NodeShared.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_NODESHARED_HH_
#define GZ_TRANSPORT_NODESHARED_HH_
 
#ifdef _MSC_VER
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
#include <google/protobuf/message.h>
#ifdef _MSC_VER
#pragma warning(pop)
#endif
 
#include <atomic>
#include <memory>
#include <mutex>
#include <optional>
#include <string>
#include <thread>
#include <vector>
#include <map>
#include <unordered_set>
 
#include "gz/transport/config.hh"
#include "gz/transport/Export.hh"
#include "gz/transport/HandlerStorage.hh"
#include "gz/transport/NodeOptions.hh"
#include "gz/transport/Publisher.hh"
#include "gz/transport/SubscriptionHandler.hh"
#include "gz/transport/TopicStorage.hh"
#include "gz/transport/TopicStatistics.hh"
#include "gz/transport/TransportTypes.hh"
#include "gz/transport/Uuid.hh"
 
namespace zenoh
{
  // Forward declarations.
  class Querier;
  class Session;
}
 
namespace gz::transport
{
  // Inline bracket to help doxygen filtering.
  inline namespace GZ_TRANSPORT_VERSION_NAMESPACE {
  //
  // Forward declarations.
  class IRepHandler;
  class IReqHandler;
  class Node;
  class NodePrivate;
 
  class NodeSharedPrivate;
 
  class GZ_TRANSPORT_VISIBLE NodeShared
  {
    public: static NodeShared *Instance();
 
    public: void RunReceptionTask();
 
    public: bool Publish(const std::string &_topic,
                         char *_data,
                         const size_t _dataSize,
                         DeallocFunc *_ffn,
                         const std::string &_msgType);
 
    public: void RecvMsgUpdate();
 
    public: void SrvPublishThread();
 
    public: struct HandlerInfo
    {
      public: std::map<std::string, ISubscriptionHandler_M> localHandlers;
 
      public: std::map<std::string, RawSubscriptionHandler_M> rawHandlers;
 
      public: bool haveLocal;
 
      public: bool haveRaw;
 
      // Friendship. This allows HandlerInfo to be created by
      // CheckHandlerInfo()
      friend class NodeShared;
 
      // TODO(sloretz) private default constructor (visual studio 2017?)
    };
 
    HandlerInfo CheckHandlerInfo(const std::string &_topic) const;
 
    public: struct SubscriberInfo : public HandlerInfo
    {
      // cppcheck-suppress unusedStructMember
      public: bool haveRemote;
 
      // Friendship declaration
      friend class NodeShared;
 
      // TODO(sloretz) private default constructor (visual studio 2017?)
    };
 
    SubscriberInfo CheckSubscriberInfo(
        const std::string &_topic,
        const std::string &_msgType) const;
 
    public: void TriggerCallbacks(
      const MessageInfo &_info,
      const std::string &_msgData,
      const HandlerInfo &_handlerInfo);
 
    public: void TriggerCallbacks(
      const MessageInfo &_info,
      const char *_msgData,
      std::size_t _msgSize,
      const HandlerInfo &_handlerInfo);
 
    public: void RecvSrvRequest();
 
    public: void RecvSrvResponse();
 
    public: void SendPendingRemoteReqs(const std::string &_topic,
                                       const std::string &_reqType,
                                       const std::string &_repType);
 
    public: void OnNewConnection(const MessagePublisher &_pub);
 
    public: void OnNewDisconnection(const MessagePublisher &_pub);
 
    public: void OnNewSrvConnection(const ServicePublisher &_pub);
 
    public: void OnNewSrvDisconnection(const ServicePublisher &_pub);
 
    public: void OnNewRegistration(const MessagePublisher &_pub);
 
    public: void OnEndRegistration(const MessagePublisher &_pub);
 
    public: void OnSubscribers();
 
    //  there is at least one publisher.
    public: bool TopicPublishers(const std::string &_topic,
                                 SrvAddresses_M &_publishers) const;
 
    public: bool DiscoverService(const std::string &_topic) const;
 
    public: bool AdvertisePublisher(const ServicePublisher &_publisher);
 
    public: int RcvHwm();
 
    public: int SndHwm();
 
    public: void EnableStats(const std::string &_topic, bool _enable,
                std::function<void(const TopicStatistics &_stats)> _cb);
 
    public: std::optional<TopicStatistics> TopicStats(
                const std::string &_topic) const;
 
    public: void AddGlobalRelay(const std::string& _relayAddress);
 
    public: std::vector<std::string> GlobalRelays() const;
 
    public: std::string GzImplementation() const;
 
