From 3bc8ed259e7dc5d80bd8001f25069b6baf2d3c9f Mon Sep 17 00:00:00 2001
From: Valentin Platzgummer <valentin.platzgummer@ymail.com>
Date: Mon, 3 Aug 2020 11:09:09 +0200
Subject: [PATCH] ROSBridgeClient.hpp mod
---
src/comm/ros_bridge/include/RosBridgeClient.h | 757 ++++++++++--------
1 file changed, 427 insertions(+), 330 deletions(-)
diff --git a/src/comm/ros_bridge/include/RosBridgeClient.h b/src/comm/ros_bridge/include/RosBridgeClient.h
index d2e70ae8c8..ebcff85bff 100644
--- a/src/comm/ros_bridge/include/RosBridgeClient.h
+++ b/src/comm/ros_bridge/include/RosBridgeClient.h
@@ -5,18 +5,20 @@
* Author: Poom Pianpak
*/
+
+#ifndef ROSBRIDGECPP_ROSBRIDGE_WS_CLIENT_HPP_
+#define ROSBRIDGECPP_ROSBRIDGE_WS_CLIENT_HPP_
+
#include "Simple-WebSocket-Server/client_ws.hpp"
#include "rapidjson/include/rapidjson/document.h"
#include "rapidjson/include/rapidjson/writer.h"
#include "rapidjson/include/rapidjson/stringbuffer.h"
-#include "rapidjson/include/rapidjson/ostreamwrapper.h"
#include <chrono>
#include <functional>
#include <thread>
#include <future>
-#include <functional>
#include <mutex>
using WsClient = SimpleWeb::SocketClient<SimpleWeb::WS>;
@@ -24,88 +26,86 @@ using InMessage = std::function<void(std::shared_ptr<WsClient::Connection>, std
class RosbridgeWsClient
{
- std::string server_port_path;
- std::unordered_map<std::string, std::shared_ptr<WsClient>> client_map;
- std::mutex map_mutex;
-
- // Starts the client.
- void start(const std::string& client_name, std::shared_ptr<WsClient> client, const std::string& message)
- {
- if (!client->on_open)
- {
-#ifdef ROS_BRIDGE_CLIENT_DEBUG
- client->on_open = [client_name, message](std::shared_ptr<WsClient::Connection> connection) {
+ std::string server_port_path;
+ std::unordered_map<std::string, std::shared_ptr<WsClient>> client_map;
+ std::mutex map_mutex;
+
+ void start(const std::string& client_name, std::shared_ptr<WsClient> client, const std::string& message)
+ {
+ if (!client->on_open)
+ {
+#ifdef DEBUG
+ client->on_open = [client_name, message](std::shared_ptr<WsClient::Connection> connection) {
#else
- client->on_open = [message](std::shared_ptr<WsClient::Connection> connection) {
+ client->on_open = [message](std::shared_ptr<WsClient::Connection> connection) {
#endif
-#ifdef ROS_BRIDGE_CLIENT_DEBUG
- std::cout << client_name << ": Opened connection" << std::endl;
- std::cout << client_name << ": Sending message: " << message << std::endl;
+#ifdef DEBUG
+ std::cout << client_name << ": Opened connection" << std::endl;
+ std::cout << client_name << ": Sending message: " << message << std::endl;
#endif
- connection->send(message);
- };
- }
-
-#ifdef ROS_BRIDGE_CLIENT_DEBUG
- if (!client->on_message)
- {
- client->on_message = [client_name](std::shared_ptr<WsClient::Connection> /*connection*/, std::shared_ptr<WsClient::InMessage> in_message) {
- std::cout << client_name << ": Message received: " << in_message->string() << std::endl;
- };
- }
-
- if (!client->on_close)
- {
- client->on_close = [client_name](std::shared_ptr<WsClient::Connection> /*connection*/, int status, const std::string & /*reason*/) {
- std::cout << client_name << ": Closed connection with status code " << status << std::endl;
- };
- }
-
- if (!client->on_error)
- {
