remote_interface.h

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/*
 * This file is part of the rc_dynamics_api package.
 *
 * Copyright (c) 2017 Roboception GmbH
 * All rights reserved
 *
 * Author: Christian Emmerich
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef RC_DYNAMICS_API_REMOTEINTERFACE_H
#define RC_DYNAMICS_API_REMOTEINTERFACE_H

#include <string>
#include <list>
#include <memory>
#include <iostream>

#include <netinet/in.h>

#include "roboception/msgs/frame.pb.h"
#include "roboception/msgs/dynamics.pb.h"
#include "roboception/msgs/imu.pb.h"

#include "data_receiver.h"
#include "net_utils.h"

namespace rc
{
namespace dynamics
{


class RemoteInterface : public std::enable_shared_from_this<RemoteInterface>
{
  public:

    using Ptr = std::shared_ptr<RemoteInterface>;

    enum State
    {
      RUNNING,
      STOPPED
    };


    static Ptr create(const std::string &rcVisardIP,
               unsigned int requestsTimeout = 5000);

    virtual ~RemoteInterface();

    void start(bool flagRestart = false);

    void stop();

    State getState();

    std::list<std::string> getAvailableStreams();

    std::string getPbMsgTypeOfStream(const std::string &stream);


    std::list<std::string> getDestinationsOfStream(const std::string &stream);


    void addDestinationToStream(const std::string &stream,
                                const std::string &destination);

    void deleteDestinationFromStream(const std::string &stream,
                                     const std::string &destination);

    void deleteAllDestinationsFromStream(const std::string &stream);

    DataReceiver::Ptr
    createReceiverForStream(const std::string &stream,
                            const std::string &destInterface = "",
                            unsigned int destPort = 0);


  protected:

    static std::map<std::string, RemoteInterface::Ptr> _remoteInterfaces;

    RemoteInterface(const std::string& rcVisardIP,
                    unsigned int requestsTimeout = 5000);

    void cleanUpRequestedStreams();
    void checkStreamTypeAvailable(const std::string& stream);

    std::string _visardAddrs;
    std::map<std::string, std::list<std::string>> _reqStreams;
    std::list<std::string> _availStreams;
    std::map<std::string, std::string> _protobufMap;
    std::string _baseUrl;
    int _timeoutCurl;
};

}
}


#endif //RC_DYNAMICS_API_REMOTEINTERFACE_H