Node.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_NODE_HH_
#define GZ_TRANSPORT_NODE_HH_
 
#include <memory>
#include <optional>
#include <string>
#include <unordered_set>
#include <vector>
#include "gz/transport/AdvertiseOptions.hh"
#include "gz/transport/config.hh"
#include "gz/transport/Export.hh"
#include "gz/transport/NodeOptions.hh"
#include "gz/transport/NodeShared.hh"
#include "gz/transport/Publisher.hh"
#include "gz/transport/SubscribeOptions.hh"
#include "gz/transport/SubscriptionHandler.hh"
#include "gz/transport/TopicStatistics.hh"
#include "gz/transport/TransportTypes.hh"
#include "gz/transport/WaitHelpers.hh"
 
namespace zenoh
{
  // Forward declaration.
  class LivelinessToken;
  class Publisher;
}
 
namespace gz::transport
{
  // Inline bracket to help doxygen filtering.
  inline namespace GZ_TRANSPORT_VERSION_NAMESPACE {
  //
  // Forward declarations.
  class NodePrivate;
 
  int GZ_TRANSPORT_VISIBLE rcvHwm();
 
  int GZ_TRANSPORT_VISIBLE sndHwm();
 
 
  struct GZ_TRANSPORT_VISIBLE TopicInfo
  {
    public: std::string topicName;
 
    public: std::vector<MessagePublisher> publishers;
 
    public: std::vector<MessagePublisher> subscribers;
  };
 
  class GZ_TRANSPORT_VISIBLE Node
  {
    class PublisherPrivate;
    class SubscriberPrivate;
 
    public: class GZ_TRANSPORT_VISIBLE Publisher
    {
      public: Publisher();
 
      public: explicit Publisher(const MessagePublisher &_publisher);
 
#ifdef HAVE_ZENOH
      public: explicit Publisher(const MessagePublisher &_publisher,
                                 zenoh::Publisher &&_zPublisher,
                                 zenoh::LivelinessToken &&_zToken);
#endif
 
      public: virtual ~Publisher();
 
      public: operator bool();
 
      public: operator bool() const;
 
      public: bool Valid() const;
 
      public: bool Publish(const ProtoMsg &_msg);
 
      public: bool PublishRaw(
        const std::string &_msgData,
        const std::string &_msgType);
 
      public: bool ThrottledUpdateReady() const;
 
      private: bool UpdateThrottling();
 
      public: bool HasConnections() const;
 
#ifdef _WIN32
// Disable warning C4251 which is triggered by
// std::shared_ptr
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
      private: std::shared_ptr<PublisherPrivate> dataPtr;
#ifdef _WIN32
#pragma warning(pop)
#endif
    };
 
    public: class GZ_TRANSPORT_VISIBLE Subscriber
    {
      public: Subscriber();
 
      public: Subscriber(const std::string &_topic,
                         const std::string &_nUuid,
                         const NodeOptions &_nOpts,
                         const std::string &_hUuid);
 
      public: virtual ~Subscriber();
 
      public: bool Unsubscribe();
 
      public: operator bool();
 
      public: operator bool() const;
 
      public: Subscriber(Subscriber &&_other);
 
      public: Node::Subscriber &operator=(Subscriber &&_other);
 
      public: bool Valid() const;
 
#ifdef _WIN32
// Disable warning C4251 which is triggered by
// std::shared_ptr
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
      private: std::shared_ptr<SubscriberPrivate> dataPtr;
#ifdef _WIN32
#pragma warning(pop)
#endif
    };
 
    public: Node();
 
    public: explicit Node(const NodeOptions &_options);
 
    public: virtual ~Node();
 
    public: template<typename MessageT>
    Node::Publisher Advertise(
        const std::string &_topic,
        const AdvertiseMessageOptions &_options = AdvertiseMessageOptions());
 
    public: Node::Publisher Advertise(
        const std::string &_topic,
        const std::string &_msgTypeName,
        const AdvertiseMessageOptions &_options = AdvertiseMessageOptions());
 
    public: std::vector<std::string> AdvertisedTopics() const;
 
    public: template <typename ...Args>
    bool Subscribe(Args && ...args);
 
    public: template <typename ...Args>
    Node::Subscriber CreateSubscriber(const std::string &_topic,
                                      Args && ...args);
 
    public: std::vector<std::string> SubscribedTopics() const;
 
