RemoteServer.h

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/* ============================================================
 *
 * This file is a part of RSB project
 *
 * Copyright (C) 2010 by Johannes Wienke <jwienke at techfak dot uni-bielefeld dot de>
 * Copyright (C) 2011, 2012, 2014, 2015 Jan Moringen <jmoringe@techfak.uni-bielefeld.de>
 *
 * This file may be licensed under the terms of the
 * GNU Lesser General Public License Version 3 (the ``LGPL''),
 * or (at your option) any later version.
 *
 * Software distributed under the License is distributed
 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
 * express or implied. See the LGPL for the specific language
 * governing rights and limitations.
 *
 * You should have received a copy of the LGPL along with this
 * program. If not, go to http://www.gnu.org/licenses/lgpl.html
 * or write to the Free Software Foundation, Inc.,
 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * The development of this software was supported by:
 *   CoR-Lab, Research Institute for Cognition and Robotics
 *     Bielefeld University
 *
 * ============================================================ */

#pragma once

#include <string>
#include <map>
#include <set>

#include <boost/shared_ptr.hpp>
#include <boost/enable_shared_from_this.hpp>
#include <boost/thread/mutex.hpp>

#include <rsc/runtime/TypeStringTools.h>
#include <rsc/logging/Logger.h>
#include <rsc/threading/Future.h>

#include "../Event.h"

#include "Server.h"

#include "rsb/rsbexports.h"

namespace rsb {
namespace patterns {

class RSB_EXPORT RemoteServer: public Participant,
                               public boost::enable_shared_from_this<RemoteServer> {
public:
    typedef rsc::threading::Future<EventPtr> FutureType;
    typedef boost::shared_ptr<FutureType> FuturePtr;

    template <typename O>
    class DataFuture {
    public:
        DataFuture(FuturePtr target):
            target(target) {
        }

        bool isDone() {
            return this->target->isDone();
        }

        boost::shared_ptr<O> get(double timeout) {
            return boost::static_pointer_cast<O>(this->target->get(timeout)->getData());
        }
    private:
        FuturePtr target;
    };

    class RemoteMethod: public Method {
    public:
        RemoteMethod(const Scope&             scope,
                     const std::string&       name,
                     const ParticipantConfig& listenerConfig,
                     const ParticipantConfig& informerConfig);
        virtual ~RemoteMethod();

        // Overrides method in Participant.
        virtual std::string getKind() const;

        FuturePtr call(const std::string& methodName, EventPtr request);
    private:
        typedef boost::mutex MutexType;

        rsc::logging::LoggerPtr      logger;

        MutexType                    inprogressMutex;
        std::map<EventId, FuturePtr> inprogress;

        ListenerPtr makeListener();

        void handle(EventPtr event);
    };

    typedef boost::shared_ptr<RemoteMethod> RemoteMethodPtr;

    RemoteServer(const Scope& scope,
                 const ParticipantConfig &listenerConfig,
                 const ParticipantConfig &informerConfig);
    virtual ~RemoteServer();

    // Overrides method in Participant.
    virtual std::string getKind() const;

    // Overrides method in Participant.
    virtual const std::set<std::string> getTransportURLs() const;

    template<class I>
    EventPtr prepareRequestEvent(boost::shared_ptr<I> args) {
        EventPtr request(new Event);
        request->setType(rsc::runtime::typeName<I>());
        request->setData(args);
        return request;
    }

    FuturePtr callAsync(const std::string& methodName, EventPtr data);

    template <typename O, typename I>
    DataFuture<O> callAsync(const std::string&   methodName,
                            boost::shared_ptr<I> args) {
        return DataFuture<O>(callAsync(methodName, prepareRequestEvent(args)));
    }

    template <typename O>
    DataFuture<O> callAsync(const std::string& methodName) {
        EventPtr request(new Event());
        request->setType(rsc::runtime::typeName<void>());
        request->setData(VoidPtr());
        return DataFuture<O>(callAsync(methodName, request));
    }

    EventPtr call(const std::string& methodName,
                  EventPtr           data,
                  unsigned int       maxReplyWaitTime = 25);

    template <typename O, typename I>
    boost::shared_ptr<O> call(const std::string&    methodName,
                              boost::shared_ptr<I> args,
                              unsigned int         maxReplyWaitTime = 25) {
        return callAsync<O>(methodName, args).get(maxReplyWaitTime);
    }

    template <typename O>
    boost::shared_ptr<O> call(const std::string& methodName,
                              unsigned int       maxReplyWaitTime = 25) {
        return callAsync<O>(methodName).get(maxReplyWaitTime);
    }
private:

    rsc::logging::LoggerPtr                logger;

    ParticipantConfig                      listenerConfig;
    ParticipantConfig                      informerConfig;

    boost::mutex                           methodsMutex;
    std::map<std::string, RemoteMethodPtr> methods;

    RemoteMethodPtr getMethod(const std::string& name);

};

template <>
class RemoteServer::DataFuture<void> {
public:
    DataFuture(FuturePtr target):
        target(target) {
    }

    bool isDone() {
        return this->target->isDone();
    }

    boost::shared_ptr<void> get(double timeout) {
        this->target->get(timeout)->getData();
        return boost::shared_ptr<void>();
    }
private:
    FuturePtr target;
};

typedef boost::shared_ptr<RemoteServer> RemoteServerPtr;

}
}