SubscriptionHandler.hh

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/*
 * Copyright (C) 2014 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
 
#ifndef GZ_TRANSPORT_SUBSCRIPTIONHANDLER_HH_
#define GZ_TRANSPORT_SUBSCRIPTIONHANDLER_HH_
 
#ifdef _MSC_VER
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
#include <google/protobuf/message.h>
#include <google/protobuf/stubs/common.h>
#if GOOGLE_PROTOBUF_VERSION >= 3000000 && GOOGLE_PROTOBUF_VERSION < 4022000
#include <google/protobuf/stubs/casts.h>
#endif
#ifdef _MSC_VER
#pragma warning(pop)
#endif
 
#include <chrono>
#include <iostream>
#include <memory>
#include <string>
#include <utility>
 
#include <gz/msgs/Factory.hh>
 
#include "gz/transport/config.hh"
#include "gz/transport/Export.hh"
#include "gz/transport/MessageInfo.hh"
#include "gz/transport/SubscribeOptions.hh"
#include "gz/transport/TransportTypes.hh"
#include "gz/transport/Uuid.hh"
 
namespace gz
{
  namespace transport
  {
    // Inline bracket to help doxygen filtering.
    inline namespace GZ_TRANSPORT_VERSION_NAMESPACE {
    //
    class GZ_TRANSPORT_VISIBLE SubscriptionHandlerBase
    {
      public: explicit SubscriptionHandlerBase(
        const std::string &_nUuid,
        const SubscribeOptions &_opts = SubscribeOptions());
 
      public: virtual ~SubscriptionHandlerBase() = default;
 
      public: virtual std::string TypeName() = 0;
 
      public: std::string NodeUuid() const;
 
      public: std::string HandlerUuid() const;
 
      public: bool IgnoreLocalMessages() const;
 
      protected: bool UpdateThrottling();
 
      protected: SubscribeOptions opts;
 
      protected: double periodNs;
 
#ifdef _WIN32
// Disable warning C4251 which is triggered by
// std::*
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
      protected: std::string hUuid;
 
      protected: Timestamp lastCbTimestamp;
 
      private: std::string nUuid;
#ifdef _WIN32
#pragma warning(pop)
#endif
    };
 
    class GZ_TRANSPORT_VISIBLE ISubscriptionHandler
        : public SubscriptionHandlerBase
    {
      public: explicit ISubscriptionHandler(
        const std::string &_nUuid,
        const SubscribeOptions &_opts = SubscribeOptions());
 
      public: virtual ~ISubscriptionHandler() = default;
 
      public: virtual bool RunLocalCallback(
        const ProtoMsg &_msg,
        const MessageInfo &_info) = 0;
 
      public: virtual const std::shared_ptr<ProtoMsg> CreateMsg(
        const std::string &_data,
        const std::string &_type) const = 0;
    };
 
    template <typename T> class SubscriptionHandler
      : public ISubscriptionHandler
    {
      // Documentation inherited.
      public: explicit SubscriptionHandler(const std::string &_nUuid,
        const SubscribeOptions &_opts = SubscribeOptions())
        : ISubscriptionHandler(_nUuid, _opts)
      {
      }
 
      // Documentation inherited.
      public: const std::shared_ptr<ProtoMsg> CreateMsg(
        const std::string &_data,
        const std::string &/*_type*/) const
      {
        // Instantiate a specific protobuf message
        auto msgPtr = std::make_shared<T>();
 
        // Create the message using some serialized data
        if (!msgPtr->ParseFromString(_data))
        {
          std::cerr << "SubscriptionHandler::CreateMsg() error: ParseFromString"
                    << " failed" << std::endl;
        }
 
        return msgPtr;
      }
 
      // Documentation inherited.
      public: std::string TypeName()
      {
        return T().GetTypeName();
      }
 
      public: void SetCallback(const MsgCallback<T> &_cb)
      {
        this->cb = _cb;
      }
 
      // Documentation inherited.
      public: bool RunLocalCallback(const ProtoMsg &_msg,
                                    const MessageInfo &_info)
      {
        // No callback stored.
        if (!this->cb)
        {
          std::cerr << "SubscriptionHandler::RunLocalCallback() error: "
                    << "Callback is NULL" << std::endl;
          return false;
        }
 
        // Check the subscription throttling option.
        if (!this->UpdateThrottling())
          return true;
 
#if GOOGLE_PROTOBUF_VERSION >= 5028000
        auto msgPtr = google::protobuf::DynamicCastMessage<T>(&_msg);
#elif GOOGLE_PROTOBUF_VERSION >= 4022000
        auto msgPtr = google::protobuf::internal::DownCast<const T*>(&_msg);
#elif GOOGLE_PROTOBUF_VERSION >= 3000000
        auto msgPtr = google::protobuf::down_cast<const T*>(&_msg);
#else
        auto msgPtr = google::protobuf::internal::down_cast<const T*>(&_msg);
#endif
 
        // Verify the dynamically casted message is valid
        if (msgPtr == nullptr)
        {
          if (_msg.GetDescriptor() != nullptr)
          {
            std::cerr << "SubscriptionHandler::RunLocalCallback() error: "
                      << "Failed to cast the message of the type "
                      << _msg.GetDescriptor()->full_name()
                      << " to the specified type" << '\n';
          }
          else
          {
            std::cerr << "SubscriptionHandler::RunLocalCallback() error: "
                      << "Failed to cast the message of an unknown type"
                      << " to the specified type" << '\n';
          }
          std::cerr.flush();
          return false;
        }
 
        this->cb(*msgPtr, _info);
        return true;
      }
 
      private: MsgCallback<T> cb;
    };
 
    template <> class SubscriptionHandler<ProtoMsg>
      : public ISubscriptionHandler
    {
      // Documentation inherited.
      public: explicit SubscriptionHandler(const std::string &_nUuid,
        const SubscribeOptions &_opts = SubscribeOptions())
        : ISubscriptionHandler(_nUuid, _opts)
      {
      }
 
      // Documentation inherited.
      public: const std::shared_ptr<ProtoMsg> CreateMsg(
        const std::string &_data,
        const std::string &_type) const
      {
        std::shared_ptr<google::protobuf::Message> msgPtr;
 
        const google::protobuf::Descriptor *desc =
          google::protobuf::DescriptorPool::generated_pool()
            ->FindMessageTypeByName(_type);
 
        // First, check if we have the descriptor from the generated proto
        // classes.
        if (desc)
        {
          msgPtr.reset(google::protobuf::MessageFactory::generated_factory()
            ->GetPrototype(desc)->New());
        }
        else
        {
          // Fallback on Gazebo Msgs if the message type is not found.
          msgPtr = gz::msgs::Factory::New(_type);
        }
 
        if (!msgPtr)
          return nullptr;
 
        // Create the message using some serialized data
        if (!msgPtr->ParseFromString(_data))
        {
          std::cerr << "CreateMsg() error: ParseFromString failed" << std::endl;
          return nullptr;
        }
 
        return msgPtr;
      }
 
      // Documentation inherited.
      public: std::string TypeName()
      {
        return kGenericMessageType;
      }
 
      public: void SetCallback(const MsgCallback<ProtoMsg> &_cb)
      {
        this->cb = _cb;
      }
 
      // Documentation inherited.
      public: bool RunLocalCallback(const ProtoMsg &_msg,
                                    const MessageInfo &_info)
      {
        // No callback stored.
        if (!this->cb)
        {
          std::cerr << "SubscriptionHandler::RunLocalCallback() "
                    << "error: Callback is NULL" << std::endl;
          return false;
        }
 
        // Check the subscription throttling option.
        if (!this->UpdateThrottling())
          return true;
 
        this->cb(_msg, _info);
        return true;
      }
 
      private: MsgCallback<ProtoMsg> cb;
    };
 
    class RawSubscriptionHandler : public SubscriptionHandlerBase
    {
      public: explicit RawSubscriptionHandler(
        const std::string &_nUuid,
        const std::string &_msgType = kGenericMessageType,
        const SubscribeOptions &_opts = SubscribeOptions());
 
      // Documentation inherited
      public: std::string TypeName() override;
 
      public: void SetCallback(const RawCallback &_callback);
 
      public: bool RunRawCallback(const char *_msgData, const size_t _size,
                                  const MessageInfo &_info);
 
      public: ~RawSubscriptionHandler();
 
      private: class Implementation;
 
#ifdef _WIN32
// Disable warning C4251 which is triggered by
// std::unique_ptr
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
      private: std::unique_ptr<Implementation> pimpl;
#ifdef _WIN32
#pragma warning(pop)
#endif
    };
    }
  }
}
 
#endif