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plugin.cpp
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plugin.cpp
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#include <string>
#include <vector>
#include <set>
#include <map>
#include <stdexcept>
#include <boost/bind.hpp>
#include "simPlusPlus/Plugin.h"
#include "simPlusPlus/Handle.h"
#include "plugin.h"
#include "stubs.h"
#include "config.h"
#include <b0/node.h>
#include <b0/publisher.h>
#include <b0/subscriber.h>
#include <b0/service_client.h>
#include <b0/service_server.h>
using sim::Handle;
using sim::Handles;
using Node = b0::Node;
using Socket = b0::Socket;
using Publisher = b0::Publisher;
using Subscriber = b0::Subscriber;
using ServiceClient = b0::ServiceClient;
using ServiceServer = b0::ServiceServer;
template<> std::string Handle<Node>::tag() { return "b0.node"; }
template<> std::string Handle<Publisher>::tag() { return "b0.pub"; }
template<> std::string Handle<Subscriber>::tag() { return "b0.sub"; }
template<> std::string Handle<ServiceClient>::tag() { return "b0.cli"; }
template<> std::string Handle<ServiceServer>::tag() { return "b0.srv"; }
struct Metadata
{
std::string handle;
static Metadata * get(b0::UserData *x)
{
return reinterpret_cast<Metadata*>(x->getUserData());
}
};
class Plugin : public sim::Plugin
{
public:
void onStart()
{
if(!registerScriptStuff())
throw std::runtime_error("failed to register script stuff");
setExtVersion("BlueZero Interface Plugin");
setBuildDate(BUILD_DATE);
if(!b0::isInitialized())
b0::init();
}
void onScriptStateDestroyed(int scriptID)
{
for(auto obj : nodeHandles.find(scriptID))
delete nodeHandles.remove(obj);
for(auto obj : publisherHandles.find(scriptID))
delete publisherHandles.remove(obj);
for(auto obj : subscriberHandles.find(scriptID))
delete subscriberHandles.remove(obj);
for(auto obj : serviceClientHandles.find(scriptID))
delete serviceClientHandles.remove(obj);
for(auto obj : serviceServerHandles.find(scriptID))
delete serviceServerHandles.remove(obj);
}
void topicCallbackWrapper(int scriptID, std::string callback, const std::string &payload)
{
topicCallback_in in;
in.payload = payload;
topicCallback_out out;
topicCallback(scriptID, callback.c_str(), &in, &out);
}
void serviceCallbackWrapper(int scriptID, std::string callback, const std::string &req_payload, std::string &rep_payload)
{
serviceCallback_in in;
in.payload = req_payload;
serviceCallback_out out;
serviceCallback(scriptID, callback.c_str(), &in, &out);
rep_payload = out.payload;
}
void nodeCreate(nodeCreate_in *in, nodeCreate_out *out)
{
auto *pnode = new Node(in->name);
auto *meta = new Metadata;
meta->handle = nodeHandles.add(pnode, in->_.scriptID);
pnode->setUserData(meta);
out->handle = meta->handle;
}
void nodeSetAnnounceTimeout(nodeSetAnnounceTimeout_in *in, nodeSetAnnounceTimeout_out *out)
{
auto *pnode = nodeHandles.get(in->handle);
pnode->setAnnounceTimeout(in->timeout);
}
void nodeInit(nodeInit_in *in, nodeInit_out *out)
{
auto *pnode = nodeHandles.get(in->handle);
pnode->init();
out->name = pnode->getName();
}
void nodeSpinOnce(nodeSpinOnce_in *in, nodeSpinOnce_out *out)
{
auto *pnode = nodeHandles.get(in->handle);
pnode->spinOnce();
}
void nodeCleanup(nodeCleanup_in *in, nodeCleanup_out *out)
{
auto *pnode = nodeHandles.get(in->handle);
pnode->cleanup();
}
void nodeDestroy(nodeDestroy_in *in, nodeDestroy_out *out)
{
auto *pnode = nodeHandles.get(in->handle);
auto *meta = Metadata::get(pnode);
delete meta;
delete nodeHandles.remove(pnode);
}
void socketInit(socketInit_in *in, socketInit_out *out)
{
auto *psock = getSocket(in->handle);
psock->init();
}
void socketSpinOnce(socketSpinOnce_in *in, socketSpinOnce_out *out)
{
auto *psock = getSocket(in->handle);
psock->spinOnce();
}
void socketPoll(socketPoll_in *in, socketPoll_out *out)
{
auto *psock = getSocket(in->handle);
out->result = psock->poll();
}
void socketRead(socketRead_in *in, socketRead_out *out)
{
auto *psock = getSocket(in->handle);
psock->readRaw(out->payload);
}
void socketWrite(socketWrite_in *in, socketWrite_out *out)
{
auto *psock = getSocket(in->handle);
psock->writeRaw(in->payload);
}
void socketCleanup(socketCleanup_in *in, socketCleanup_out *out)
{
auto *psock = getSocket(in->handle);
psock->cleanup();
}
void publisherCreate(publisherCreate_in *in, publisherCreate_out *out)
{
auto *pnode = nodeHandles.get(in->nodeHandle);
auto *ppub = new Publisher(pnode, in->topic, in->managed, in->notifyGraph);
auto *meta = new Metadata;
meta->handle = publisherHandles.add(ppub, in->_.scriptID);
ppub->setUserData(meta);
out->handle = meta->handle;
}
void publisherPublish(publisherPublish_in *in, publisherPublish_out *out)