- // See http://www.boost.org/doc/libs/1_55_0/doc/html/boost_asio/reference.html, Error Codes for error code meanings
- client->on_error = [client_name](std::shared_ptr<WsClient::Connection> /*connection*/, const SimpleWeb::error_code &ec) {
- std::cout << client_name << ": Error: " << ec << ", error message: " << ec.message() << std::endl;
- };
- }
+ connection->send(message);
+ };
+ }
+
+#ifdef DEBUG
+ if (!client->on_message)
+ {
+ client->on_message = [client_name](std::shared_ptr<WsClient::Connection> /*connection*/, std::shared_ptr<WsClient::InMessage> in_message) {
+ std::cout << client_name << ": Message received: " << in_message->string() << std::endl;
+ };
+ }
+
+ if (!client->on_close)
+ {
+ client->on_close = [client_name](std::shared_ptr<WsClient::Connection> /*connection*/, int status, const std::string & /*reason*/) {
+ std::cout << client_name << ": Closed connection with status code " << status << std::endl;
+ };
+ }
+
+ if (!client->on_error)
+ {
+ // See http://www.boost.org/doc/libs/1_55_0/doc/html/boost_asio/reference.html, Error Codes for error code meanings
+ client->on_error = [client_name](std::shared_ptr<WsClient::Connection> /*connection*/, const SimpleWeb::error_code &ec) {
+ std::cout << client_name << ": Error: " << ec << ", error message: " << ec.message() << std::endl;
+ };
+ }
#endif
-#ifdef ROS_BRIDGE_CLIENT_DEBUG
- std::thread client_thread([client_name, client]() {
+#ifdef DEBUG
+ std::thread client_thread([client_name, client]() {
#else
- std::thread client_thread([client]() {
+ std::thread client_thread([client]() {
#endif
- client->start();
+ client->start();
-#ifdef ROS_BRIDGE_CLIENT_DEBUG
- std::cout << client_name << ": Terminated" << std::endl;
+#ifdef DEBUG
+ std::cout << client_name << ": Terminated" << std::endl;
#endif
- client->on_open = NULL;
- client->on_message = NULL;
- client->on_close = NULL;
- client->on_error = NULL;
- });
+ client->on_open = NULL;
+ client->on_message = NULL;
+ client->on_close = NULL;
+ client->on_error = NULL;
+ });
- client_thread.detach();
- }
+ client_thread.detach();
+ }
public:
- RosbridgeWsClient(const std::string& server_port_path)
- {
- this->server_port_path = server_port_path;
- }
-
- ~RosbridgeWsClient()
- {
-
- std::lock_guard<std::mutex> lk(map_mutex); // neccessary?
- for (auto& client : client_map)
- {
- client.second->stop();
- client.second.reset();
- }
- }
+ RosbridgeWsClient(const std::string& server_port_path)
+ {
+ this->server_port_path = server_port_path;
+ }
+
+ ~RosbridgeWsClient()
+ {
+ std::lock_guard<std::mutex> lk(map_mutex); // neccessary?
+ for (auto& client : client_map)
+ {
+ client.second->stop();
+ client.second.reset();
+ }
+ }
// The execution can take up to 100 ms!
bool connected(){
@@ -134,289 +134,386 @@ public:
return status == std::future_status::ready;
}
- // Adds a client to the client_map.
- void addClient(const std::string& client_name)
- {
-
- std::lock_guard<std::mutex> lk(map_mutex);
- std::unordered_map<std::string, std::shared_ptr<WsClient>>::iterator it = client_map.find(client_name);
- if (it == client_map.end())
- {
- client_map[client_name] = std::make_shared<WsClient>(server_port_path);
- }
-#ifdef ROS_BRIDGE_CLIENT_DEBUG
- else
- {
- std::cerr << client_name << " has already been created" << std::endl;
- }
+ // Adds a client to the client_map.
