dashboard_client.cpp

Go to the documentation of this file.

// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

// -- BEGIN LICENSE BLOCK ----------------------------------------------
// Copyright 2019 FZI Forschungszentrum Informatik
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// -- END LICENSE BLOCK ------------------------------------------------

//----------------------------------------------------------------------
//----------------------------------------------------------------------

#include <regex>
#include <ur_client_library/log.h>
#include <ur_client_library/ur/dashboard_client.h>
#include <ur_client_library/exceptions.h>

namespace urcl
{
DashboardClient::DashboardClient(const std::string& host) : host_(host), port_(DASHBOARD_SERVER_PORT)
{
}

bool DashboardClient::connect()
{
  if (getState() == comm::SocketState::Connected)
  {
    URCL_LOG_ERROR("%s", "Socket is already connected. Refusing to reconnect.");
    return false;
  }
  bool ret_val = false;
  if (TCPSocket::setup(host_, port_))
  {
    URCL_LOG_INFO("%s", read().c_str());
    ret_val = true;
  }
  return ret_val;
}

void DashboardClient::disconnect()
{
  URCL_LOG_INFO("Disconnecting from Dashboard server on %s:%d", host_.c_str(), port_);
  TCPSocket::close();
}

bool DashboardClient::send(const std::string& text)
{
  size_t len = text.size();
  const uint8_t* data = reinterpret_cast<const uint8_t*>(text.c_str());
  size_t written;
  return TCPSocket::write(data, len, written);
}

std::string DashboardClient::read()
{
  std::stringstream result;
  char character;
  size_t read_chars = 99;
  while (read_chars > 0)
  {
    if (!TCPSocket::read((uint8_t*)&character, 1, read_chars))
    {
      disconnect();
      throw TimeoutException("Did not receive answer from dashboard server in time. Disconnecting from dashboard "
                             "server.",
                             *recv_timeout_);
    }
    result << character;
    if (character == '\n')
    {
      break;
    }
  }
  return result.str();
}

std::string DashboardClient::sendAndReceive(const std::string& text)
{
  std::string response = "ERROR";
  std::lock_guard<std::mutex> lock(write_mutex_);
  if (send(text))
  {
    response = read();
  }
  else
  {
    throw UrException("Failed to send request to dashboard server. Are you connected to the Dashboard Server?");
  }
  rtrim(response);

  return response;
}

}  // namespace urcl