Transport.h

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#pragma once
 
#include "RobotRaconteur/DataTypes.h"
#include "RobotRaconteur/Message.h"
#include "RobotRaconteur/Endpoint.h"
#include "RobotRaconteur/PeriodicCleanupTask.h"
#include <boost/date_time.hpp>
 
#include "RobotRaconteur/Timer.h"
 
#ifdef _MSVC_VER
#pragma warning(push)
#pragma warning(disable : 4996)
#endif
#include <boost/signals2.hpp>
 
#ifdef ROBOTRACONTEUR_WINDOWS
#undef SendMessage
#endif
 
namespace RobotRaconteur
{
 
enum TransportListenerEventType
{
    TransportListenerEventType_TransportClosed = 1,
    TransportListenerEventType_TransportConnectionClosed
};
 
class ROBOTRACONTEUR_CORE_API RobotRaconteurNode;
class ROBOTRACONTEUR_CORE_API Timer;
struct ROBOTRACONTEUR_CORE_API TimerEvent;
class ROBOTRACONTEUR_CORE_API AutoResetEvent;
class ROBOTRACONTEUR_CORE_API Transport;
 
class ROBOTRACONTEUR_CORE_API ITransportTimeProvider
{
  public:
    virtual boost::posix_time::ptime NowUTC() = 0;
 
    virtual TimeSpec NowTimeSpec() = 0;
 
    virtual boost::posix_time::ptime NowNodeTime() = 0;
 
    virtual boost::posix_time::ptime NodeSyncTimeUTC() = 0;
 
    virtual TimeSpec NodeSyncTimeSpec() = 0;
 
    virtual RR_SHARED_PTR<Timer> CreateTimer(const boost::posix_time::time_duration& duration,
                                             const boost::function<void(const TimerEvent&)>& handler,
                                             bool oneshot = false) = 0;
 
    virtual RR_SHARED_PTR<Rate> CreateRate(double frequency) = 0;
 
    virtual void Sleep(const boost::posix_time::time_duration& duration) = 0;
 
    virtual RR_SHARED_PTR<AutoResetEvent> CreateAutoResetEvent() = 0;
 
    virtual ~ITransportTimeProvider() {}
};
 
class ROBOTRACONTEUR_CORE_API ITransportConnection : boost::noncopyable
{
  public:
    virtual ~ITransportConnection() {}
 
    virtual void SendMessage(const RR_INTRUSIVE_PTR<Message>& m) = 0;
 
    virtual void AsyncSendMessage(
        const RR_INTRUSIVE_PTR<Message>& m,
        const boost::function<void(const RR_SHARED_PTR<RobotRaconteurException>&)>& handler) = 0;
 
    virtual void Close() = 0;
 
    virtual void CheckConnection(uint32_t endpoint) = 0;
 
    virtual uint32_t GetLocalEndpoint() = 0;
 
    virtual uint32_t GetRemoteEndpoint() = 0;
 
    virtual NodeID GetRemoteNodeID() = 0;
 
    virtual RR_SHARED_PTR<RobotRaconteurNode> GetNode() = 0;
 
    virtual bool CheckCapabilityActive(uint32_t flag) = 0;
 
    virtual RR_SHARED_PTR<Transport> GetTransport() = 0;
};
 
class ROBOTRACONTEUR_CORE_API NodeDiscoveryInfo;

class ROBOTRACONTEUR_CORE_API Transport : public IPeriodicCleanupTask, boost::noncopyable
{
  public:
    friend class RobotRaconteurNode;
    friend class ITransport;
    RR_OVIRTUAL ~Transport() RR_OVERRIDE {}
 
  protected:
    RR_WEAK_PTR<RobotRaconteurNode> node;
 
  public:
    Transport(const RR_SHARED_PTR<RobotRaconteurNode>& node);
 
    static boost::thread_specific_ptr<std::string> m_CurrentThreadTransportConnectionURL;
 
    static std::string GetCurrentTransportConnectionURL();
 
