add issues 502 test node

tools/C_node_test/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+# set compiler
+set(CMAKE_CXX_COMPILER "/usr/bin/clang++")
+
+project(test_c_node)
+if(NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE Release)
+endif()
+
+set(CMAKE_CXX_FLAGS "-std=c++14 -pthread -Wall -Wextra")
+set(CMAKE_CXX_FLAGS_DEBUG "-g")
+# NOTE: CHOOSE THE O2/O3 is really important for speed! check more on optimization on compile
+set(CMAKE_CXX_FLAGS_RELEASE "-O2")
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
+
+set(CURRENT_DIR ${CMAKE_CURRENT_SOURCE_DIR})
+message(STATUS "Current dir stored in variable: ${CURRENT_DIR}")
+find_package(PkgConfig)
+
+
+
+pkg_check_modules(YAMLCPP REQUIRED yaml-cpp>=0.5)
+
+
+include_directories(
+  ${YAMLCPP_INCLUDE_DIRS}
+  $ENV{HOME}/dora/apis/c/node #dora的头文件路径 node_api.h
+  #/home/nvidia/dora_project/dora/apis/c/node
+  $ENV{HOME}/dora/apis/c/operator
+  $ENV{HOME}/dora/examples/c++-ros2-dataflow/build/ #C++ros的头文件路径
+
+)
+
+add_executable(node_A node_A.cc )
+target_link_libraries(node_A
+  ${YAMLCPP_LIBRARIES}
+  # glog::glog
+  $ENV{HOME}/dora/target/release/libdora_node_api_c.a
+  m
+  rt
+  dl 
+  pthread
+)
+add_executable(node_B node_B.cc )
+target_link_libraries(node_B
+  ${YAMLCPP_LIBRARIES}
+  # glog::glog
+  $ENV{HOME}/dora/target/release/libdora_node_api_c.a
+  m
+  rt
+  dl 
+  pthread
+)
+add_executable(node_C node_C.cpp)
+target_link_libraries(node_C
+  ${YAMLCPP_LIBRARIES}
+  # glog::glog
+  $ENV{HOME}/dora/target/release/libdora_node_api_c.a
+  m
+  rt
+  dl 
+  pthread
+)
+

tools/C_node_test/README.md

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+# C_node_test
+
+这是一个测试节点，对 https://github.com/dora-rs/dora/issues/502 问题进行测试
+
+node_A : 以10Hz频率发布一个长度为3的数组，数组中的数范围是0-255
+
+node_B: 以100Hz频率发布一个0-255变化的数
+
+node_C: 接受 node_A 和 node_B发送的数据并显示
+
+
+
+测试结论，未出现  502 问题 

tools/C_node_test/dataflow.yml

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+nodes:
+  #rslidar driver   node
+  - id: node_A
+    custom:
+      source: build/node_A
+      inputs:
+        tick: dora/timer/millis/100
+      outputs:
+        - counter_A
+
+
+  - id: node_B
+    custom:
+      source: build/node_B
+      inputs:
+        tick: dora/timer/millis/10
+      outputs:
+        - counter_B
+
+  - id: node_C
+    custom:
+      source: build/node_C
+      inputs:
+        counter_A: node_A/counter_A
+        counter_B: node_B/counter_B

tools/C_node_test/node_A.cc

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+extern "C"
+{
+#include "node_api.h"   
+#include "operator_api.h"
+#include "operator_types.h"
+}
+
+#include <iostream>
+#include <vector>
+
+bool to_exit_process;
+
+int run(void *dora_context)
+{
+    unsigned char counter[3] ;
+
+    //for (int i = 0; i < 20; i++)
+    to_exit_process = false;
+    counter[0] = 0; 
+    while(!to_exit_process)
+    {
+        void *event = dora_next_event(dora_context);
+        if (event == NULL)
+        {
+            printf("[c node] ERROR: unexpected end of event\n");
+            return -1;
+        }
+
+        enum DoraEventType ty = read_dora_event_type(event);
+
+        if (ty == DoraEventType_Input)
+        { 
+            char* output_data = (char *)counter;
+
+            counter[0] += 1;
+            if(counter[0]>=255)
+            	counter[0]=0;
+
+            std::string out_id = "counter_A";
+            size_t data_len = 3 ;
+            int resultend=dora_send_output(dora_context, &out_id[0], out_id.length(), output_data, data_len);
+
+           std::cout
+                << "dora_send_output: out_id "<<out_id<< "  out_data_len: "<<data_len<<std::endl;
+
+            if (resultend != 0)
+            {
+                std::cerr << "failed to send output" << std::endl;
+                return 1;
+            }
+        }
+        else if (ty == DoraEventType_Stop)
+        {
+            printf("[c node] received stop event\n");
+        }
+        else
+        {
+            printf("[c node] received unexpected event: %d\n", ty);
+        }
+
+        free_dora_event(event);
+    }
+    return 0;
+}
+
+int main()
+{
+    std::cout << "dora node A driver" << std::endl;
+
+    auto dora_context = init_dora_context_from_env();
+    auto ret = run(dora_context);
+    free_dora_context(dora_context);
+
+
+    to_exit_process = true;
+
+    std::cout << "exit dora node A ..." << std::endl;
+    return ret;
+}
+