    public: bool Unsubscribe(const std::string &_topic);
 
    public: template<typename RequestT, typename ReplyT>
    bool Advertise(
        const std::string &_topic,
        bool(*_callback)(const RequestT &_request, ReplyT &_reply),
        const AdvertiseServiceOptions &_options = AdvertiseServiceOptions());
 
    public: template<typename ReplyT>
    bool Advertise(
        const std::string &_topic,
        bool(*_callback)(ReplyT &_reply),
        const AdvertiseServiceOptions &_options = AdvertiseServiceOptions());
 
    public: template<typename RequestT>
    bool Advertise(
        const std::string &_topic,
        void(*_callback)(const RequestT &_request),
        const AdvertiseServiceOptions &_options = AdvertiseServiceOptions());
 
    public: template<typename RequestT, typename ReplyT>
    bool Advertise(
        const std::string &_topic,
        std::function<bool(const RequestT &_request,
                           ReplyT &_reply)> _callback,
        const AdvertiseServiceOptions &_options = AdvertiseServiceOptions());
 
    public: template<typename ReplyT>
    bool Advertise(
        const std::string &_topic,
        std::function<bool(ReplyT &_reply)> &_callback,
        const AdvertiseServiceOptions &_options = AdvertiseServiceOptions());
 
    public: template<typename RequestT>
    bool Advertise(
        const std::string &_topic,
        std::function<void(const RequestT &_request)> &_callback,
        const AdvertiseServiceOptions &_options = AdvertiseServiceOptions());
 
    public: template<typename ClassT, typename RequestT, typename ReplyT>
    bool Advertise(
        const std::string &_topic,
        bool(ClassT::*_callback)(const RequestT &_request, ReplyT &_reply),
        ClassT *_obj,
        const AdvertiseServiceOptions &_options = AdvertiseServiceOptions());
 
    public: template<typename ClassT, typename ReplyT>
    bool Advertise(
        const std::string &_topic,
        bool(ClassT::*_callback)(ReplyT &_reply),
        ClassT *_obj,
        const AdvertiseServiceOptions &_options = AdvertiseServiceOptions());
 
    public: template<typename ClassT, typename RequestT>
    bool Advertise(
        const std::string &_topic,
        void(ClassT::*_callback)(const RequestT &_request),
        ClassT *_obj,
        const AdvertiseServiceOptions &_options = AdvertiseServiceOptions());
 
    public: std::vector<std::string> AdvertisedServices() const;
 
    public: template<typename RequestT, typename ReplyT>
    bool Request(
        const std::string &_topic,
        const RequestT &_request,
        void(*_callback)(const ReplyT &_reply, const bool _result));
 
    public: template<typename ReplyT>
    bool Request(
        const std::string &_topic,
        void(*_callback)(const ReplyT &_reply, const bool _result));
 
    public: template<typename RequestT, typename ReplyT>
    bool Request(
        const std::string &_topic,
        const RequestT &_request,
        std::function<void(const ReplyT &_reply,
                           const bool _result)> &_callback);
 
    public: template<typename ReplyT>
    bool Request(
        const std::string &_topic,
        std::function<void(const ReplyT &_reply,
                           const bool _result)> &_callback);
 
    public: template<typename ClassT, typename RequestT, typename ReplyT>
    bool Request(
        const std::string &_topic,
        const RequestT &_request,
        void(ClassT::*_callback)(const ReplyT &_reply, const bool _result),
        ClassT *_obj);
 
    public: template<typename ClassT, typename ReplyT>
    bool Request(
        const std::string &_topic,
        void(ClassT::*_callback)(const ReplyT &_reply, const bool _result),
        ClassT *_obj);
 
    public: template<typename RequestT, typename ReplyT>
    bool Request(
        const std::string &_topic,
        const RequestT &_request,
        const unsigned int &_timeout,
        ReplyT &_reply,
        bool &_result);
 
    public: template<typename ReplyT>
    bool Request(
        const std::string &_topic,
        const unsigned int &_timeout,
        ReplyT &_reply,
        bool &_result);
 
    public: template<typename RequestT>
    bool Request(const std::string &_topic, const RequestT &_request);
 
    public: bool RequestRaw(const std::string &_topic,
                const std::string &_request, const std::string &_requestType,
                const std::string &_responseType, unsigned int _timeout,
                std::string &_response,
                bool &_result);
 
    public: bool UnadvertiseSrv(const std::string &_topic);
 
    public: void TopicList(std::vector<std::string> &_topics) const;
 
    public: bool TopicInfo(const std::string &_topic,
                           std::vector<MessagePublisher> &_publishers,
                           std::vector<MessagePublisher> &_subscribers) const;
 
    public: bool AllTopicInfo(
                std::vector<gz::transport::TopicInfo> &_topics) const;
 
    public: void ServiceList(std::vector<std::string> &_services) const;
 
    public: bool ServiceInfo(
        const std::string &_service,
        std::vector<ServicePublisher> &_publishers) const;
 
    public: enum class ServiceTypeResolution
    {
      kResolved = 0,
 
      kInvalidService,
 
      kNoProviders,
 
      kAmbiguousTypes,
 
      kIncompatibleTypes,
    };
 
    public: ServiceTypeResolution ResolveServiceTypes(
        const std::string &_service,
        std::string &_reqType,
        std::string &_repType,
        unsigned int _timeoutMs = 0) const;
 
    public: bool SubscribeRaw(
      const std::string &_topic,
      const RawCallback &_callback,
      const std::string &_msgType = kGenericMessageType,
      const SubscribeOptions &_opts = SubscribeOptions());
 
    public: const NodeOptions &Options() const;
 
    public: bool EnableStats(const std::string &_topic, bool _enable,
                const std::string &_publicationTopic = "/statistics",
                uint64_t _publicationRate = 1);
 
    public: std::optional<TopicStatistics> TopicStats(
                const std::string &_topic) const;
 
    public: void AddGlobalRelay(const std::string& _relayAddress);
 
    public: std::vector<std::string> GlobalRelays() const;
 
    private: NodeShared *Shared() const;
 
    private: const std::string &NodeUuid() const;
 
    private: std::unordered_set<std::string> &TopicsSubscribed() const;
 
    private: std::unordered_set<std::string> &SrvsAdvertised() const;
 
    private: bool SubscribeHelper(const std::string &_fullyQualifiedTopic);
 
    private: bool TopicInfoHelper(const std::string &_topic,
                std::vector<MessagePublisher> &_publishers,
                std::vector<MessagePublisher> &_subscribers) const;
 
    private: template<typename MessageT>
    std::shared_ptr<SubscriptionHandler<MessageT>> SubscribeImpl(
        const std::string &_topic,
        void(*_callback)(const MessageT &_msg),
        const SubscribeOptions &_opts = SubscribeOptions());
 
    private: template<typename MessageT>
    std::shared_ptr<SubscriptionHandler<MessageT>> SubscribeImpl(
        const std::string &_topic,
        std::function<void(const MessageT &_msg)> _callback,
        const SubscribeOptions &_opts = SubscribeOptions());
 
    private: template<typename ClassT, typename MessageT>
    std::shared_ptr<SubscriptionHandler<MessageT>> SubscribeImpl(
        const std::string &_topic,
        void(ClassT::*_callback)(const MessageT &_msg),
        ClassT *_obj,
        const SubscribeOptions &_opts = SubscribeOptions());
 
    private: template<typename MessageT>
    std::shared_ptr<SubscriptionHandler<MessageT>> SubscribeImpl(
        const std::string &_topic,
        void(*_callback)(const MessageT &_msg, const MessageInfo &_info),
        const SubscribeOptions &_opts = SubscribeOptions());
 
    private: template<typename MessageT>
    std::shared_ptr<SubscriptionHandler<MessageT>> SubscribeImpl(
        const std::string &_topic,
        std::function<void(const MessageT &_msg,
                           const MessageInfo &_info)> _callback,
        const SubscribeOptions &_opts = SubscribeOptions());
 
    private: template<typename ClassT, typename MessageT>
    std::shared_ptr<SubscriptionHandler<MessageT>> SubscribeImpl(
        const std::string &_topic,
        void(ClassT::*_callback)(const MessageT &_msg,
                                 const MessageInfo &_info),
        ClassT *_obj,
        const SubscribeOptions &_opts = SubscribeOptions());
 
#ifdef _WIN32
// Disable warning C4251 which is triggered by
// std::unique_ptr
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
    private: std::unique_ptr<transport::NodePrivate> dataPtr;
#ifdef _WIN32
#pragma warning(pop)
#endif
  };
  }
}
 
#include "gz/transport/detail/Node.hh"
 
#endif