+ void addClient(const std::string& client_name)
+ {
+ std::lock_guard<std::mutex> lk(map_mutex);
+ std::unordered_map<std::string, std::shared_ptr<WsClient>>::iterator it = client_map.find(client_name);
+ if (it == client_map.end())
+ {
+ client_map[client_name] = std::make_shared<WsClient>(server_port_path);
+ }
+#ifdef DEBUG
+ else
+ {
+ std::cerr << client_name << " has already been created" << std::endl;
+ }
#endif
- }
-
- std::shared_ptr<WsClient> getClient(const std::string& client_name)
- {
-
- std::lock_guard<std::mutex> lk(map_mutex);
- std::unordered_map<std::string, std::shared_ptr<WsClient>>::iterator it = client_map.find(client_name);
- if (it != client_map.end())
- {
- return it->second;
- }
- return NULL;
- }
-
- void stopClient(const std::string& client_name)
- {
-
- std::lock_guard<std::mutex> lk(map_mutex);
- std::unordered_map<std::string, std::shared_ptr<WsClient>>::iterator it = client_map.find(client_name);
- if (it != client_map.end())
- {
- it->second->stop();
- it->second->on_open = NULL;
- it->second->on_message = NULL;
- it->second->on_close = NULL;
- it->second->on_error = NULL;
-#ifdef ROS_BRIDGE_CLIENT_DEBUG
- std::cout << client_name << " has been stopped" << std::endl;
+ }
+
+ std::shared_ptr<WsClient> getClient(const std::string& client_name)
+ {
+ std::lock_guard<std::mutex> lk(map_mutex);
+ std::unordered_map<std::string, std::shared_ptr<WsClient>>::iterator it = client_map.find(client_name);
+ if (it != client_map.end())
+ {
+ return it->second;
+ }
+ return NULL;
+ }
+
+ void stopClient(const std::string& client_name)
+ {
+ std::lock_guard<std::mutex> lk(map_mutex);
+ std::unordered_map<std::string, std::shared_ptr<WsClient>>::iterator it = client_map.find(client_name);
+ if (it != client_map.end())
+ {
+ it->second->stop();
+ it->second->on_open = NULL;
+ it->second->on_message = NULL;
+ it->second->on_close = NULL;
+ it->second->on_error = NULL;
+#ifdef DEBUG
+ std::cout << client_name << " has been stopped" << std::endl;
#endif
- }
-#ifdef ROS_BRIDGE_CLIENT_DEBUG
- else
- {
- std::cerr << client_name << " has not been created" << std::endl;
- }
+ }
+#ifdef DEBUG
+ else
+ {
+ std::cerr << client_name << " has not been created" << std::endl;
+ }
#endif
- }
-
- void removeClient(const std::string& client_name)
- {
-
- std::lock_guard<std::mutex> lk(map_mutex);
- std::unordered_map<std::string, std::shared_ptr<WsClient>>::iterator it = client_map.find(client_name);
- if (it != client_map.end())
- {
- // Stop the client asynchronously in 100 ms.
- // This is to ensure, that all threads involving client have been launched.
- std::thread t([](std::shared_ptr<WsClient> client){
- std::this_thread::sleep_for(std::chrono::milliseconds(100));
- client->stop();
- client.reset();
- },
- it->second /*lambda param*/ );
-
- client_map.erase(it);
- t.detach();
-#ifdef ROS_BRIDGE_CLIENT_DEBUG
- std::cout << client_name << " has been removed" << std::endl;
+ }
+
+ void removeClient(const std::string& client_name)
+ {
+ std::lock_guard<std::mutex> lk(map_mutex);
+ std::unordered_map<std::string, std::shared_ptr<WsClient>>::iterator it = client_map.find(client_name);
+ if (it != client_map.end())
+ {
+ // Stop the client asynchronously in 100 ms.
+ // This is to ensure, that all threads involving the client have been launched.
+ std::thread t([](std::shared_ptr<WsClient> client){
+ std::this_thread::sleep_for(std::chrono::milliseconds(100));
+ client->stop();
+ client.reset();
+ },
+ it->second /*lambda param*/ );
+ client_map.erase(it);
+ t.detach();
+#ifdef DEBUG
+ std::cout << client_name << " has been removed" << std::endl;
#endif
- }
-#ifdef ROS_BRIDGE_CLIENT_DEBUG
- else
- {
- std::cerr << client_name << " has not been created" << std::endl;
- }
+ }
+#ifdef DEBUG
+ else
+ {
+ std::cerr << client_name << " has not been created" << std::endl;
+ }
#endif
- }
-
- // Gets the client from client_map and starts it. Advertising is essentially sending a message.
- // One client per topic!
- void advertise(const std::string& client_name, const std::string& topic, const std::string& type, const std::string& id = "")
- {
-
- std::lock_guard<std::mutex> lk(map_mutex);
- std::unordered_map<std::string, std::shared_ptr<WsClient>>::iterator it = client_map.find(client_name);
- if (it != client_map.end())
- {
- std::string message = "\"op\":\"advertise\", \"topic\":\"" + topic + "\", \"type\":\"" + type + "\"";
-
- if (id.compare("") != 0)
- {
- message += ", \"id\":\"" + id + "\"";
- }
- message = "{" + message + "}";
-
- start(client_name, it->second, message);
- }
-#ifdef ROS_BRIDGE_CLIENT_DEBUG
- else
- {
- std::cerr << client_name << "has not been created" << std::endl;
- }
+ }
+
+ // Gets the client from client_map and starts it. Advertising is essentially sending a message.
