mvsim-cli-node.cpp

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2024  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */
 
#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
#include <mvsim/Comms/Client.h>
#endif
 
#include <map>
 
#include "mvsim-cli.h"
 
static int printCommandsNode(bool showErrorMsg);
static int nodeList();
 
const std::map<std::string, cmd_t> cliNodeCommands = {
        {"list", cmd_t(&nodeList)},
};
 
int commandNode()
{
        const auto& lstCmds = cli->argCmd.getValue();
        if (cli->argHelp.isSet()) return printCommandsNode(false);
        if (lstCmds.size() != 2) return printCommandsNode(true);
 
        // Take second unlabeled argument:
        const std::string subcommand = lstCmds.at(1);
        auto itSubcmd = cliNodeCommands.find(subcommand);
 
        if (itSubcmd == cliNodeCommands.end()) return printCommandsNode(true);
 
        // Execute command:
        return (itSubcmd->second)();
}
 
int nodeList()
{
#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
        mvsim::Client client;
 
        client.setMinLoggingLevel(mrpt::typemeta::TEnumType<mrpt::system::VerbosityLevel>::name2value(
                cli->argVerbosity.getValue()));
 
        std::cout << "# Connecting to server...\n";
        client.connect();
        std::cout << "# Connected.\n";
        std::cout << "# Querying list of nodes to server...\n";
        const auto lstNodes = client.requestListOfNodes();
 
        std::cout << "# Done. Found " << lstNodes.size() << " nodes:\n";
 
        for (const auto& n : lstNodes)
        {
                std::cout << "- name: \"" << n.name << "\"\n";
        }
#endif
 
        return 0;
}
 
int printCommandsNode(bool showErrorMsg)
{
        if (showErrorMsg)
        {
                setConsoleErrorColor();
                std::cerr << "Error: missing or unknown subcommand.\n";
                setConsoleNormalColor();
        }
 
        fprintf(
                stderr,
                R"XXX(Usage:
 
    mvsim node --help     Show this help
    mvsim node list       List all nodes connected to the server.
 
)XXX");
 
        return showErrorMsg ? 1 : 0;
}