#include <Client.h>

Inheritance diagram for mvsim::Client:

Classes
struct	InfoPerNode

struct	InfoPerTopic

struct	ZMQImpl

Public Member Functions
	Client ()

	Client (const std::string &nodeName)

void	enable_profiler (bool enable)

const mrpt::system::CTimeLogger &	profiler () const

	~Client ()

Private Types
using	service_callback_t = std::function< std::shared_ptr< google::protobuf::Message >(const std::string &)>

Private Member Functions
void	doAdvertiseService (const std::string &serviceName, const google::protobuf::Descriptor descIn, const google::protobuf::Descriptor descOut, service_callback_t callback)

void	doAdvertiseTopic (const std::string &topicName, const google::protobuf::Descriptor *descriptor)

void	doCallService (const std::string &serviceName, const std::string &inputSerializedMsg, mrpt::optional_ref< google::protobuf::Message > outputMsg, mrpt::optional_ref< std::string > outputSerializedMsg=std::nullopt, mrpt::optional_ref< std::string > outputMsgTypeName=std::nullopt)

void	doRegisterClient ()

void	doSubscribeTopic (const std::string &topicName, const google::protobuf::Descriptor *descriptor, const topic_callback_t &callback)

void	doUnregisterClient ()

void	internalServiceServingThread ()

void	internalTopicSubscribeThread (internal::InfoPerSubscribedTopic &ipt)

void	internalTopicUpdatesThread ()

Private Attributes
std::string	nodeName_ = "anonymous"

mrpt::system::CTimeLogger	profiler_ {false, "mvsim::Client"}

std::string	serverHostAddress_ = "localhost"

std::thread	serviceInvokerThread_

std::map< std::string, std::string >	serviceToEndPointCache_

std::mutex	serviceToEndPointCacheMtx_

std::thread	topicUpdatesThread_

std::unique_ptr< ZMQImpl >	zmq_

Friends
struct	internal::InfoPerService

struct	internal::InfoPerSubscribedTopic

Main mvsim client communication API
using	topic_callback_t = std::function< void(const zmq::message_t &)>

void	setName (const std::string &nodeName)

const std::string &	serverHostAddress () const

void	serverHostAddress (const std::string &serverIpOrAddressName)

void	connect ()

bool	connected () const

void	shutdown () noexcept

template<typename T >
void	advertiseTopic (const std::string &topicName)

void	publishTopic (const std::string &topicName, const google::protobuf::Message &msg)

template<typename MSG_T >
void	subscribeTopic (const std::string &topicName, const std::function< void(const MSG_T &)> &callback)

template<typename INPUT_MSG_T , typename OUTPUT_MSG_T >
void	advertiseService (const std::string &serviceName, const std::function< OUTPUT_MSG_T(const INPUT_MSG_T &)> &callback)

template<typename INPUT_MSG_T , typename OUTPUT_MSG_T >
void	callService (const std::string &serviceName, const INPUT_MSG_T &input, OUTPUT_MSG_T &output)

std::string	callService (const std::string &serviceName, const std::string &inputSerializedMsg)
	Overload for python wrapper. More...

void	subscribeTopic (const std::string &topicName, const std::function< void(const std::string &, const std::vector< uint8_t > &)> &callback)
	Overload for python wrapper (callback accepts bytes-string) More...

std::vector< InfoPerNode >	requestListOfNodes ()

std::vector< InfoPerTopic >	requestListOfTopics ()

void	subscribe_topic_raw (const std::string &topicName, const topic_callback_t &callback)

Detailed Description

This is the connection of any user program with the MVSIM server, so it can advertise and subscribe to topics and use remote services.

Users should instance a class mvsim::Client (C++) or mvsim.Client (Python) to communicate with the simulation runnin in mvsim::World or any other module.

Usage:

Instantiate a Client object.
Call connect(). It will return immediately.
The client will be working on the background as long as the object is not destroyed.

Messages and topics are described as Protobuf messages, and communications are done via ZMQ sockets.

See: https://mvsimulator.readthedocs.io/

Definition at line 48 of file Client.h.

Member Typedef Documentation

◆ service_callback_t

using mvsim::Client::service_callback_t = std::function<std::shared_ptr<google::protobuf::Message>( const std::string& )>

private

Definition at line 161 of file Client.h.

◆ topic_callback_t

using mvsim::Client::topic_callback_t = std::function<void(const zmq::message_t& )>

Definition at line 127 of file Client.h.

Constructor & Destructor Documentation

◆ Client() [1/2]

Client::Client ( )

Definition at line 119 of file src/Comms/Client.cpp.

