I figured it out, here's an example on how to unite C++, libuv and sd-bus:
I recommend that you read http://0pointer.de/blog/the-new-sd-bus-api-of-systemd.html to understand sd-bus in general.
These are code snippets from my implementation at https://github.com/TheJJ/horst
Method calls can then be done with sd_bus_call_async which does not block (opposed to sd_bus_call).
Don't forget to call update_events() after sd_bus_call_async so the call is sent out over the socket!
/**
* Callback function that is invoked from libuv
* once dbus events flowed in.
*/
static void on_dbus_ready(uv_poll_t *handle, int /*status*/, int /*events*/) {
DBusConnection *connection = (DBusConnection *)handle->data;
sd_bus *bus = connection->get_bus();
// let dbus handle the available events request
while (true) {
// this will trigger the dbus vtable-registered functions
int r = sd_bus_process(bus, nullptr);
if (r < 0) {
printf("[dbus] Failed to process bus: %s", strerror(-r));
break;
}
else if (r > 0) {
// try to process another request!
continue;
}
else {
// no more progress, wait for the next callback.
break;
}
}
// update the events we watch for on the socket.
connection->update_events();
}
/**
* Convert the sdbus-returned poll flags to
* corresponding libuv flags.
*/
int poll_to_libuv_events(int pollflags) {
int ret = 0;
if (pollflags & (POLLIN | POLLPRI)) {
ret |= UV_READABLE;
}
if (pollflags & POLLOUT) {
ret |= UV_WRITABLE;
}
// we also have the non-corresponding UV_DISCONNECT
return ret;
}
class DBusConnection {
public:
DBusConnection(Satellite *sat);
virtual ~DBusConnection() = default;
/** connect to dbus */
int connect() {
int r = sd_bus_open_system(&this->bus);
if (r < 0) {
printf("[dbus] Failed to connect to bus: %s", strerror(-r));
goto clean_return;
}
r = sd_bus_add_object_vtable(
this->bus,
&this->bus_slot,
"/rofl/lol", // object path
"rofl.lol", // interface name
your_vtable,
this // this is the userdata that'll be passed
// to the dbus methods
);
if (r < 0) {
printf("[dbus] Failed to install the horst sdbus object: %s", strerror(-r));
goto clean_return;
}
// register our service name
r = sd_bus_request_name(this->bus, "moveii.horst", 0);
if (r < 0) {
printf("[dbus] Failed to acquire service name: %s", strerror(-r));
goto clean_return;
}
// register the filedescriptor from
// sd_bus_get_fd(bus) to libuv
uv_poll_init(this->loop, &this->connection, sd_bus_get_fd(this->bus));
// make `this` reachable in callbacks.
this->connection.data = this;
// init the dbus-event-timer
uv_timer_init(this->loop, &this->timer);
this->timer.data = this;
// process initial events and set up the
// events and timers for subsequent calls
on_dbus_ready(&this->connection, 0, 0);
printf("[dbus] Listener initialized");
return 0;
clean_return:
sd_bus_slot_unref(this->bus_slot);
sd_bus_unref(this->bus);
this->bus = nullptr;
return 1;
}
/** update the events watched for on the filedescriptor */
void update_events() {
sd_bus *bus = this->get_bus();
// prepare the callback for calling us the next time.
int new_events = poll_to_libuv_events(
sd_bus_get_events(bus)
);
uint64_t usec;
int r = sd_bus_get_timeout(bus, &usec);
if (not r) {
// if the timer is running already, it is stopped automatically
// inside uv_timer_start.
uv_timer_start(
&this->timer,
[] (uv_timer_t *handle) {
// yes, handle is not a poll_t, but
// we just care for its -> data member anyway.
on_dbus_ready((uv_poll_t *)handle, 0, 0);
},
usec / 1000, // time in milliseconds, sd_bus provides µseconds
0 // don't repeat
);
}
// always watch for disconnects:
new_events |= UV_DISCONNECT;
// activate the socket watching,
// and if active, invoke the callback function
uv_poll_start(&this->connection, new_events, &on_dbus_ready);
}
/** close the connections */
int close() {
// TODO: maybe this memoryerrors when the loop actually
// does the cleanup. we have to wait for the callback.
uv_close((uv_handle_t *) &this->timer, nullptr);
uv_poll_stop(&this->connection);
sd_bus_close(this->bus);
sd_bus_slot_unref(this->bus_slot);
sd_bus_unref(this->bus);
return 0;
}
/**
* Return the bus handle.
*/
sd_bus *get_bus() const {
return this->bus;
}
protected:
/**
* loop handle
*/
uv_loop_t *loop;
/**
* polling object for dbus events
*/
uv_poll_t connection;
/**
* dbus also wants to be called periodically
*/
uv_timer_t timer;
/**
* dbus bus handle
*/
sd_bus *bus;
/**
* dbus slot handle
*/
sd_bus_slot *bus_slot;
};