tools/C_node_test/node_B.cc

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+extern "C"
+{
+#include "node_api.h"   
+#include "operator_api.h"
+#include "operator_types.h"
+}
+
+#include <iostream>
+#include <vector>
+
+bool to_exit_process;
+
+int run(void *dora_context)
+{
+    unsigned char counter[3] ;
+
+    //for (int i = 0; i < 20; i++)
+    to_exit_process = false;
+    counter[0] = 0; 
+    while(!to_exit_process)
+    {
+        void *event = dora_next_event(dora_context);
+        if (event == NULL)
+        {
+            printf("[c node] ERROR: unexpected end of event\n");
+            return -1;
+        }
+
+        enum DoraEventType ty = read_dora_event_type(event);
+
+        if (ty == DoraEventType_Input)
+        { 
+            char* output_data = (char *)counter;
+
+            counter[0] += 1;
+            if(counter[0]>=255)
+            	counter[0]=0;
+
+            std::string out_id = "counter_B";
+            size_t data_len = 1 ;
+            int resultend=dora_send_output(dora_context, &out_id[0], out_id.length(), output_data, data_len);
+
+           std::cout
+                << "dora_send_output: out_id "<<out_id<< "  out_data_len: "<<data_len<<std::endl;
+
+            if (resultend != 0)
+            {
+                std::cerr << "failed to send output" << std::endl;
+                return 1;
+            }
+        }
+        else if (ty == DoraEventType_Stop)
+        {
+            printf("[c node] received stop event\n");
+        }
+        else
+        {
+            printf("[c node] received unexpected event: %d\n", ty);
+        }
+
+        free_dora_event(event);
+    }
+    return 0;
+}
+
+int main()
+{
+    std::cout << "dora node B driver" << std::endl;
+
+    auto dora_context = init_dora_context_from_env();
+    auto ret = run(dora_context);
+    free_dora_context(dora_context);
+
+
+    to_exit_process = true;
+
+    std::cout << "exit dora node B ..." << std::endl;
+    return ret;
+}
+

tools/C_node_test/node_C.cpp

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+extern "C"
+{
+#include "node_api.h"
+#include "operator_api.h"
+#include "operator_types.h"
+}
+
+
+#include <chrono>
+#include <thread>
+#include <iostream>
+#include <vector>
+#include <string>
+
+#include <nlohmann/json.hpp>
+using json = nlohmann::json;
+
+
+int run(void *dora_context)
+{
+
+    while (true)
+    {
+
+        void * event = dora_next_event(dora_context);
+
+        if (event == NULL)
+        {
+            printf("[c node] ERROR: unexpected end of event\n");
+            return -1;
+        }
+
+        enum DoraEventType ty = read_dora_event_type(event);
+
+        if (ty == DoraEventType_Input)
+        {
+            char *data;
+            size_t data_len;
+            char *data_id;
+            size_t data_id_len;
+            read_dora_input_data(event, &data, &data_len);
+            read_dora_input_id(event, &data_id, &data_id_len);
+            int len = data_len;
+
+            std::cout << "=======================" <<std::endl;
+            std::cout << "Input Data length: " << data_len <<"   " <<data_id<<std::endl;
+            if (strcmp("counter_A", data_id) == 0)
+            {
+		char* data_tem_a = reinterpret_cast<char*>(data); 
+		int num_points = data_len / sizeof(char); 
+		std::vector<float> data_node_a(data_tem_a, data_tem_a + num_points);
+               std::cout << " counter_A Input Data: " <<data_node_a[0]<< std::endl;
+            }
+            else if (strcmp("counter_B", data_id) == 0)
+            {
+            	char* data_tem_b = reinterpret_cast<char*>(data); 
+		int num_points = data_len / sizeof(char); 
+		std::vector<float> data_node_b(data_tem_b, data_tem_b + num_points);
+               std::cout << "counter_B Input Data: " <<data_node_b[0]<< std::endl;
+            }
+            std::cout << "=======================" <<std::endl;
+        }        
+        else if (ty == DoraEventType_Stop)
+        {
+            printf("[c node] received stop event\n");
+        }
+        else
+        {
+            printf("[c node] received unexpected event: %d\n", ty);
+        }
+
+        free_dora_event(event);
+    }
+    return 0;
+}
+
+int main()
+{
+    std::cout << "dora node c" << std::endl;
+
+    auto dora_context = init_dora_context_from_env();
+
+    auto ret = run(dora_context);
+    free_dora_context(dora_context);
+
+    std::cout << "END dora node c" << std::endl;
+
+    return ret;
+}
+
+