#ifdef HAVE_ZENOH
    public: std::shared_ptr<zenoh::Session> Session();
 
    public: void EnsureZenohSubscription(const std::string &_topic);
 
    public: void MaybeRemoveZenohSubscription(const std::string &_topic);
 
    public: std::shared_ptr<zenoh::Querier>
        GetOrDeclareZenohQuerier(const std::string &_service);
#endif
 
    public: bool Unsubscribe(const std::string &_topic,
                             const std::string &_nUuid,
                             const NodeOptions &_nOpt,
                             const std::string &_hUuid = "");
 
    private: std::unordered_set<std::string> &TopicsSubscribed(
             const std::string &_nUuid) const;
 
    private: bool RemoveSubscribedTopic(const std::string &_topic,
                                        const std::string &_nUuid);
 
    public: bool RemoveHandlersFromPubQueue(const std::string &_topic,
                                            const std::string &_nUuid);
 
    public: bool RemoveHandlerFromPubQueue(const std::string &_topic,
                                           const std::string &_nUuid,
                                           const std::string &_hUuid);
 
    public: bool SubscribeHelper(const std::string &_fullyQualifiedTopic,
                                 const std::string &_nUuid);
 
    public: std::string ReplierAddress() const;
 
    public: std::string MyAddress() const;
 
    public: HandlerStorage<IReqHandler> &Requests();
 
    public: HandlerStorage<IRepHandler> &Repliers();
 
    protected: NodeShared();
 
    protected: virtual ~NodeShared();
 
    private: bool InitializeSockets();
 
 
    public: Uuid responseReceiverId;
 
    public: Uuid replierId;
 
#ifdef _WIN32
// Disable warning C4251 which is triggered by
// std::unique_ptr
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
    public: std::string pUuid;
 
    public: std::thread threadReception;
 
    public: mutable std::recursive_mutex mutex;
 
    public: std::string discoveryIP = "239.255.0.7";
 
    public: static const int kDefaultMsgDiscPort = 10317;
 
    public: static const int kDefaultSrvDiscPort = 10318;
 
    public: int msgDiscPort = kDefaultMsgDiscPort;
 
    public: int srvDiscPort = kDefaultSrvDiscPort;
 
    private: TopicStorage<MessagePublisher> connections;
 
    private: std::vector<std::string> srvConnections;
 
    public: TopicStorage<MessagePublisher> remoteSubscribers;
#ifdef _WIN32
#pragma warning(pop)
#endif
 
    struct HandlerWrapper
    {
      public: bool HasSubscriber(
          const std::string &_fullyQualifiedTopic,
          const std::string &_msgType) const;
 
      public: bool HasSubscriber(
          const std::string &_fullyQualifiedTopic) const;
 
      public: bool HasSubscriberForNode(
          const std::string &_fullyQualifiedTopic, const std::string &_nUuid)
          const;
 
      public: std::vector<std::string> NodeUuids(
          const std::string &_fullyQualifiedTopic,
          const std::string &_msgTypeName) const;
 
      public: bool RemoveHandlersForNode(
          const std::string &_fullyQualifiedTopic,
          const std::string &_nUuid);
 
      public: bool RemoveHandler(
          const std::string &_fullyQualifiedTopic,
          const std::string &_nUuid,
          const std::string &_hUuid);
 
      public: std::vector<MessagePublisher> Convert(const std::string &_addr,
          const std::string &_pUuid);
 
      public: HandlerStorage<ISubscriptionHandler> normal;
 
      public: HandlerStorage<RawSubscriptionHandler> raw;
    };
 
    public: HandlerWrapper localSubscribers;
 
#ifdef _WIN32
// Disable warning C4251 which is triggered by
// std::unique_ptr
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
    public: HandlerStorage<IRepHandler> repliers;
 
    public: HandlerStorage<IReqHandler> requests;
 
    public: int verbose;
 
    public: std::string myAddress;
 
    public: std::string myControlAddress;
 
    public: std::string myRequesterAddress;
 
    public: std::string myReplierAddress;
 
    public: std::string hostAddr;
 
    private: std::unique_ptr<NodeSharedPrivate> dataPtr;
#ifdef _WIN32
#pragma warning(pop)
#endif
    private: friend Node;
    private: friend NodePrivate;
  };
  }
}
#endif