primaryCommands.h

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// Copyright (c) 2022 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
// #include "carla/Logging.h"
#include "carla/multigpu/commands.h"
#include "carla/multigpu/primary.h"
#include "carla/streaming/detail/tcp/Message.h"
#include "carla/streaming/detail/Token.h"
#include "carla/streaming/detail/Types.h"
 
namespace carla {
namespace multigpu {
 
// using session = std::shared_ptr<Primary>;
// using callback_response = std::function<void(std::shared_ptr<Primary>, carla::Buffer)>;
using token_type = carla::streaming::detail::token_type;
using stream_id = carla::streaming::detail::stream_id_type;
 
class Router;
 
class PrimaryCommands {
  public:
 
 
    PrimaryCommands();
    PrimaryCommands(std::shared_ptr<Router> router);
 
    void set_router(std::shared_ptr<Router> router);
 
    // broadcast to all secondary servers the frame data
    void SendFrameData(carla::Buffer buffer);
 
    // broadcast to all secondary servers the map to load
    void SendLoadMap(std::string map);
 
    // send to know if a connection is alive
    void SendIsAlive();
 
    token_type GetToken(stream_id sensor_id);
 
    void EnableForROS(stream_id sensor_id);
 
    void DisableForROS(stream_id sensor_id);
 
    bool IsEnabledForROS(stream_id sensor_id);
 
  private:
 
    // send to one secondary to get the token of a sensor
    token_type SendGetToken(carla::streaming::detail::stream_id_type sensor_id);
 
    // manage ROS enable/disable of sensor
    void SendEnableForROS(stream_id sensor_id);
    void SendDisableForROS(stream_id sensor_id);
    bool SendIsEnabledForROS(stream_id sensor_id);
 
 
    std::shared_ptr<Router> _router;
    std::unordered_map<stream_id, token_type> _tokens;
    std::unordered_map<stream_id, std::weak_ptr<Primary>> _servers;
};
 
} // namespace multigpu
} // namespace carla