demos: lin: fix 'async' mode of the dynamic demo (#141)

vectorgrp · Dec 6, 2024 · 3a517c3 · 3a517c3
1 parent 8663d38
commit 3a517c3
Showing 1 changed file with 59 additions and 32 deletions.
diff --git a/Demos/Lin/LinDemoDynamic.cpp b/Demos/Lin/LinDemoDynamic.cpp
@@ -396,8 +396,20 @@ try
 
     std::cout << "Creating participant '" << participantName << "' with registry " << registryUri << std::endl;
     auto participant = SilKit::CreateParticipant(participantConfiguration, participantName, registryUri);
-    auto* lifecycleService = participant->CreateLifecycleService({OperationMode::Coordinated});
-    auto* timeSyncService = lifecycleService->CreateTimeSyncService();
+
+    ILifecycleService* lifecycleService{nullptr};
+    ITimeSyncService* timeSyncService{nullptr};
+
+    if (runSync)
+    {
+        lifecycleService = participant->CreateLifecycleService({OperationMode::Coordinated});
+        timeSyncService = lifecycleService->CreateTimeSyncService();
+    }
+    else
+    {
+        lifecycleService = participant->CreateLifecycleService({OperationMode::Autonomous});
+    }
+
     auto* linController = participant->CreateLinController("LIN1", "LIN1");
 
     // Set a Stop and Shutdown Handler
@@ -409,8 +421,12 @@ try
 
     if (participantName == "LinMaster")
     {
-        lifecycleService->SetCommunicationReadyHandler(
-            [&participantName, linController]() { InitLinMaster(linController, participantName); });
+        if (runSync)
+        {
+            lifecycleService->SetCommunicationReadyHandler(
+                [&participantName, linController]() { InitLinMaster(linController, participantName); });
+        }
+
         linController->AddFrameStatusHandler(
             [&master](ILinController* linController, const LinFrameStatusEvent& frameStatusEvent) {
             master.FrameStatusHandler(linController, frameStatusEvent);
@@ -450,21 +466,25 @@ try
             std::thread workerThread;
             auto now = 0ms;
 
-            workerThread = std::thread{[&]() {
-                while (lifecycleService->State() == ParticipantState::ReadyToRun
-                       || lifecycleService->State() == ParticipantState::Running)
-                {
-                    master.DoAction(now);
-                    now += 1ms;
-                    std::this_thread::sleep_for(200ms);
-                }
-                if (!isStopRequested)
-                {
-                    std::cout << "Press enter to end the process..." << std::endl;
-                }
-            }};
+            lifecycleService->SetStartingHandler([&] {
+                workerThread = std::thread{[&]() {
+                    while (lifecycleService->State() == ParticipantState::ReadyToRun
+                           || lifecycleService->State() == ParticipantState::Running)
+                    {
+                        master.DoAction(now);
+                        now += 1ms;
+                        std::this_thread::sleep_for(200ms);
+                    }
+
+                    if (!isStopRequested)
+                    {
+                        std::cout << "Press enter to end the process..." << std::endl;
+                    }
+                }};
+            });
 
             lifecycleService->StartLifecycle();
+
             std::cout << "Press enter to leave the simulation..." << std::endl;
             std::cin.ignore();
 
@@ -485,8 +505,11 @@ try
     }
     else if (participantName == "LinSlave")
     {
-        lifecycleService->SetCommunicationReadyHandler(
-            [&participantName, linController]() { InitLinSlave(linController, participantName); });
+        if (runSync)
+        {
+            lifecycleService->SetCommunicationReadyHandler(
+                [&participantName, linController]() { InitLinSlave(linController, participantName); });
+        }
 
         linController->AddFrameStatusHandler(
             [&slave](ILinController* linController, const LinFrameStatusEvent& frameStatusEvent) {
@@ -532,21 +555,25 @@ try
             std::thread workerThread;
             auto now = 0ms;
 
-            workerThread = std::thread{[&]() {
-                while (lifecycleService->State() == ParticipantState::ReadyToRun
-                       || lifecycleService->State() == ParticipantState::Running)
-                {
-                    slave.DoAction(now);
-                    now += 1ms;
-                    std::this_thread::sleep_for(200ms);
-                }
-                if (!isStopRequested)
-                {
-                    std::cout << "Press enter to end the process..." << std::endl;
-                }
-            }};
+            lifecycleService->SetStartingHandler([&] {
+                workerThread = std::thread{[&]() {
+                    while (lifecycleService->State() == ParticipantState::ReadyToRun
+                           || lifecycleService->State() == ParticipantState::Running)
+                    {
+                        slave.DoAction(now);
+                        now += 1ms;
+                        std::this_thread::sleep_for(200ms);
+                    }
+
+                    if (!isStopRequested)
+                    {
+                        std::cout << "Press enter to end the process..." << std::endl;
+                    }
+                }};
+            });
 
             lifecycleService->StartLifecycle();
+
             std::cout << "Press enter to leave the simulation..." << std::endl;
             std::cin.ignore();