ControllerServer.h

Go to the documentation of this file.

/*
 * Copyright 2015-2020 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_control/ControllerServerConfiguration.h>
#include <mc_control/MCController.h>
 
#include <mc_rtc/gui/StateBuilder.h>
#include <mc_rtc/log/Logger.h>
 
#include <string>
#include <vector>
 
namespace mc_control
{
 
struct MC_CONTROL_DLLAPI ControllerServer
{
 
  ControllerServer(double dt,
                   double server_dt,
                   const std::vector<std::string> & pub_bind_uri,
                   const std::vector<std::string> & pull_bind_uri);
 
  ControllerServer(double dt, const ControllerServerConfiguration & config);
 
  ~ControllerServer();
 
  void handle_requests(mc_rtc::gui::StateBuilder & gui_builder);
 
  void handle_requests(mc_rtc::gui::StateBuilder & gui, const char * data);
 
  void publish(mc_rtc::gui::StateBuilder & gui_builder);
 
  std::pair<const char *, size_t> data() const;
 
  inline void set_logger(std::shared_ptr<mc_rtc::Logger> logger) noexcept { logger_ = logger; }
 
  inline void push_requests(const std::vector<mc_rtc::Logger::GUIEvent> & requests)
  {
    for(const auto & r : requests) { requests_.push_back(r); }
  }
 
  void update_rate(double dt, double server_dt);
 
private:
  unsigned int iter_;
  unsigned int rate_;
 
  int pub_socket_;
  int pull_socket_;
 
  std::vector<char> buffer_;
  size_t buffer_size_ = 0;
 
  std::shared_ptr<mc_rtc::Logger> logger_;
 
  std::vector<mc_rtc::Logger::GUIEvent> requests_;
};
 
} // namespace mc_control