main_service_client.h

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/*********************************************************************
 *
 *  Software License Agreement
 *
 *  Copyright (c) 2020,
 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
 *  All rights reserved.
 *
 *  This program is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 *  Authors: Christoph Rösmann
 *********************************************************************/

#ifndef SRC_COMMUNICATION_INCLUDE_CORBO_COMMUNICATION_MAIN_SERVICE_CLIENT_H_
#define SRC_COMMUNICATION_INCLUDE_CORBO_COMMUNICATION_MAIN_SERVICE_CLIENT_H_

#ifdef RPC_SUPPORT

#include <corbo-communication/services/master_service.grpc.pb.h>
#include <corbo-core/console.h>
#include <grpc++/grpc++.h>
#include <functional>
#include <memory>

namespace corbo {

class MasterServiceClient
{
 public:
    MasterServiceClient() = default;

    virtual ~MasterServiceClient() = default;

    explicit MasterServiceClient(std::shared_ptr<grpc::Channel> channel) : _stub(services::MasterService::NewStub(channel)) {}

    void setChannel(std::shared_ptr<grpc::Channel> channel) { _stub = services::MasterService::NewStub(channel); }

    virtual std::unique_ptr<google::protobuf::Message> createParameterMsg() const;

    virtual bool setParameters(const google::protobuf::Message& parameters, messages::Status& status_msg, int timeout_ms = 1000);

    virtual bool getParameters(google::protobuf::Message& parameters, int timeout_ms = 1000);

    bool setPlant(const messages::Plant& plant_msg, messages::Status& status_msg, int timeout_ms = 500);

    bool getPlant(messages::Plant& plant_msg, int timeout_ms = 500);

    bool setController(const messages::Controller& ctrl_msg, messages::Status& status_msg, int timeout_ms = 500);

    bool getController(messages::Controller& ctrl_msg, int timeout_ms = 500);

    bool setObserver(const messages::Observer& obs_msg, messages::Status& status_msg, int timeout_ms = 500);

    bool getObserver(messages::Observer& obs_msg, int timeout_ms = 500);

    bool setTask(const messages::Task& task_msg, messages::Status& status_msg, int timeout_ms = 500);

    bool getTask(messages::Task& task_msg, int timeout_ms = 500);

    bool getAvailableSignals(std::function<void(const messages::Signal&)> feedback, int timeout_ms = 500);

    bool performTask(std::function<void(const messages::Signal&)> feedback, std::string* msg = nullptr,
                     int timeout_ms = 99999999);  // TODO(roesmann): timeout != deadline!!!

    bool verifyConfig(messages::Status& status_msg, int timeout_ms = 2000);

    bool ping(int timeout_ms);

    bool stopTask(int timeout_ms = 2000);

 private:
    std::unique_ptr<services::MasterService::Stub> _stub;
};

}  // namespace corbo

#endif  // RPC_SUPPORT

#endif  // SRC_COMMUNICATION_INCLUDE_CORBO_COMMUNICATION_MAIN_SERVICE_CLIENT_H_