result.isOk())
+    {
+        throw std::runtime_error("Network conflict with node " + std::to_string(init_result.conflicting_node.get()));
+    }
+
+    node->setStatusOk();
+    return node;
+}
+
+static uavcan_linux::SubNodePtr initSubNode(const std::vector<std::string>& ifaces, uavcan::NodeID nid)
+{
+    std::cout << "Initializing sub node" << std::endl;
+    auto node = uavcan_linux::makeSubNode(ifaces);
+    node->setNodeID(nid);
+    return node;
+}
+
+static void runMainNode(const uavcan_linux::NodePtr& node)
+{
+    std::cout << "Running main node" << std::endl;
+
+    auto do_nothing_once_a_minute = [&node](const uavcan::TimerEvent&)
+    {
+        node->logInfo("timer", "Another minute passed...");
+        node->setVendorSpecificStatusCode(static_cast<std::uint16_t>(std::rand())); // Setting to an arbitrary value
+    };
+    auto timer = node->makeTimer(uavcan::MonotonicDuration::fromMSec(60000), do_nothing_once_a_minute);
+
+    while (true)
+    {
+        const int res = node->spin(uavcan::MonotonicDuration::getInfinite());
+        if (res < 0)
+        {
+            node->logError("spin", "Error %*", res);
+        }
+    }
+}
+
+static void runSubNode(const uavcan_linux::SubNodePtr& node)
+{
+    std::cout << "Running sub node" << std::endl;
+
+    auto log_handler = [](const uavcan::ReceivedDataStructure<uavcan::protocol::debug::LogMessage>& msg)
+    {
+        std::cout << msg << std::endl;
+    };
+    auto log_sub = node->makeSubscriber<uavcan::protocol::debug::LogMessage>(log_handler);
+
+    struct NodeStatusMonitor : public uavcan::NodeStatusMonitor
+    {
+        explicit NodeStatusMonitor(uavcan::INode& node) : uavcan::NodeStatusMonitor(node) { }
+
+        virtual void handleNodeStatusChange(const NodeStatusChangeEvent& event) override
+        {
+            std::cout << "Remote node NID " << int(event.node_id.get()) << " changed status: "
+                      << int(event.old_status.status_code) << " --> "
+                      << int(event.status.status_code) << std::endl;
+        }
+    };
+
+    NodeStatusMonitor nsm(*node);
+    ENFORCE(0 == nsm.start());
+
+    while (true)
+    {
+        const int res = node->spin(uavcan::MonotonicDuration::getInfinite());
+        if (res < 0)
+        {
+            std::cerr << "SubNode spin error: " << res << std::endl;
+        }
+    }
+}
+
+int main(int argc, const char** argv)
+{
+    try
+    {
+        if (argc < 3)
+        {
+            std::cerr << "Usage:\n\t" << argv[0] << " <node-id> <can-iface-name-1> [can-iface-name-N...]" << std::endl;
+            return 1;
+        }
+
+        const int self_node_id = std::stoi(argv[1]);
+        std::vector<std::string> iface_names(argv + 2, argv + argc);
+
+        auto node = initMainNode(iface_names, self_node_id, "org.uavcan.linux_test_node");
+        auto sub_node = initSubNode(iface_names, self_node_id);
+
+        std::thread sub_thread([&sub_node](){ runSubNode(sub_node); });
+
+        runMainNode(node);
+
+        if (sub_thread.joinable())
+        {
+            std::cout << "Waiting for the sub thread to join" << std::endl;
+            sub_thread.join();
+        }
+
+        return 0;
+    }
+    catch (const std::exception& ex)
+    {
+        std::cerr << "Exception: " << ex.what() << std::endl;
+        return 1;
+    }
+}