Server.h

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2023  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/core/Clock.h>
#include <mrpt/system/COutputLogger.h>
#include <mvsim/Comms/ports.h>
#include <mvsim/Comms/zmq_fwrds.h>

#include <atomic>
#include <set>
#include <shared_mutex>  // read/write mutex
#include <thread>

#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)

#include <mvsim/mvsim-msgs/AdvertiseServiceRequest.pb.h>
#include <mvsim/mvsim-msgs/AdvertiseTopicRequest.pb.h>
#include <mvsim/mvsim-msgs/GetServiceInfoRequest.pb.h>
#include <mvsim/mvsim-msgs/ListNodesRequest.pb.h>
#include <mvsim/mvsim-msgs/ListTopicsRequest.pb.h>
#include <mvsim/mvsim-msgs/RegisterNodeRequest.pb.h>
#include <mvsim/mvsim-msgs/SubscribeRequest.pb.h>
#include <mvsim/mvsim-msgs/UnregisterNodeRequest.pb.h>

#endif

namespace mvsim
{
class World;

class Server : public mrpt::system::COutputLogger
{
   public:
        Server();
        ~Server();

        void start();

        void shutdown() noexcept;
        unsigned int listenningPort() const { return serverPortNo_; }
        void listenningPort(unsigned int port) { serverPortNo_ = port; }

   private:
        std::thread mainThread_;
        std::atomic<zmq::context_t*> mainThreadZMQcontext_ = nullptr;
        void requestMainThreadTermination();

        void internalServerThread();

        // ========= Message handlers ========
#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
        void handle(const mvsim_msgs::RegisterNodeRequest& m, zmq::socket_t& s);
        void handle(const mvsim_msgs::UnregisterNodeRequest& m, zmq::socket_t& s);
        void handle(const mvsim_msgs::SubscribeRequest& m, zmq::socket_t& s);
        void handle(const mvsim_msgs::ListTopicsRequest& m, zmq::socket_t& s);
        void handle(const mvsim_msgs::ListNodesRequest& m, zmq::socket_t& s);
        void handle(const mvsim_msgs::AdvertiseTopicRequest& m, zmq::socket_t& s);
        void handle(const mvsim_msgs::AdvertiseServiceRequest& m, zmq::socket_t& s);
        void handle(const mvsim_msgs::GetServiceInfoRequest& m, zmq::socket_t& s);
#endif

        mutable std::shared_mutex dbMutex;

        void db_remove_node(const std::string& nodeName);

        void db_register_node(const std::string& nodeName);

        void db_advertise_topic(
                const std::string& topicName, const std::string& topicTypeName,
                const std::string& publisherEndpoint, const std::string& nodeName);

        void db_advertise_service(
                const std::string& serviceName, const std::string& inputTypeName,
                const std::string& outputTypeName, const std::string& publisherEndpoint,
                const std::string& nodeName);

        bool db_get_service_info(
                const std::string& serviceName, std::string& publisherEndpoint,
                std::string& nodeName) const;

        void db_add_topic_subscriber(
                const std::string& topicName, const std::string& updatesEndPoint);

        void send_topic_publishers_to_subscribed_clients(
                const std::string& topicName,
                const std::optional<std::string>& updatesEndPoint = std::nullopt);

        struct InfoPerNode
        {
                InfoPerNode(const std::string& name) : nodeName(name) {}

                const std::string nodeName;

                const mrpt::Clock::time_point timeConnected = mrpt::Clock::now();

                std::set<std::string> advertisedTopics;
                std::set<std::string> subscribedTopics;
        };
        using node_name_t = std::string;
        std::map<node_name_t, InfoPerNode> connectedNodes_;

        using endpoint_t = std::string;

        struct InfoPerPublisher
        {
                InfoPerPublisher(
                        const std::string& topic_name,
                        const std::string& publisher_node_name,
                        const std::string& publisher_endpoint)
                        : topicName(topic_name),
                          publisherNodeName(publisher_node_name),
                          publisherEndpoint(publisher_endpoint)
                {
                }
                const std::string topicName;
                const std::string publisherNodeName;
                const endpoint_t publisherEndpoint;
        };

        struct InfoPerSubscriber
        {
                InfoPerSubscriber(
                        const std::string& topic_name,
                        const std::string& sub_updates_endpoint)
                        : topicName(topic_name),
                          subscriberUpdatesEndpoint(sub_updates_endpoint)
                {
                }
                const std::string topicName;
                const endpoint_t subscriberUpdatesEndpoint;
        };

        struct InfoPerTopic
        {
                InfoPerTopic() = default;
                InfoPerTopic(
                        const std::string& name, const std::string& topic_type_name)
                        : topicName(name), topicTypeName(topic_type_name)
                {
                }
                std::string topicName, topicTypeName;

                std::map<node_name_t, InfoPerPublisher> publishers;
                std::map<endpoint_t, InfoPerSubscriber> subscribers;
        };
        using topic_name_t = std::string;
        std::map<topic_name_t, InfoPerTopic> knownTopics_;

        struct InfoPerService
        {
                InfoPerService() = default;
                InfoPerService(
                        const std::string& name, const std::string& in_type_name,
                        const std::string& out_type_name, const std::string& end_point,
                        const std::string& node_name)
                        : serviceName(name),
                          inputTypeName(in_type_name),
                          outputTypeName(out_type_name),
                          endpoint(end_point),
                          nodeName(node_name)
                {
                }
                std::string serviceName, inputTypeName, outputTypeName;
                std::string endpoint, nodeName;
        };
        using service_name_t = std::string;
        std::map<service_name_t, InfoPerService> knownServices_;

        unsigned int serverPortNo_ = MVSIM_PORTNO_MAIN_REP;
};
}  // namespace mvsim