#include <Client.h>

Inheritance diagram for mvsim::Client:

Classes
struct	InfoPerNode

struct	InfoPerTopic

struct	ZMQImpl

Public Member Functions
	Client ()

	Client (const std::string &nodeName)

	~Client ()

Main mvsim client communication API
void	setName (const std::string &nodeName)

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)

std::vector< InfoPerNode >	requestListOfNodes ()

std::vector< InfoPerTopic >	requestListOfTopics ()

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

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

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"

std::string	serverHostAddress_ = "localhost"

std::thread	serviceInvokerThread_

std::thread	topicUpdatesThread_

std::unique_ptr< ZMQImpl >	zmq_

Friends
struct	internal::InfoPerService

struct	internal::InfoPerSubscribedTopic

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 47 of file Client.h.

Member Typedef Documentation

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

private

Definition at line 130 of file Client.h.

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

private

Definition at line 141 of file Client.h.

Constructor & Destructor Documentation

Client::Client ( )

Definition at line 118 of file src/Comms/Client.cpp.

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

Definition at line 123 of file src/Comms/Client.cpp.

Client::~Client ( )

Definition at line 125 of file src/Comms/Client.cpp.

Member Function Documentation

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 164 of file Client.h.

template<typename T >

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

Definition at line 158 of file Client.h.

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 192 of file Client.h.

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

Definition at line 691 of file src/Comms/Client.cpp.

void Client::connect ( )

Connects to the server in a parallel thread.

Definition at line 138 of file src/Comms/Client.cpp.

bool Client::connected ( ) const

Whether the client is correctly connected to the server.

Definition at line 129 of file src/Comms/Client.cpp.

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 419 of file src/Comms/Client.cpp.

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

private

Definition at line 356 of file src/Comms/Client.cpp.

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 705 of file src/Comms/Client.cpp.

void Client::doRegisterClient ( )

private

Definition at line 236 of file src/Comms/Client.cpp.

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

private

Definition at line 763 of file src/Comms/Client.cpp.

void Client::doUnregisterClient ( )

private

Definition at line 262 of file src/Comms/Client.cpp.

void Client::internalServiceServingThread ( )

private

Definition at line 526 of file src/Comms/Client.cpp.

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

private

Definition at line 812 of file src/Comms/Client.cpp.

void Client::internalTopicUpdatesThread ( )

private

Definition at line 601 of file src/Comms/Client.cpp.

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

Definition at line 479 of file src/Comms/Client.cpp.

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

Definition at line 288 of file src/Comms/Client.cpp.

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

Definition at line 315 of file src/Comms/Client.cpp.

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

Definition at line 127 of file src/Comms/Client.cpp.

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 204 of file src/Comms/Client.cpp.

template<typename MSG_T >

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

Definition at line 178 of file Client.h.

Friends And Related Function Documentation

friend struct internal::InfoPerService

friend

Definition at line 153 of file Client.h.

friend struct internal::InfoPerSubscribedTopic

friend

Definition at line 154 of file Client.h.

Member Data Documentation

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

private

Definition at line 116 of file Client.h.

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

private

Definition at line 115 of file Client.h.

std::thread mvsim::Client::serviceInvokerThread_

private

Definition at line 118 of file Client.h.

std::thread mvsim::Client::topicUpdatesThread_

private

Definition at line 119 of file Client.h.

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

private

Definition at line 112 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

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation