RepHandler.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_REPHANDLER_HH_
#define GZ_TRANSPORT_REPHANDLER_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 > 2999999 && GOOGLE_PROTOBUF_VERSION < 4022000
#include <google/protobuf/stubs/casts.h>
#endif
#ifdef _MSC_VER
#pragma warning(pop)
#endif
 
#include <functional>
#include <iostream>
#include <memory>
#include <string>
 
#include "gz/transport/config.hh"
#include "gz/transport/Export.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 IRepHandler
    {
      public: IRepHandler()
        : hUuid(Uuid().ToString())
      {
      }
 
      public: virtual ~IRepHandler() = default;
 
      public: virtual bool RunLocalCallback(const transport::ProtoMsg &_msgReq,
                                            transport::ProtoMsg &_msgRep) = 0;
 
      public: virtual bool RunCallback(const std::string &_req,
                                       std::string &_rep) = 0;
 
      public: std::string HandlerUuid() const
      {
        return this->hUuid;
      }
 
      public: virtual std::string ReqTypeName() const = 0;
 
      public: virtual std::string RepTypeName() const = 0;
 
#ifdef _WIN32
// Disable warning C4251 which is triggered by
// std::string
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
      protected: std::string hUuid;
#ifdef _WIN32
#pragma warning(pop)
#endif
    };
 
    // the service call. 'Rep' is the protobuf message type that will be filled
    template <typename Req, typename Rep> class RepHandler
      : public IRepHandler
    {
      // Documentation inherited.
      public: RepHandler() = default;
 
      public: void SetCallback(
        const std::function<bool(const Req &, Rep &)> &_cb)
      {
        this->cb = _cb;
      }
 
      // Documentation inherited.
      public: bool RunLocalCallback(const transport::ProtoMsg &_msgReq,
                                    transport::ProtoMsg &_msgRep)
      {
        // Execute the callback (if existing)
        if (!this->cb)
        {
          std::cerr << "RepHandler::RunLocalCallback() error: "
                    << "Callback is NULL" << std::endl;
          return false;
        }
 
#if GOOGLE_PROTOBUF_VERSION >= 5028000
        const auto msgReq =
          google::protobuf::DynamicCastMessage<Req>(&_msgReq);
        auto msgRep =
          google::protobuf::DynamicCastMessage<Rep>(&_msgRep);
#elif GOOGLE_PROTOBUF_VERSION >= 4022000
        auto msgReq =
          google::protobuf::internal::DownCast<const Req*>(&_msgReq);
        auto msgRep = google::protobuf::internal::DownCast<Rep*>(&_msgRep);
#elif GOOGLE_PROTOBUF_VERSION > 2999999
        auto msgReq = google::protobuf::down_cast<const Req*>(&_msgReq);
        auto msgRep = google::protobuf::down_cast<Rep*>(&_msgRep);
#else
        auto msgReq =
          google::protobuf::internal::down_cast<const Req*>(&_msgReq);
        auto msgRep = google::protobuf::internal::down_cast<Rep*>(&_msgRep);
#endif
 
        // Verify the dynamically casted messages are valid
        if (msgReq == nullptr || msgRep == nullptr)
        {
          if (msgReq == nullptr)
          {
            if (_msgReq.GetDescriptor() != nullptr)
            {
              std::cerr << "RepHandler::RunLocalCallback() error: "
                        << "Failed to cast the request of the type "
                        << _msgReq.GetDescriptor()->full_name()
                        << " to the specified type" << '\n';
            }
            else
            {
              std::cerr << "RepHandler::RunLocalCallback() error: "
                        << "Failed to cast the request of an unknown type"
                        << " to the specified type" << '\n';
            }
          }
          if (msgRep == nullptr)
          {
            if (_msgRep.GetDescriptor() != nullptr)
            {
              std::cerr << "RepHandler::RunLocalCallback() error: "
                        << "Failed to cast the response of the type "
                        << _msgRep.GetDescriptor()->full_name()
                        << " to the specified type" << '\n';
            }
            else
            {
              std::cerr << "RepHandler::RunLocalCallback() error: "
                        << "Failed to cast the response of an unknown type"
                        << " to the specified type" << '\n';
            }
          }
          std::cerr.flush();
          return false;
        }
 
        return this->cb(*msgReq, *msgRep);
      }
 
      // Documentation inherited.
      public: bool RunCallback(const std::string &_req,
                               std::string &_rep)
      {
        // Check if we have a callback registered.
        if (!this->cb)
        {
          std::cerr << "RepHandler::RunCallback() error: "
                    << "Callback is NULL" << std::endl;
          return false;
        }
 
        // Instantiate the specific protobuf message associated to this topic.
        auto msgReq = this->CreateMsg(_req);
        if (!msgReq)
        {
          return false;
        }
 
        Rep msgRep;
        if (!this->cb(*msgReq, msgRep))
          return false;
 
        if (!msgRep.SerializeToString(&_rep))
        {
          std::cerr << "RepHandler::RunCallback(): Error serializing the "
                    << "response" << std::endl;
          return false;
        }
 
        return true;
      }
 
      // Documentation inherited.
      public: virtual std::string ReqTypeName() const
      {
        return Req().GetTypeName();
      }
 
      // Documentation inherited.
      public: virtual std::string RepTypeName() const
      {
        return Rep().GetTypeName();
      }
 
      private: std::shared_ptr<Req> CreateMsg(const std::string &_data) const
      {
        // Instantiate a specific protobuf message
        std::shared_ptr<Req> msgPtr(new Req());
 
        // Create the message using some serialized data
        if (!msgPtr->ParseFromString(_data))
        {
          std::cerr << "RepHandler::CreateMsg() error: ParseFromString failed"
                    << std::endl;
        }
 
        return msgPtr;
      }
 
      private: std::function<bool(const Req &, Rep &)> cb;
    };
    }
  }
}
 
#endif