    static boost::thread_specific_ptr<RR_SHARED_PTR<ITransportConnection> > m_CurrentThreadTransport;
 
    static RR_SHARED_PTR<ITransportConnection> GetCurrentThreadTransport();
 
    uint32_t TransportID;
 
    virtual void CheckConnection(uint32_t endpoint) = 0;
 
    virtual bool IsClient() const = 0;
 
    virtual bool IsServer() const = 0;
 
    virtual std::string GetUrlSchemeString() const = 0;
 
    virtual std::vector<std::string> GetServerListenUrls() = 0;
 
    virtual bool CanConnectService(boost::string_ref url) = 0;
 
    virtual RR_SHARED_PTR<ITransportConnection> CreateTransportConnection(boost::string_ref url,
                                                                          const RR_SHARED_PTR<Endpoint>& e) = 0;
 
    virtual void AsyncCreateTransportConnection(
        boost::string_ref url, const RR_SHARED_PTR<Endpoint>& e,
        boost::function<void(const RR_SHARED_PTR<ITransportConnection>&,
                             const RR_SHARED_PTR<RobotRaconteurException>&)>& handler) = 0;
 
    virtual void CloseTransportConnection(const RR_SHARED_PTR<Endpoint>& e) = 0;
 
    virtual void SendMessage(const RR_INTRUSIVE_PTR<Message>& m) = 0;
 
    virtual void AsyncSendMessage(
        const RR_INTRUSIVE_PTR<Message>& m,
        const boost::function<void(const RR_SHARED_PTR<RobotRaconteurException>&)>& handler) = 0;
 
    virtual void MessageReceived(const RR_INTRUSIVE_PTR<Message>& m) = 0;
 
    virtual RR_INTRUSIVE_PTR<Message> SpecialRequest(const RR_INTRUSIVE_PTR<Message>& m,
                                                     const RR_SHARED_PTR<ITransportConnection>& tc);
 
    virtual void Close();
 
    RR_OVIRTUAL void PeriodicCleanupTask() RR_OVERRIDE;
 
    virtual uint32_t TransportCapability(boost::string_ref name);
 
    boost::signals2::signal<void(const RR_SHARED_PTR<Transport>& transport, TransportListenerEventType ev,
                                 const RR_SHARED_PTR<void>& parameter)>
        TransportListeners;
 
    virtual RR_SHARED_PTR<RobotRaconteurNode> GetNode() const;
 
    virtual std::vector<NodeDiscoveryInfo> GetDetectedNodes(const std::vector<std::string>& schemes);
 
    virtual void AsyncGetDetectedNodes(
        const std::vector<std::string>& schemes,
        const boost::function<void(const RR_SHARED_PTR<std::vector<NodeDiscoveryInfo> >&)>& handler,
        int32_t timeout = RR_TIMEOUT_INFINITE);
 
  protected:
    virtual void LocalNodeServicesChanged();
 
    void FireTransportEventListener(const RR_SHARED_PTR<Transport>& shared_this, TransportListenerEventType ev,
                                    const RR_SHARED_PTR<void>& parameter);
 
    void TransportConnectionClosed(uint32_t endpoint);
};
 
struct ROBOTRACONTEUR_CORE_API ParseConnectionURLResult
{
    ParseConnectionURLResult() : port(0) {}
 
    std::string scheme;
    std::string host;
    int32_t port;
    std::string path;
    NodeID nodeid;
    std::string nodename;
    std::string service;
};
 
ROBOTRACONTEUR_CORE_API ParseConnectionURLResult ParseConnectionURL(boost::string_ref url);
 
#ifndef ROBOTRACONTEUR_NO_CXX11_TEMPLATE_ALIASES
using TransportPtr = RR_SHARED_PTR<Transport>;
using ITransportConnectionPtr = RR_SHARED_PTR<ITransportConnection>;
#endif
 
} // namespace RobotRaconteur
 
#ifdef _MSVC_VER
#pragma warning(pop)
#endif