Gazebo Transport

API Reference

15.0.0~pre1
ReqHandler.hh
Go to the documentation of this file.
1/*
2 * Copyright (C) 2014 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17
18#ifndef GZ_TRANSPORT_REQHANDLER_HH_
19#define GZ_TRANSPORT_REQHANDLER_HH_
20
21#ifdef _MSC_VER
22#pragma warning(push)
23#pragma warning(disable: 4251)
24#endif
25#include <google/protobuf/message.h>
26#ifdef _MSC_VER
27#pragma warning(pop)
28#endif
29
30#include <condition_variable>
31#include <functional>
32#include <memory>
33#include <string>
34#include <utility>
35
36#include "gz/transport/config.hh"
37#include "gz/transport/Export.hh"
39#include "gz/transport/Uuid.hh"
40
41namespace zenoh
42{
43 // Forward declaration.
44 class Session;
45}
46
47namespace gz::transport
48{
49 // Inline bracket to help doxygen filtering.
50 inline namespace GZ_TRANSPORT_VERSION_NAMESPACE {
51 //
53 class IReqHandlerPrivate;
54
57 class GZ_TRANSPORT_VISIBLE IReqHandler
58 {
61 public: explicit IReqHandler(const std::string &_nUuid);
62
64 public: virtual ~IReqHandler();
65
72 public: virtual void NotifyResult(const std::string &_rep,
73 const bool _result) = 0;
74
78 public: virtual bool Serialize(std::string &_buffer) const = 0;
79
82 public: virtual std::string ReqTypeName() const = 0;
83
86 public: virtual std::string RepTypeName() const = 0;
87
90 public: std::string HandlerUuid() const;
91
94 public: std::string NodeUuid() const;
95
98 public: std::string Response() const
99 {
100 return this->rep;
101 }
102
105 public: bool Result() const
106 {
107 return this->result;
108 }
109
112 public: bool Requested() const;
113
116 public: void Requested(const bool _value);
117
125 public: template<typename Lock> bool WaitUntil(Lock &_lock,
126 const unsigned int _timeout)
127 {
129 return this->condition.wait_until(_lock,
130 now + std::chrono::milliseconds(_timeout),
131 [this]
132 {
133 return this->repAvailable;
134 });
135 }
136
137#ifdef HAVE_ZENOH
141 public: void CreateZenohGet(std::shared_ptr<zenoh::Session> _session,
142 const std::string &_service);
143#endif
144
145#ifdef _WIN32
146// Disable warning C4251 which is triggered by
147// std::*
148#pragma warning(push)
149#pragma warning(disable: 4251)
150#endif
153
157
159 protected: std::string rep;
160#ifdef _WIN32
161#pragma warning(pop)
162#endif
163
165 protected: bool result;
166
170 public: bool repAvailable;
171 };
172
178 template <typename Req, typename Rep> class ReqHandler
179 : public IReqHandler
180 {
181 // Documentation inherited.
182 public: explicit ReqHandler(const std::string &_nUuid)
183 : IReqHandler(_nUuid)
184 {
185 }
186
190 public: std::shared_ptr<Rep> CreateMsg(const std::string &_data) const
191 {
192 // Instantiate a specific protobuf message
193 auto msgPtr = std::make_shared<Rep>();
194
195 // Create the message using some serialized data
196 if (!msgPtr->ParseFromString(_data))
197 {
198 std::cerr << "ReqHandler::CreateMsg() error: ParseFromString failed"
199 << std::endl;
200 }
201
202 return msgPtr;
203 }
204
210 public: void SetCallback(const std::function <void(
211 const Rep &_rep, const bool _result)> &_cb)
212 {
213 this->cb = _cb;
214 }
215
219 public: void SetMessage(const Req *_reqMsg)
220 {
221 if (!_reqMsg)
222 {
223 std::cerr << "ReqHandler::SetMessage() _reqMsg is null" << std::endl;
224 return;
225 }
226
227 this->reqMsg.CopyFrom(*_reqMsg);
228 }
229
235 public: void SetResponse(const Rep *_repMsg)
236 {
237 (void)_repMsg;
238 }
239
240 // Documentation inherited
241 public: bool Serialize(std::string &_buffer) const
242 {
243 if (!this->reqMsg.SerializeToString(&_buffer))
244 {
245 std::cerr << "ReqHandler::Serialize(): Error serializing the request"
246 << std::endl;
247 return false;
248 }
249
250 return true;
251 }
252
253 // Documentation inherited.