+ // One client per topic!
+ void advertise(const std::string& client_name, const std::string& topic, const std::string& type, const std::string& id = "")
+ {
+ std::lock_guard<std::mutex> lk(map_mutex);
+ std::unordered_map<std::string, std::shared_ptr<WsClient>>::iterator it = client_map.find(client_name);
+ if (it != client_map.end())
+ {
+ std::string message = "\"op\":\"advertise\", \"topic\":\"" + topic + "\", \"type\":\"" + type + "\"";
+
+ if (id.compare("") != 0)
+ {
+ message += ", \"id\":\"" + id + "\"";
+ }
+ message = "{" + message + "}";
+
+ start(client_name, it->second, message);
+ }
+#ifdef DEBUG
+ else
+ {
+ std::cerr << client_name << "has not been created" << std::endl;
+ }
#endif
- }
+ }
- void publish(const std::string& topic, const rapidjson::Document& msg, const std::string& id = "")
- {
- rapidjson::StringBuffer strbuf;
- rapidjson::Writer<rapidjson::StringBuffer> writer(strbuf);
- msg.Accept(writer);
+ void publish(const std::string& topic, const rapidjson::Document& msg, const std::string& id = "")
+ {
+ rapidjson::StringBuffer strbuf;
+ rapidjson::Writer<rapidjson::StringBuffer> writer(strbuf);
+ msg.Accept(writer);
- std::string message = "\"op\":\"publish\", \"topic\":\"" + topic + "\", \"msg\":" + strbuf.GetString();
+ std::string message = "\"op\":\"publish\", \"topic\":\"" + topic + "\", \"msg\":" + strbuf.GetString();
- if (id.compare("") != 0)
- {
- message += ", \"id\":\"" + id + "\"";
- }
- message = "{" + message + "}";
+ if (id.compare("") != 0)
+ {
+ message += ", \"id\":\"" + id + "\"";
+ }
+ message = "{" + message + "}";
- std::shared_ptr<WsClient> publish_client = std::make_shared<WsClient>(server_port_path);
+ std::shared_ptr<WsClient> publish_client = std::make_shared<WsClient>(server_port_path);
- publish_client->on_open = [message](std::shared_ptr<WsClient::Connection> connection) {
-#ifdef ROS_BRIDGE_CLIENT_DEBUG
- std::cout << "publish_client: Opened connection" << std::endl;
- std::cout << "publish_client: Sending message: " << message << std::endl;
+ publish_client->on_open = [message](std::shared_ptr<WsClient::Connection> connection) {
+#ifdef DEBUG
+ std::cout << "publish_client: Opened connection" << std::endl;
+ std::cout << "publish_client: Sending message: " << message << std::endl;
#endif
- connection->send(message);
-
- // TODO: This could be improved by creating a thread to keep publishing the message instead of closing it right away
- connection->send_close(1000);
- };
+ connection->send(message);
- start("publish_client", publish_client, message);
- }
+ // TODO: This could be improved by creating a thread to keep publishing the message instead of closing it right away
+ connection->send_close(1000);
+ };
- void subscribe(const std::string& client_name, const std::string& topic, const InMessage& callback, const std::string& id = "", const std::string& type = "", int throttle_rate = -1, int queue_length = -1, int fragment_size = -1, const std::string& compression = "")
- {
-
- std::lock_guard<std::mutex> lk(map_mutex);
- std::unordered_map<std::string, std::shared_ptr<WsClient>>::iterator it = client_map.find(client_name);
- if (it != client_map.end())
- {
- std::string message = "\"op\":\"subscribe\", \"topic\":\"" + topic + "\"";
-
- if (id.compare("") != 0)
- {
- message += ", \"id\":\"" + id + "\"";
- }
- if (type.compare("") != 0)
- {
- message += ", \"type\":\"" + type + "\"";
- }
- if (throttle_rate > -1)
- {
- message += ", \"throttle_rate\":" + std::to_string(throttle_rate);
- }
- if (queue_length > -1)
- {
- message += ", \"queue_length\":" + std::to_string(queue_length);
- }
- if (fragment_size > -1)
- {
- message += ", \"fragment_size\":" + std::to_string(fragment_size);
- }
