mtsSocketProxyClient.h

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/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */

/*

  Author(s):  Peter Kazanzides
  Created on: 2013-08-06

  (C) Copyright 2013-2014 Johns Hopkins University (JHU), All Rights Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---
*/


#ifndef _mtsSocketProxyClient_h
#define _mtsSocketProxyClient_h

#include <cisstOSAbstraction/osaSocket.h>
#include <cisstMultiTask/mtsTaskContinuous.h>

#include <cisstMultiTask/mtsSocketProxyCommon.h>
#include <cisstMultiTask/mtsForwardDeclarations.h>

class CommandWrapperBase;
class mtsCommandBase;

#include <cisstMultiTask/mtsExport.h>

class CISST_EXPORT mtsSocketProxyClientConstructorArg : public mtsGenericObject
{
    CMN_DECLARE_SERVICES(CMN_DYNAMIC_CREATION, CMN_LOG_ALLOW_DEFAULT);
public:
    std::string Name;
    std::string IP;
    short Port;

    mtsSocketProxyClientConstructorArg() : mtsGenericObject() {}
    mtsSocketProxyClientConstructorArg(const std::string &name, const std::string &ip, short port) :
        mtsGenericObject(), Name(name), IP(ip), Port(port) {}
    mtsSocketProxyClientConstructorArg(const mtsSocketProxyClientConstructorArg &other) : mtsGenericObject(),
        Name(other.Name), IP(other.IP), Port(other.Port) {}
    ~mtsSocketProxyClientConstructorArg() {}

    void SerializeRaw(std::ostream & outputStream) const;
    void DeSerializeRaw(std::istream & inputStream);

    void ToStream(std::ostream & outputStream) const;

    virtual void ToStreamRaw(std::ostream & outputStream, const char delimiter = ' ',
                             bool headerOnly = false, const std::string & headerPrefix = "") const;

    virtual bool FromStreamRaw(std::istream & inputStream, const char delimiter = ' ');
};

CMN_DECLARE_SERVICES_INSTANTIATION(mtsSocketProxyClientConstructorArg);

class CISST_EXPORT mtsSocketProxyClient : public mtsTaskContinuous
{
    CMN_DECLARE_SERVICES(CMN_DYNAMIC_CREATION_ONEARG, CMN_LOG_ALLOW_DEFAULT);

 protected:

    osaSocket Socket;
    mtsProxySerializer *Serializer;

    mtsSocketProxyInitData ServerData;

    // For memory cleanup
    std::vector<mtsCommandBase *> EventGenerators;

    bool LocalWaiting;
    mtsCommandWriteBase *localUnblockingCommand;
    void LocalUnblockingHandler(const mtsGenericObject &arg);
    // Returns false if timed out
    bool WaitForResponse(double timeoutInSec);

    bool CreateClientProxy(const std::string & providedInterfaceName);

    // For use by MulticastCommandVoidProxy and MulticastCommandWriteProxy
    mtsCommandWriteBase *EventEnableCommand;
    mtsCommandWriteBase *EventDisableCommand;
    void EventEnable(const std::string &eventName, const char *handle);
    void EventDisable(const std::string &eventName, const char *handle);
    
    void CheckForEvents(double timeoutInSec);

    friend class CommandWrapperBase;
    friend class MulticastCommandVoidProxy;
    friend class MulticastCommandWriteProxy;

 public:
    mtsSocketProxyClient(const std::string &name, const std::string &ip, short port);

    mtsSocketProxyClient(const mtsSocketProxyClientConstructorArg &arg);


    virtual ~mtsSocketProxyClient();

    void Configure(const std::string &) {}

    void Startup(void);

    void Run(void);

    void Cleanup(void);

    // Following used by command wrappers
    bool CheckForEventsImmediate(double timeoutInSec);
    bool Serialize(const mtsGenericObject & originalObject, std::string & serializedObject);
    bool DeSerialize(const std::string & serializedObject, mtsGenericObject & originalObject);
    mtsGenericObject * DeSerialize(const std::string & serializedObject);
};

CMN_DECLARE_SERVICES_INSTANTIATION(mtsSocketProxyClient)

#endif // _mtsSocketProxyClient_h