◆ Client() [2/2]

Client::Client ( const std::string & nodeName )

Definition at line 124 of file src/Comms/Client.cpp.

◆ ~Client()

Client::~Client ( )

Definition at line 126 of file src/Comms/Client.cpp.

Member Function Documentation

◆ advertiseService()

template<typename INPUT_MSG_T , typename OUTPUT_MSG_T >

void mvsim::Client::advertiseService	(	const std::string &	serviceName,
		const std::function< OUTPUT_MSG_T(const INPUT_MSG_T &)> &	callback
	)

Definition at line 193 of file Client.h.

◆ advertiseTopic()

template<typename T >

void mvsim::Client::advertiseTopic ( const std::string & topicName )

Definition at line 187 of file Client.h.

◆ callService() [1/2]

template<typename INPUT_MSG_T , typename OUTPUT_MSG_T >

void mvsim::Client::callService	(	const std::string &	serviceName,
		const INPUT_MSG_T &	input,
		OUTPUT_MSG_T &	output
	)

Definition at line 221 of file Client.h.

◆ callService() [2/2]

std::string Client::callService	(	const std::string &	serviceName,
		const std::string &	inputSerializedMsg
	)

Overload for python wrapper.

Definition at line 721 of file src/Comms/Client.cpp.

◆ connect()

void Client::connect ( )

Connects to the server in a parallel thread. Default server address is localhost, can be changed with serverHostAddress().

Definition at line 139 of file src/Comms/Client.cpp.

◆ connected()

bool Client::connected ( ) const

Whether the client is correctly connected to the server.

Definition at line 130 of file src/Comms/Client.cpp.

◆ doAdvertiseService()

void Client::doAdvertiseService	(	const std::string &	serviceName,
		const google::protobuf::Descriptor *	descIn,
		const google::protobuf::Descriptor *	descOut,
		service_callback_t	callback
	)

private

Definition at line 448 of file src/Comms/Client.cpp.

◆ doAdvertiseTopic()

void Client::doAdvertiseTopic	(	const std::string &	topicName,
		const google::protobuf::Descriptor *	descriptor
	)

private

Definition at line 375 of file src/Comms/Client.cpp.

◆ doCallService()

void Client::doCallService	(	const std::string &	serviceName,
		const std::string &	inputSerializedMsg,
		mrpt::optional_ref< google::protobuf::Message >	outputMsg,
		mrpt::optional_ref< std::string >	outputSerializedMsg = `std::nullopt`,
		mrpt::optional_ref< std::string >	outputMsgTypeName = `std::nullopt`
	)

private

Definition at line 755 of file src/Comms/Client.cpp.

◆ doRegisterClient()

void Client::doRegisterClient ( )

private

Definition at line 243 of file src/Comms/Client.cpp.

◆ doSubscribeTopic()

void Client::doSubscribeTopic	(	const std::string &	topicName,
		const google::protobuf::Descriptor *	descriptor,
		const topic_callback_t &	callback
	)

private

Definition at line 833 of file src/Comms/Client.cpp.

◆ doUnregisterClient()

void Client::doUnregisterClient ( )

private

Definition at line 272 of file src/Comms/Client.cpp.

◆ enable_profiler()

void mvsim::Client::enable_profiler ( bool enable )

inline

Definition at line 135 of file Client.h.

◆ internalServiceServingThread()

void Client::internalServiceServingThread ( )

private

Definition at line 556 of file src/Comms/Client.cpp.

◆ internalTopicSubscribeThread()

void Client::internalTopicSubscribeThread ( internal::InfoPerSubscribedTopic & ipt )

private

Definition at line 889 of file src/Comms/Client.cpp.

◆ internalTopicUpdatesThread()

void Client::internalTopicUpdatesThread ( )

private

Definition at line 631 of file src/Comms/Client.cpp.

◆ profiler()

const mrpt::system::CTimeLogger& mvsim::Client::profiler ( ) const

inline

Definition at line 134 of file Client.h.

◆ publishTopic()

void Client::publishTopic	(	const std::string &	topicName,
		const google::protobuf::Message &	msg
	)

Definition at line 506 of file src/Comms/Client.cpp.

◆ requestListOfNodes()

std::vector< Client::InfoPerNode > Client::requestListOfNodes ( )

Definition at line 302 of file src/Comms/Client.cpp.

◆ requestListOfTopics()

std::vector< Client::InfoPerTopic > Client::requestListOfTopics ( )

Definition at line 332 of file src/Comms/Client.cpp.