- if (compression.compare("none") == 0 || compression.compare("png") == 0)
- {
- message += ", \"compression\":\"" + compression + "\"";
- }
- message = "{" + message + "}";
-
- it->second->on_message = callback;
- start(client_name, it->second, message);
- }
-#ifdef ROS_BRIDGE_CLIENT_DEBUG
- else
- {
- std::cerr << client_name << "has not been created" << std::endl;
- }
+ start("publish_client", publish_client, message);
+ }
+
+ void subscribe(const std::string& client_name, const std::string& topic, const InMessage& callback, const std::string& id = "", const std::string& type = "", int throttle_rate = -1, int queue_length = -1, int fragment_size = -1, const std::string& compression = "")
+ {
+ std::lock_guard<std::mutex> lk(map_mutex);
+ std::unordered_map<std::string, std::shared_ptr<WsClient>>::iterator it = client_map.find(client_name);
+ if (it != client_map.end())
+ {
+ std::string message = "\"op\":\"subscribe\", \"topic\":\"" + topic + "\"";
+
+ if (id.compare("") != 0)
+ {
+ message += ", \"id\":\"" + id + "\"";
+ }
+ if (type.compare("") != 0)
+ {
+ message += ", \"type\":\"" + type + "\"";
+ }
+ if (throttle_rate > -1)
+ {
+ message += ", \"throttle_rate\":" + std::to_string(throttle_rate);
+ }
+ if (queue_length > -1)
+ {
+ message += ", \"queue_length\":" + std::to_string(queue_length);
+ }
+ if (fragment_size > -1)
+ {
+ message += ", \"fragment_size\":" + std::to_string(fragment_size);
+ }
+ if (compression.compare("none") == 0 || compression.compare("png") == 0)
+ {
+ message += ", \"compression\":\"" + compression + "\"";
+ }
+ message = "{" + message + "}";
+
+ it->second->on_message = callback;
+ start(client_name, it->second, message);
+ }
+#ifdef DEBUG
+ else
+ {
+ std::cerr << client_name << "has not been created" << std::endl;
+ }
#endif
- }
-
- void advertiseService(const std::string& client_name, const std::string& service, const std::string& type, const InMessage& callback)
- {
-
- std::lock_guard<std::mutex> lk(map_mutex);
- std::unordered_map<std::string, std::shared_ptr<WsClient>>::iterator it = client_map.find(client_name);
- if (it != client_map.end())
- {
- std::string message = "{\"op\":\"advertise_service\", \"service\":\"" + service + "\", \"type\":\"" + type + "\"}";
-
- it->second->on_message = callback;
- start(client_name, it->second, message);
- }
-#ifdef ROS_BRIDGE_CLIENT_DEBUG
- else
- {
- std::cerr << client_name << "has not been created" << std::endl;
- }
+ }
+
+ void advertiseService(const std::string& client_name, const std::string& service, const std::string& type, const InMessage& callback)
+ {
+ std::lock_guard<std::mutex> lk(map_mutex);
+ std::unordered_map<std::string, std::shared_ptr<WsClient>>::iterator it = client_map.find(client_name);
+ if (it != client_map.end())
+ {
+ std::string message = "{\"op\":\"advertise_service\", \"service\":\"" + service + "\", \"type\":\"" + type + "\"}";
+
+ it->second->on_message = callback;
+ start(client_name, it->second, message);
+ }
+#ifdef DEBUG
+ else
+ {
+ std::cerr << client_name << "has not been created" << std::endl;
+ }
#endif
- }
+ }
- void serviceResponse(const std::string& service, const std::string& id, bool result, const rapidjson::Document& values = {})
- {
- std::string message = "\"op\":\"service_response\", \"service\":\"" + service + "\", \"result\":" + ((result)? "true" : "false");
+ void serviceResponse(const std::string& service, const std::string& id, bool result, const rapidjson::Document& values = {})
+ {
+ std::string message = "\"op\":\"service_response\", \"service\":\"" + service + "\", \"result\":" + ((result)? "true" : "false");
- // Rosbridge somehow does not allow service_response to be sent without id and values
- // , so we cannot omit them even though the documentation says they are optional.
