mvsim-cli-topic.cpp

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2020  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */

#include <mrpt/core/exceptions.h>
#include <mvsim/Comms/Client.h>

#include "mvsim-cli.h"

static int printCommandsTopic(bool showErrorMsg);
static int topicList();

static const std::map<std::string, cmd_t> cliTopicCommands = {
        {"list", cmd_t(&topicList)},
};

int commandTopic()
{
        const auto& lstCmds = argCmd.getValue();
        if (argHelp.isSet()) return printCommandsTopic(false);
        if (lstCmds.size() != 2) return printCommandsTopic(true);

        // Take second unlabeled argument:
        const std::string subcommand = lstCmds.at(1);
        auto itSubcmd = cliTopicCommands.find(subcommand);

        if (itSubcmd == cliTopicCommands.end()) return printCommandsTopic(true);

        // Execute command:
        return (itSubcmd->second)();

        return 0;
}

int topicList()
{
        mvsim::Client client;

        client.setMinLoggingLevel(
                mrpt::typemeta::TEnumType<mrpt::system::VerbosityLevel>::name2value(
                        argVerbosity.getValue()));

        std::cout << "# Connecting to server...\n";
        client.connect();
        std::cout << "# Connected.\n";
        std::cout << "# Querying list of topics to server...\n";
        const auto lstTopics = client.requestListOfTopics();

        std::cout << "# Done. Found " << lstTopics.size() << " topics:\n";

        for (const auto& n : lstTopics)
        {
                if (argDetails.isSet())
                {
                        std::cout << "- name: \"" << n.name << "\"\n"
                                          << "  type: \"" << n.type << "\"\n"
                                          << "  publishers:\n";

                        ASSERT_EQUAL_(n.endpoints.size(), n.publishers.size());

                        for (size_t i = 0; i < n.endpoints.size(); i++)
                        {
                                std::cout << "    - endpoint: \"" << n.endpoints[i] << "\"\n"
                                                  << "    - publisherNode: \"" << n.publishers[i]
                                                  << "\"\n";
                        }
                }
                else
                {
                        std::cout << n.name << " [" << n.type << "] from node ";
                        if (n.publishers.size() != 1)
                                std::cout << n.publishers.size() << " publishers.\n";
                        else
                                std::cout << n.publishers.at(0) << "\n";
                }
        }
        return 0;
}

int printCommandsTopic(bool showErrorMsg)
{
        if (showErrorMsg)
        {
                mrpt::system::setConsoleColor(mrpt::system::CONCOL_RED);
                std::cerr << "Error: missing or unknown subcommand.\n";
                mrpt::system::setConsoleColor(mrpt::system::CONCOL_NORMAL);
        }

        fprintf(
                stderr,
                R"XXX(Usage:

    mvsim topic --help            Show this help
    mvsim topic list [--details]  List all advertised topics in the server.

)XXX");

        return showErrorMsg ? 1 : 0;
}