remote_interface.h

Go to the documentation of this file.

/*
 * 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 <chrono>

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

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

namespace rc
{
namespace dynamics
{
class RemoteInterface : public std::enable_shared_from_this<RemoteInterface>
{
public:
  using Ptr = std::shared_ptr<RemoteInterface>;

  struct State
  {
    static const std::string IDLE;                      
    static const std::string RUNNING;                   
    static const std::string FATAL;                     
    static const std::string STOPPING;                  
    static const std::string WAITING_FOR_INS;           
    static const std::string WAITING_FOR_INS_AND_SLAM;  
    static const std::string WAITING_FOR_SLAM;   
    static const std::string RUNNING_WITH_SLAM;  
    static const std::string UNKNOWN;            
  };

  struct ReturnCode
  {
    int value; 
    std::string message;
  };

  class InvalidState : public std::runtime_error
  {
  public:
    explicit InvalidState(std::string encountered_state)
      : runtime_error("Invalid state encountered: " + encountered_state)
    {
    }
  };

  class NotAccepted : public std::runtime_error
  {
  public:
    explicit NotAccepted(std::string service_name) : runtime_error("Service call not accepted: " + service_name)
    {
    }
  };

  class DynamicsNotRunning : public std::runtime_error
  {
  public:
    explicit DynamicsNotRunning(std::string state) : runtime_error("No data received: rc_dynamics is not running but in state: " + state)
    {
    }
  };

  class TooManyStreamDestinations : public std::runtime_error
  {
  public:
    explicit TooManyStreamDestinations(std::string msg) : runtime_error(msg)
    {
    }
  };

  class TooManyRequests : public std::runtime_error
  {
  public:
    explicit TooManyRequests(std::string url) : runtime_error("rc_visard returned http error code 429 (too many requests): " + url)
    {
    }
  };

  class NotAvailable : public std::runtime_error
  {
  public:
    explicit NotAvailable(std::string url) : runtime_error("Requested resource is not available on rc_visard (returned http error code 404): " + url)
    {
    }
  };

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

  virtual ~RemoteInterface();

  bool checkSystemReady();

  std::string getDynamicsState();

  std::string getSlamState();

  std::string getStereoInsState();

  std::string start();
  std::string startSlam();
  std::string restart();

  std::string restartSlam();

  std::string stop();

  std::string stopSlam();

  std::string resetSlam();

  ReturnCode saveSlamMap(unsigned int timeout_ms = 0);

  ReturnCode loadSlamMap(unsigned int timeout_ms = 0);

  ReturnCode removeSlamMap(unsigned int timeout_ms = 0);

  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 deleteDestinationsFromStream(const std::string& stream, const std::list<std::string>& destinations);

  roboception::msgs::Trajectory getSlamTrajectory(const TrajectoryTime& start = TrajectoryTime::RelativeToStart(),
                                                  const TrajectoryTime& end = TrajectoryTime::RelativeToEnd(),
                                                  unsigned int timeout_ms = 0);

  roboception::msgs::Frame getCam2ImuTransform(unsigned int timeout_ms = 0);

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

protected:
  static std::map<std::string, RemoteInterface::Ptr> remote_interfaces_;

  RemoteInterface(const std::string& rc_visard_ip, unsigned int requests_timeout = 5000);

  void cleanUpRequestedStreams();
  void checkStreamTypeAvailable(const std::string& stream);
  std::string callDynamicsService(std::string service_name);
  ReturnCode callSlamService(std::string service_name, unsigned int timeout_ms = 0); 
  std::string getState(const std::string& node);

  std::string visard_addrs_;
  bool initialized_;     
  float visard_version_; 
  std::map<std::string, std::list<std::string>> req_streams_;
  std::list<std::string> avail_streams_;
  std::map<std::string, std::string> protobuf_map_;
  std::string base_url_;
  int timeout_curl_;
};
}
}

#endif  // RC_DYNAMICS_API_REMOTEINTERFACE_H