◆ serverHostAddress() [1/2]

const std::string& mvsim::Client::serverHostAddress ( ) const

inline

Definition at line 60 of file Client.h.

◆ serverHostAddress() [2/2]

void mvsim::Client::serverHostAddress ( const std::string & serverIpOrAddressName )

inline

Definition at line 61 of file Client.h.

◆ setName()

void Client::setName ( const std::string & nodeName )

Definition at line 128 of file src/Comms/Client.cpp.

◆ shutdown()

void Client::shutdown ( )

noexcept

Shutdowns the communication thread. Blocks until the thread is stopped. There is no need to manually call this method, it is called upon destruction.

Definition at line 209 of file src/Comms/Client.cpp.

◆ subscribe_topic_raw()

void Client::subscribe_topic_raw	(	const std::string &	topicName,
		const topic_callback_t &	callback
	)

Definition at line 827 of file src/Comms/Client.cpp.

◆ subscribeTopic() [1/2]

template<typename MSG_T >

void mvsim::Client::subscribeTopic	(	const std::string &	topicName,
		const std::function< void(const MSG_T &)> &	callback
	)

Definition at line 207 of file Client.h.

◆ subscribeTopic() [2/2]

void Client::subscribeTopic	(	const std::string &	topicName,
		const std::function< void(const std::string &, const std::vector< uint8_t > &)> &	callback
	)

Overload for python wrapper (callback accepts bytes-string)

Overload for python wrapper.

Definition at line 736 of file src/Comms/Client.cpp.

Friends And Related Function Documentation

◆ internal::InfoPerService

friend struct internal::InfoPerService

friend

Definition at line 182 of file Client.h.

◆ internal::InfoPerSubscribedTopic

friend struct internal::InfoPerSubscribedTopic

friend

Definition at line 183 of file Client.h.

Member Data Documentation

◆ nodeName_

std::string mvsim::Client::nodeName_ = "anonymous"

private

Definition at line 142 of file Client.h.

◆ profiler_

mrpt::system::CTimeLogger mvsim::Client::profiler_ {false, "mvsim::Client"}

private

Definition at line 150 of file Client.h.

◆ serverHostAddress_

std::string mvsim::Client::serverHostAddress_ = "localhost"

private

Definition at line 141 of file Client.h.

◆ serviceInvokerThread_

std::thread mvsim::Client::serviceInvokerThread_

private

Definition at line 144 of file Client.h.

◆ serviceToEndPointCache_

std::map<std::string, std::string> mvsim::Client::serviceToEndPointCache_

private

Definition at line 147 of file Client.h.

◆ serviceToEndPointCacheMtx_

std::mutex mvsim::Client::serviceToEndPointCacheMtx_

private

Definition at line 148 of file Client.h.

◆ topicUpdatesThread_

std::thread mvsim::Client::topicUpdatesThread_

private

Definition at line 145 of file Client.h.

◆ zmq_

std::unique_ptr<ZMQImpl> mvsim::Client::zmq_

private

Definition at line 138 of file Client.h.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Friends

Main mvsim client communication API

Detailed Description

Member Typedef Documentation

◆ service_callback_t

◆ topic_callback_t

Constructor & Destructor Documentation

◆ Client() [1/2]

◆ Client() [2/2]

◆ ~Client()

Member Function Documentation

◆ advertiseService()

◆ advertiseTopic()

◆ callService() [1/2]

◆ callService() [2/2]

◆ connect()

◆ connected()

◆ doAdvertiseService()

◆ doAdvertiseTopic()

◆ doCallService()

◆ doRegisterClient()

◆ doSubscribeTopic()

◆ doUnregisterClient()

◆ enable_profiler()

◆ internalServiceServingThread()

◆ internalTopicSubscribeThread()

◆ internalTopicUpdatesThread()

◆ profiler()

◆ publishTopic()

◆ requestListOfNodes()

◆ requestListOfTopics()

◆ serverHostAddress() [1/2]

◆ serverHostAddress() [2/2]

◆ setName()

◆ shutdown()

◆ subscribe_topic_raw()

◆ subscribeTopic() [1/2]

◆ subscribeTopic() [2/2]

Friends And Related Function Documentation

◆ internal::InfoPerService

◆ internal::InfoPerSubscribedTopic

Member Data Documentation

◆ nodeName_

◆ profiler_

◆ serverHostAddress_

◆ serviceInvokerThread_

◆ serviceToEndPointCache_

◆ serviceToEndPointCacheMtx_

◆ topicUpdatesThread_

◆ zmq_