introspectionImpl.hpp

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#ifndef RTCTK_COMPONENTFRAMEWORK_INTROSPECTIONIMPL_HPP
#define RTCTK_COMPONENTFRAMEWORK_INTROSPECTIONIMPL_HPP
 
#include <Introspectionif.hpp>
#include <Stdif.hpp>
#include <rtctk/componentFramework/commandReplier.hpp>
#include <rtctk/componentFramework/events.rad.hpp>
#include <rtctk/componentFramework/logger.hpp>
#include <rtctk/componentFramework/malEventInjector.hpp>
#include <rtctk/componentFramework/stateMachineEngine.hpp>
 
#include <mal/Cii.hpp>
 
#include <fmt/core.h>
#include <memory>
#include <nlohmann/json.hpp>
#include <string>
 
namespace rtctk::componentFramework {

class IntrospectionImpl : public virtual introspectionif::AsyncIntrospection {
public:
    static void Register(CommandReplier& replier, StateMachineEngine& engine) {
        std::shared_ptr<elt::mal::rr::RrEntity> rr_service =
            std::make_shared<IntrospectionImpl>(engine, replier);
        replier.RegisterService<introspectionif::AsyncIntrospection>("Introspection", rr_service);
    }
 
    explicit IntrospectionImpl(StateMachineEngine& engine, CommandReplier& replier)
        : m_engine(engine), m_replier(replier) {
    }
 
    ::elt::mal::future<std::string> GetInterfaces(const std::string& service) override {
        LOG4CPLUS_TRACE(GetLogger(), "Received command 'GetInterfaces'");
        boost::promise<std::string> promise;
 
        // Request IF XMLs from server
        auto xmls_vector = this->m_replier.GetServiceDescriptions(service);
        try {
            ::nlohmann::json ret_json = ::nlohmann::json::object({});
            for (const auto& xml : xmls_vector) {
                ret_json += ::nlohmann::json::object_t::value_type(xml.first, xml.second);
            }
            promise.set_value(ret_json.dump());
        } catch (::nlohmann::json::type_error& ex) {
            std::string msg =
                fmt::format("Error while creating JSON reply: \nmessage: {}\nexception id: {}",
                            ex.what(),
                            ex.id);
            LOG4CPLUS_ERROR(GetLogger(), msg);
            auto new_exception =
                stdif::ExceptionErr(msg, 3002);  // ErrCode 3002 -> Could not create JSON reply
            promise.set_exception(new_exception);
        }
 
        return promise.get_future();
    }
 
    ::elt::mal::future<std::string> GetTopics(const std::string& topic) override {
        LOG4CPLUS_TRACE(GetLogger(), "Received command 'GetTopics'");
        boost::promise<std::string> promise;
        LOG4CPLUS_INFO(GetLogger(), "NOT IMPLEMENTED");
        auto new_exception =
            stdif::ExceptionErr("NOT IMPLEMENTED", 3001);  // ErrCode 3001 -> Not implemented
        promise.set_exception(new_exception);
        return promise.get_future();
    }
 
    ::elt::mal::future<std::string> GetOldbPrefix() override {
        LOG4CPLUS_TRACE(GetLogger(), "Received command 'GetOldbPrefix'");
        boost::promise<std::string> promise;
        LOG4CPLUS_INFO(GetLogger(), "NOT IMPLEMENTED");
        auto new_exception = stdif::ExceptionErr("NOT IMPLEMENTED", 3001);
        promise.set_exception(new_exception);
        return promise.get_future();
    }
 
private:
    StateMachineEngine& m_engine;
    CommandReplier& m_replier;
};
 
}  // namespace rtctk::componentFramework
 
#endif  // RTCTK_COMPONENTFRAMEWORK_INTROSPECTIONIMPL_HPP