src/Comms/common.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                                                           |
  +-------------------------------------------------------------------------+ */
 
#include <mrpt/core/exceptions.h>
 
#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
#include <google/protobuf/message.h>
#include <mvsim/Comms/common.h>
 
#include <zmq.hpp>
 
using namespace mvsim;
 
void mvsim::sendMessage(const google::protobuf::MessageLite& m, zmq::socket_t& socket)
{
        mrpt::io::CMemoryStream buf;
        auto arch = mrpt::serialization::archiveFrom(buf);
 
        arch << m.GetTypeName();
        arch << m.SerializeAsString();
 
        zmq::message_t msg(buf.getRawBufferData(), buf.getTotalBytesCount());
#if CPPZMQ_VERSION >= ZMQ_MAKE_VERSION(4, 3, 1)
        socket.send(msg, zmq::send_flags::none);
#else
        socket.send(msg);
#endif
}
 
std::tuple<std::string, std::string> mvsim::internal::parseMessageToParts(const zmq::message_t& msg)
{
        mrpt::io::CMemoryStream buf;
        buf.assignMemoryNotOwn(msg.data(), msg.size());
 
        auto arch = mrpt::serialization::archiveFrom(buf);
 
        std::string typeName, serializedData;
        arch >> typeName >> serializedData;
        return {typeName, serializedData};
}
 
void mvsim::parseMessage(const zmq::message_t& msg, google::protobuf::MessageLite& out)
{
        const auto [typeName, serializedData] = internal::parseMessageToParts(msg);
 
        ASSERT_EQUAL_(typeName, out.GetTypeName());
 
        bool ok = out.ParseFromString(serializedData);
        if (!ok)
                THROW_EXCEPTION_FMT(
                        "Format error: protobuf could not decode binary message of "
                        "type "
                        "'%s'",
                        typeName.c_str());
}
 
zmq::message_t mvsim::receiveMessage(zmq::socket_t& s)
{
        zmq::message_t m;
#if CPPZMQ_VERSION >= ZMQ_MAKE_VERSION(4, 3, 1)
        std::optional<size_t> msgSize = s.recv(m);
        ASSERT_(msgSize.has_value());
#else
        s.recv(&m);
#endif
        return m;
}
 
std::string mvsim::get_zmq_endpoint(const zmq::socket_t& s)
{
#if CPPZMQ_VERSION > ZMQ_MAKE_VERSION(4, 7, 0)
        return s.get(zmq::sockopt::last_endpoint);
#else
        char assignedPort[200];
        size_t assignedPortLen = sizeof(assignedPort);
        s.getsockopt(ZMQ_LAST_ENDPOINT, &assignedPort, &assignedPortLen);
        assignedPort[assignedPortLen] = '\0';
        return {assignedPort};
#endif
}
 
#endif