254 public: void NotifyResult(const std::string &_rep, const bool _result)
255 {
256 // Execute the callback (if existing).
257 if (this->cb)
258 {
259 // Instantiate the specific protobuf message associated to this topic.
260 auto msg = this->CreateMsg(_rep);
261
262 this->cb(*msg, _result);
263 }
264 else
265 {
266 this->rep = _rep;
267 this->result = _result;
268 }
269
270 this->repAvailable = true;
271 this->condition.notify_one();
272 }
273
274 // Documentation inherited.
275 public: virtual std::string ReqTypeName() const
276 {
277 return std::string(Req().GetTypeName());
278 }
279
280 // Documentation inherited.
281 public: virtual std::string RepTypeName() const
282 {
283 return std::string(Rep().GetTypeName());
284 }
285
287 private: Req reqMsg;
288
294 private: std::function<void(const Rep &_rep, const bool _result)> cb;
295 };
296
300 template <> class ReqHandler<google::protobuf::Message,
301 google::protobuf::Message>
302 : public IReqHandler
303 {
304 // Documentation inherited.
305 public: explicit ReqHandler(const std::string &_nUuid)
306 : IReqHandler(_nUuid)
307 {
308 }
309
313 public: void SetMessage(const google::protobuf::Message *_reqMsg)
314 {
315 if (!_reqMsg)
316 {
317 std::cerr << "ReqHandler::SetMessage() _reqMsg is null" << std::endl;
318 return;
319 }
320
321 this->reqMsg = _reqMsg->New();
322 this->reqMsg->CopyFrom(*_reqMsg);
323 }
324
329 public: void SetResponse(const google::protobuf::Message *_repMsg)
330 {
331 if (!_repMsg)
332 {
333 std::cerr << "ReqHandler::SetResponse() _repMsg is null" << std::endl;
334 return;
335 }
336
337 this->repMsg = _repMsg->New();
338 this->repMsg->CopyFrom(*_repMsg);
339 }
340
341 // Documentation inherited
342 public: bool Serialize(std::string &_buffer) const
343 {
344 if (!this->reqMsg)
345 {
346 std::cerr << "ReqHandler::Serialize() reqMsg is null" << std::endl;
347 return false;
348 }
349
350 if (!this->reqMsg->SerializeToString(&_buffer))
351 {
352 std::cerr << "ReqHandler::Serialize(): Error serializing the request"
353 << std::endl;
354 return false;
355 }
356
357 return true;
358 }
359
360 // Documentation inherited.
361 public: void NotifyResult(const std::string &_rep, const bool _result)
362 {
363 this->rep = _rep;
364 this->result = _result;
365
366 this->repAvailable = true;
367 this->condition.notify_one();
368 }
369
370 // Documentation inherited.
371 public: virtual std::string ReqTypeName() const
372 {
373 if (this->reqMsg)
374 return std::string(this->reqMsg->GetTypeName());
375 else
376 {
377 std::cerr << "ReqHandler::ReqTypeName() Warning: Using ReqTypeName() "
378 << "without type information" << std::endl;
379 return "";
380 }
381 }
382
384 public: virtual std::string RepTypeName() const
385 {
386 if (this->repMsg)
387 return std::string(this->repMsg->GetTypeName());
388 else
389 {
390 std::cerr << "ReqHandler::RepTypeName() Warning: Using RepTypeName() "
391 << "without type information" << std::endl;
392 return "";
393 }
394 }
395
397 private: google::protobuf::Message *reqMsg = nullptr;
398
400 private: google::protobuf::Message *repMsg = nullptr;
401 };
402 }
403}
404
405#endif