ControllerServerConfiguration.h

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/*
 * Copyright 2015-2024 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_control/api.h>
 
#include <mc_rtc/Configuration.h>
#include <mc_rtc/path.h>
 
namespace mc_control
{
 
namespace details
{
 
// FIXME This could be inside ControllerServerConfiguration but it crashes clang-10
 
template<uint16_t default_pub_port, uint16_t default_pull_port>
struct SocketConfiguration
{
  std::string host = "*";
  uint16_t pub_port = default_pub_port;
  uint16_t pull_port = default_pull_port;
};
 
} // namespace details
 
struct MC_CONTROL_DLLAPI ControllerServerConfiguration
{
  double timestep = 0.05;
 
  std::optional<std::string> ipc_socket = mc_rtc::temp_directory_path("mc_rtc");
 
  using TCPConfiguration = details::SocketConfiguration<4242, 4343>;
 
  std::optional<TCPConfiguration> tcp_config = TCPConfiguration{};
 
  using WebSocketConfiguration = details::SocketConfiguration<8080, 8081>;
 
  std::optional<WebSocketConfiguration> websocket_config = std::nullopt;
 
  void load(const mc_rtc::Configuration & config);
 
  std::vector<std::string> pub_uris() const noexcept;
 
  std::vector<std::string> pull_uris() const noexcept;
 
  void print_serving_information() const noexcept;
 
  static ControllerServerConfiguration fromConfiguration(const mc_rtc::Configuration & config);
};
 
} // namespace mc_control