router.h

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#ifndef SKYWAY_ROUTER_H
#define SKYWAY_ROUTER_H
 
#include <fruit/fruit.h>
#include <rapidjson/document.h>
#include <rapidjson/stringbuffer.h>
#include <rapidjson/writer.h>
#include <ros/ros.h>
 
#include "ffi/ros_functions.h"
#include "plugin_router/plugin_router_factory.h"
#include "presentation/control_service.h"
#include "presentation/events_service.h"
 
using namespace rapidjson;
using fruit::Component;
using fruit::Injector;
 
class Router {
 public:
  virtual ~Router() = default;
  virtual void OnCreatePeer(char* peer_id, char* token) {}
  virtual PluginResult OnConnectData(std::string target_ip,
                                     uint16_t target_port,
                                     std::string plugin_type,
                                     std::string plugin_param) = 0;
  virtual void OnDeleteData(uint16_t port_num) {}
};
 
class RouterImpl : public Router {
 private:
  std::string peer_id_ = "";
  std::string token_ = "";
  // factories
  ControlServiceFactory control_service_factory_;
  EventsServiceFactory event_service_factory_;
  // ROS Serviceの実体
  std::unique_ptr<ControlService> control_service_;
  std::unique_ptr<EventsService> event_service_;
 
  // pluginの実体を管理する
  std::unordered_map<std::string, std::unique_ptr<PluginRouter>> plugin_map_;
  std::shared_ptr<IPluginRouterFactory> plugin_router_factory_;
 
  void shutdown(int signal);
  std::string on_control_message(std::string);
  std::string on_event_request();
 
 public:
  RouterImpl() = delete;
  INJECT(
      RouterImpl(ControlServiceFactory control_service_factory,
                 EventsServiceFactory event_service_factory,
                 std::shared_ptr<IPluginRouterFactory> plugin_router_factory));
 
  ~RouterImpl() {
    control_service_->Shutdown();
    event_service_->Shutdown();
  }
 
  virtual void OnCreatePeer(char* peer_id, char* token) override;
  virtual PluginResult OnConnectData(std::string target_ip, uint16_t,
                                     std::string, std::string) override;
  virtual void OnDeleteData(uint16_t port_num) override;
};
 
Component<Router> getRouterComponent();
 
#endif  // SKYWAY_ROUTER_H