cm_rpcmotorcortex.h

/*
 * Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
 * All rights reserved. Copyright (c) 2016 VECTIONEER.
 */
 
#ifndef CM_MOTORCORTEX_H
#define CM_MOTORCORTEX_H
 
#include "cm_conndata.h"
#include "cm_rpcprocessor.h"
#include "motorcortex.pb.h"
#include "motorcortex_hash.h"
#include "pb.h"
 
#include <string>
#include <vector>
 
namespace mcx {
 
namespace parameter_server {
class Parameter;
}
 
namespace comm {
 
class GroupManager;
class ParameterTree;
struct RequestParamList;
struct RequestParam;
 
class RPCMotorcortex : public RPCProcessor {
  static constexpr auto MAX_NUM_OF_REQ_ITR = 100;
  static constexpr struct timespec SHORT_WAIT_TIME_MSEC { .tv_sec = 0, .tv_nsec = 1000000 };
  static constexpr auto PARAMETER_SERIALIZATION_TIMEOUT_MSEC = 2000;
  static constexpr auto PARAMETER_SERIALIZATION_N_TRIALS = 2;
 
public:
  RPCMotorcortex(GroupManager* group_manager, ParameterTree* parameter_tree);
 
  ~RPCMotorcortex() override = default;
 
  [[nodiscard]] MsgHashSet getHashList() const override;
 
  constexpr static int getHashSize() { return motorcortex::getHashSize(); }
 
  void setConfigPath(const std::string& path);
 
private:
  bool processRequest(const RequestMsg& request, ReplyMsg& reply) override;
 
  static bool decodeCreateGroupMsg(const RequestMsg& msg, motorcortex_CreateGroupMsg& create_grp_msg);
 
  inline size_t guessGroupParameterSize(const motorcortex_GroupParameterInfo& group_param_info) const;
 
  bool encodeGroupStatusMsg(size_t total_size, motorcortex_GroupStatusMsg& group_status, ReplyMsg& output_msg);
 
  static bool decodeRemoveGroupMsg(const RequestMsg& msg, motorcortex_RemoveGroupMsg& remove_grp_msg);
 
  static bool encodeStatusMsg(const motorcortex_StatusMsg& status_msg, ReplyMsg& output_msg);
 
  static bool decodeGetParameterMsg(const RequestMsg& msg, motorcortex_GetParameterMsg& get_param_msg);
 
  static bool decodeGetParameterListMsgHook(pb_istream_s* stream, const pb_field_t* field, void** arg);
 
  static bool decodeGetParameterListMsg(const RequestMsg& request,
                                        std::vector<motorcortex_GetParameterMsg>& get_param_list);
 
  static bool decodeSetParameterMsgHook(pb_istream_s* stream, const pb_field_t* field, void** arg);
 
  bool decodeSetParameterMsg(const RequestMsg& msg);
 
  static bool decodeOverwriteParameterMsgHook(pb_istream_s* stream, const pb_field_t* field, void** arg);
 
  bool decodeOverwriteParameterMsg(const RequestMsg& msg);
 
  bool decodeReleaseParameterMsg(const RequestMsg& msg);
 
  static bool decodeSetParameterListMsgHook(pb_istream_s* stream, const pb_field_t* field, void** arg);
 
  bool decodeSetParameterListMsg(const RequestMsg& msg);
 
  static size_t guessParamSize(size_t param_size, size_t path_length);
 
  static bool encodeEmptyParameterMsgHook(pb_ostream_s* stream, const pb_field_t* field, void* const* arg);
 
  static bool encodeParameterMsgHook(pb_ostream_s* stream, const pb_field_t* field, void* const* arg);
 
  bool encodeEmptyParameterMsg(RequestParam& req_param, motorcortex_StatusCode status, ReplyMsg& output_msg);
 
  bool encodeParameterMsg(RequestParam& req_param, ReplyMsg& output_msg);
 
  static bool encodeParameterListMsgHook(pb_ostream_s* stream, const pb_field_t* field, void* const* arg);
 
  bool encodeParameterListMsg(RequestParamList& req_params, ReplyMsg& output_msg);
 
  static bool encodeParameterTreeHashMsg(const motorcortex_ParameterTreeHashMsg& hash_msg, ReplyMsg& output_msg);
 
  parameter_server::Parameter* getRoot();
 
  GroupManager* group_manager_;
 
  ParameterTree* parameter_tree_;
 
  std::string config_path_;
};
 
} // namespace comm
 
} // namespace mcx
 
#endif /* CM_MOTORCORTEX_H */