- message += ", \"id\":\"" + id + "\"";
+ // Rosbridge somehow does not allow service_response to be sent without id and values
+ // , so we cannot omit them even though the documentation says they are optional.
+ message += ", \"id\":\"" + id + "\"";
- // Convert JSON document to string
- rapidjson::StringBuffer strbuf;
- rapidjson::Writer<rapidjson::StringBuffer> writer(strbuf);
- values.Accept(writer);
+ // Convert JSON document to string
+ rapidjson::StringBuffer strbuf;
+ rapidjson::Writer<rapidjson::StringBuffer> writer(strbuf);
+ values.Accept(writer);
- message += ", \"values\":" + std::string(strbuf.GetString());
- message = "{" + message + "}";
+ message += ", \"values\":" + std::string(strbuf.GetString());
+ message = "{" + message + "}";
- std::shared_ptr<WsClient> service_response_client = std::make_shared<WsClient>(server_port_path);
+ std::shared_ptr<WsClient> service_response_client = std::make_shared<WsClient>(server_port_path);
- service_response_client->on_open = [message](std::shared_ptr<WsClient::Connection> connection) {
-#ifdef ROS_BRIDGE_CLIENT_DEBUG
- std::cout << "service_response_client: Opened connection" << std::endl;
- std::cout << "service_response_client: Sending message: " << message << std::endl;
+ service_response_client->on_open = [message](std::shared_ptr<WsClient::Connection> connection) {
+#ifdef DEBUG
+ std::cout << "service_response_client: Opened connection" << std::endl;
+ std::cout << "service_response_client: Sending message: " << message << std::endl;
#endif
- connection->send(message);
+ connection->send(message);
- connection->send_close(1000);
- };
-
- start("service_response_client", service_response_client, message);
- }
+ connection->send_close(1000);
+ };
- void callService(const std::string& service, const InMessage& callback, const rapidjson::Document& args = {}, const std::string& id = "", int fragment_size = -1, const std::string& compression = "")
- {
- std::string message = "\"op\":\"call_service\", \"service\":\"" + service + "\"";
-
- if (!args.IsNull())
- {
- rapidjson::StringBuffer strbuf;
- rapidjson::Writer<rapidjson::StringBuffer> writer(strbuf);
- args.Accept(writer);
-
- message += ", \"args\":" + std::string(strbuf.GetString());
- }
- if (id.compare("") != 0)
- {
- message += ", \"id\":\"" + id + "\"";
- }
- if (fragment_size > -1)
- {
- message += ", \"fragment_size\":" + std::to_string(fragment_size);
- }
- if (compression.compare("none") == 0 || compression.compare("png") == 0)
- {
- message += ", \"compression\":\"" + compression + "\"";
- }
- message = "{" + message + "}";
-
- std::shared_ptr<WsClient> call_service_client = std::make_shared<WsClient>(server_port_path);
-
- if (callback)
- {
- call_service_client->on_message = callback;
- }
- else
- {
- call_service_client->on_message = [](std::shared_ptr<WsClient::Connection> connection, std::shared_ptr<WsClient::InMessage> in_message) {
-#ifdef ROS_BRIDGE_CLIENT_DEBUG
- std::cout << "call_service_client: Message received: " << in_message->string() << std::endl;
- std::cout << "call_service_client: Sending close connection" << std::endl;
+ start("service_response_client", service_response_client, message);
+ }
+
+ void callService(const std::string& service, const InMessage& callback, const rapidjson::Document& args = {}, const std::string& id = "", int fragment_size = -1, const std::string& compression = "")
+ {
+ std::string message = "\"op\":\"call_service\", \"service\":\"" + service + "\"";
+
+ if (!args.IsNull())
+ {
+ rapidjson::StringBuffer strbuf;
+ rapidjson::Writer<rapidjson::StringBuffer> writer(strbuf);
+ args.Accept(writer);
+
+ message += ", \"args\":" + std::string(strbuf.GetString());
+ }
+ if (id.compare("") != 0)
+ {
+ message += ", \"id\":\"" + id + "\"";
+ }
+ if (fragment_size > -1)
+ {
+ message += ", \"fragment_size\":" + std::to_string(fragment_size);
+ }
+ if (compression.compare("none") == 0 || compression.compare("png") == 0)
+ {
+ message += ", \"compression\":\"" + compression + "\"";
+ }
+ message = "{" + message + "}";
+
+ std::shared_ptr<WsClient> call_service_client = std::make_shared<WsClient>(server_port_path);
+
+ if (callback)
+ {
+ call_service_client->on_message = callback;
+ }
+ else
+ {
+ call_service_client->on_message = [](std::shared_ptr<WsClient::Connection> connection, std::shared_ptr<WsClient::InMessage> in_message) {
+#ifdef DEBUG
+ std::cout << "call_service_client: Message received: " << in_message->string() << std::endl;
+ std::cout << "call_service_client: Sending close connection" << std::endl;
#endif
- connection->send_close(1000);
- };
- }
-
- start("call_service_client", call_service_client, message);
- }
+ connection->send_close(1000);
+ };
+ }
+
+ start("call_service_client", call_service_client, message);
+ }
+
+ //!