{
auto *ppub = publisherHandles.get(in->handle);
ppub->publish(in->payload);
}
void publisherDestroy(publisherDestroy_in *in, publisherDestroy_out *out)
{
auto *ppub = publisherHandles.get(in->handle);
auto *meta = Metadata::get(ppub);
delete meta;
delete publisherHandles.remove(ppub);
}
void subscriberCreate(subscriberCreate_in *in, subscriberCreate_out *out)
{
auto *pnode = nodeHandles.get(in->nodeHandle);
Subscriber::CallbackRaw callback = boost::bind(&Plugin::topicCallbackWrapper, this, in->_.scriptID, in->callback, _1);
auto *psub = new Subscriber(pnode, in->topic, callback, in->managed, in->notifyGraph);
auto *meta = new Metadata;
meta->handle = subscriberHandles.add(psub, in->_.scriptID);
psub->setUserData(meta);
out->handle = meta->handle;
}
void subscriberDestroy(subscriberDestroy_in *in, subscriberDestroy_out *out)
{
auto *psub = subscriberHandles.get(in->handle);
auto *meta = Metadata::get(psub);
delete meta;
delete subscriberHandles.remove(psub);
}
void serviceClientCreate(serviceClientCreate_in *in, serviceClientCreate_out *out)
{
auto *pnode = nodeHandles.get(in->nodeHandle);
auto *pcli = new ServiceClient(pnode, in->service, in->managed, in->notifyGraph);
auto *meta = new Metadata;
meta->handle = serviceClientHandles.add(pcli, in->_.scriptID);
pcli->setUserData(meta);
out->handle = meta->handle;
}
void serviceClientCall(serviceClientCall_in *in, serviceClientCall_out *out)
{
auto *pcli = serviceClientHandles.get(in->handle);
pcli->call(in->payload, out->payload);
}
void serviceClientDestroy(serviceClientDestroy_in *in, serviceClientDestroy_out *out)
{
auto *pcli = serviceClientHandles.get(in->handle);
auto *meta = Metadata::get(pcli);
delete meta;
delete serviceClientHandles.remove(pcli);
}
void serviceServerCreate(serviceServerCreate_in *in, serviceServerCreate_out *out)
{
auto *pnode = nodeHandles.get(in->nodeHandle);
ServiceServer::CallbackRaw callback = boost::bind(&Plugin::serviceCallbackWrapper, this, in->_.scriptID, in->callback, _1, _2);
auto *psrv = new ServiceServer(pnode, in->service, callback, in->managed, in->notifyGraph);
auto *meta = new Metadata;
meta->handle = serviceServerHandles.add(psrv, in->_.scriptID);
psrv->setUserData(meta);
out->handle = meta->handle;
}
void serviceServerDestroy(serviceServerDestroy_in *in, serviceServerDestroy_out *out)
{
auto *psrv = serviceServerHandles.get(in->handle);
auto *meta = Metadata::get(psrv);
delete meta;
delete serviceServerHandles.remove(psrv);
}
void socketSetCompression(socketSetCompression_in *in, socketSetCompression_out *out)
{
auto *psock = getSocket(in->handle);
psock->setCompression(in->compressionAlgorithm, in->compressionLevel);
}
void socketSetOption(socketSetOption_in *in, socketSetOption_out *out)
{
auto *psock = getSocket(in->handle);
int v = in->value;
if(in->option == "lingerPeriod") psock->setLingerPeriod(v);
else if(in->option == "backlog") psock->setBacklog(v);
else if(in->option == "readTimeout") psock->setReadTimeout(v);
else if(in->option == "writeTimeout") psock->setWriteTimeout(v);
else if(in->option == "immediate") psock->setImmediate(v);
else if(in->option == "conflate") psock->setConflate(v);
else if(in->option == "readHWM") psock->setReadHWM(v);
else if(in->option == "writeHWM") psock->setWriteHWM(v);
else throw sim::exception("invalid option: '%s'", in->option);
}
void getHandles(getHandles_in *in, getHandles_out *out)
{
for(const auto &x : nodeHandles.find(in->_.scriptID))
out->handles.push_back(Handle<Node>::str(x));
for(const auto &x : publisherHandles.find(in->_.scriptID))
out->handles.push_back(Handle<Publisher>::str(x));
for(const auto &x : subscriberHandles.find(in->_.scriptID))
out->handles.push_back(Handle<Subscriber>::str(x));
for(const auto &x : serviceClientHandles.find(in->_.scriptID))
out->handles.push_back(Handle<ServiceClient>::str(x));
for(const auto &x : serviceServerHandles.find(in->_.scriptID))
out->handles.push_back(Handle<ServiceServer>::str(x));
}
Socket * getSocket(std::string h)
{
auto *ppub = Handle<Publisher>::obj(h);
if(ppub) return publisherHandles.get(h);
auto *psub = Handle<Subscriber>::obj(h);
if(psub) return subscriberHandles.get(h);
auto *pcli = Handle<ServiceClient>::obj(h);
if(pcli) return serviceClientHandles.get(h);
auto *psrv = Handle<ServiceServer>::obj(h);
if(psrv) return serviceServerHandles.get(h);
throw sim::exception("invalid handle: '%s'", h);
}
private:
Handles<Node> nodeHandles;
Handles<Publisher> publisherHandles;
Handles<Subscriber> subscriberHandles;
Handles<ServiceClient> serviceClientHandles;
Handles<ServiceServer> serviceServerHandles;
};
SIM_PLUGIN(PLUGIN_NAME, PLUGIN_VERSION, Plugin)
#include "stubsPlusPlus.cpp"