+ //! \brief Checks if the service \p service is available.
+ //! \param service Service name.
+ //! \return Returns true if the service is available, false either.
+ //! \note Don't call this function to frequently. Use \fn waitForService() instead.
+ //!
+ bool serviceAvailable(const std::string& service)
+ {
+ const rapidjson::Document args = {};
+ const std::string& id = "";
+ const int fragment_size = -1;
+ const std::string& compression = "";
+ std::string message = "\"op\":\"call_service\", \"service\":\"" + service + "\"";
+ std::string client_name("wait_for_service_client");
+
+ if (!args.IsNull())
+ {
+ rapidjson::StringBuffer strbuf;
+ rapidjson::Writer<rapidjson::StringBuffer> writer(strbuf);
+ args.Accept(writer);
+
+ message += ", \"args\":" + std::string(strbuf.GetString());
+ }
+ if (id.compare("") != 0)
+ {
+ message += ", \"id\":\"" + id + "\"";
+ }
+ if (fragment_size > -1)
+ {
+ message += ", \"fragment_size\":" + std::to_string(fragment_size);
+ }
+ if (compression.compare("none") == 0 || compression.compare("png") == 0)
+ {
+ message += ", \"compression\":\"" + compression + "\"";
+ }
+ message = "{" + message + "}";
+
+ std::shared_ptr<WsClient> wait_for_service_client = std::make_shared<WsClient>(server_port_path);
+ std::shared_ptr<std::promise<bool>> p(std::make_shared<std::promise<bool>>());
+ auto future = p->get_future();
+#ifdef DEBUG
+ wait_for_service_client->on_message = [p, service, client_name](
+#else
+ wait_for_service_client->on_message = [p](
+#endif
+ std::shared_ptr<WsClient::Connection> connection,
+ std::shared_ptr<WsClient::InMessage> in_message){
+#ifdef DEBUG
+#endif
+ rapidjson::Document doc;
+ doc.Parse(in_message->string().c_str());
+ if ( !doc.HasParseError()
+ && doc.HasMember("result")
+ && doc["result"].IsBool()
+ && doc["result"] == true )
+ {
+#ifdef DEBUG
+ std::cout << client_name << ": "
+ << "service " << service
+ << " available." << std::endl;
+ std::cout << client_name << ": "
+ << "message: " << in_message->string()
+ << std::endl;
+#endif
+ p->set_value(true);
+ } else {
+ p->set_value(false);
+ }
+ connection->send_close(1000);
+ };
+ start(client_name, wait_for_service_client, message);
+ return future.get();
+ }
+
+ //!
+ //! \brief Waits until the service with the name \p service is available.
+ //! \param service Service name.
+ //! @note This function will block as long as the service is not available.
+ //!
+ void waitForService(const std::string& service)
+ {
+
+
+#ifdef DEBUG
+ auto s = std::chrono::high_resolution_clock::now();
+ long counter = 0;
+#endif
+ while(true)
+ {
+#ifdef DEBUG
+ ++counter;
+#endif
+ if (serviceAvailable(service)){
+ break;
+ }
+ std::this_thread::sleep_for(std::chrono::milliseconds(50)); // Avoid excessive polling.
+ };
+#ifdef DEBUG
+ auto e = std::chrono::high_resolution_clock::now();
+ std::cout << "waitForService(): time: "
+ << std::chrono::duration_cast<std::chrono::milliseconds>(e-s).count()
+ << " ms." << std::endl;
+ std::cout << "waitForService(): clients launched: "
+ << counter << std::endl;
+#endif
+ }
};
-
-
--
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