.gitlab-ci.yml

+stages:
+  - deploy
+
+conda-build-job:
+  stage: deploy
+  image: dominikbattefeld/miniconda3-build:conda-22.9.0
+  # Some information for debugging
+  before_script:
+    - conda --version
+    - conda list
+
+  # The actual call to build the package
+  script:
+    - conda build conda.recipe/
+
+  # The path of job artifacts has to be relative to and be a child of our project directory.
+  # Thus, to upload our package as job artifact, we need to copy the output of conda build to our working directory.
+  after_script:
+    - cp -r /opt/conda/conda-bld conda-build-output
+  artifacts:
+    paths:
+      - conda-build-output/*
+

DEPS.txt

-REQUIRED="rsb"
+REQUIRED=""
 OPTIONAL=""
 

LICENSE.txt

+                   GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+  This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+  0. Additional Definitions.
+
+  As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+  "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
+  An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
+Defining a subclass of a class defined by the Library is deemed a mode
+of using an interface provided by the Library.
+
+  A "Combined Work" is a work produced by combining or linking an
+Application with the Library.  The particular version of the Library
+with which the Combined Work was made is also called the "Linked
+Version".
+
+  The "Minimal Corresponding Source" for a Combined Work means the
+Corresponding Source for the Combined Work, excluding any source code
+for portions of the Combined Work that, considered in isolation, are
+based on the Application, and not on the Linked Version.
+
+  The "Corresponding Application Code" for a Combined Work means the
+object code and/or source code for the Application, including any data
+and utility programs needed for reproducing the Combined Work from the
+Application, but excluding the System Libraries of the Combined Work.
+
+  1. Exception to Section 3 of the GNU GPL.
+
+  You may convey a covered work under sections 3 and 4 of this License
+without being bound by section 3 of the GNU GPL.
+
+  2. Conveying Modified Versions.
+
+  If you modify a copy of the Library, and, in your modifications, a
+facility refers to a function or data to be supplied by an Application
+that uses the facility (other than as an argument passed when the
+facility is invoked), then you may convey a copy of the modified
+version:
+
+   a) under this License, provided that you make a good faith effort to
+   ensure that, in the event an Application does not supply the
+   function or data, the facility still operates, and performs
+   whatever part of its purpose remains meaningful, or
+
+   b) under the GNU GPL, with none of the additional permissions of
+   this License applicable to that copy.
+
+  3. Object Code Incorporating Material from Library Header Files.
+
+  The object code form of an Application may incorporate material from
+a header file that is part of the Library.  You may convey such object
+code under terms of your choice, provided that, if the incorporated
+material is not limited to numerical parameters, data structure
+layouts and accessors, or small macros, inline functions and templates
+(ten or fewer lines in length), you do both of the following:
+
+   a) Give prominent notice with each copy of the object code that the
+   Library is used in it and that the Library and its use are
+   covered by this License.
+
+   b) Accompany the object code with a copy of the GNU GPL and this license
+   document.
+
+  4. Combined Works.
+
+  You may convey a Combined Work under terms of your choice that,
+taken together, effectively do not restrict modification of the
+portions of the Library contained in the Combined Work and reverse
+engineering for debugging such modifications, if you also do each of
+the following:
+
+   a) Give prominent notice with each copy of the Combined Work that
+   the Library is used in it and that the Library and its use are
+   covered by this License.
+
+   b) Accompany the Combined Work with a copy of the GNU GPL and this license
+   document.
+
+   c) For a Combined Work that displays copyright notices during
+   execution, include the copyright notice for the Library among
+   these notices, as well as a reference directing the user to the
+   copies of the GNU GPL and this license document.
+
+   d) Do one of the following:
+
+       0) Convey the Minimal Corresponding Source under the terms of this
+       License, and the Corresponding Application Code in a form
+       suitable for, and under terms that permit, the user to
+       recombine or relink the Application with a modified version of
+       the Linked Version to produce a modified Combined Work, in the
+       manner specified by section 6 of the GNU GPL for conveying
+       Corresponding Source.
+
+       1) Use a suitable shared library mechanism for linking with the
+       Library.  A suitable mechanism is one that (a) uses at run time
+       a copy of the Library already present on the user's computer
+       system, and (b) will operate properly with a modified version
+       of the Library that is interface-compatible with the Linked
+       Version.
+
+   e) Provide Installation Information, but only if you would otherwise
+   be required to provide such information under section 6 of the
+   GNU GPL, and only to the extent that such information is
+   necessary to install and execute a modified version of the
+   Combined Work produced by recombining or relinking the
+   Application with a modified version of the Linked Version. (If
+   you use option 4d0, the Installation Information must accompany
+   the Minimal Corresponding Source and Corresponding Application
+   Code. If you use option 4d1, you must provide the Installation
+   Information in the manner specified by section 6 of the GNU GPL
+   for conveying Corresponding Source.)
+
+  5. Combined Libraries.
+
+  You may place library facilities that are a work based on the
+Library side by side in a single library together with other library
+facilities that are not Applications and are not covered by this
+License, and convey such a combined library under terms of your
+choice, if you do both of the following:
+
+   a) Accompany the combined library with a copy of the same work based
+   on the Library, uncombined with any other library facilities,
+   conveyed under the terms of this License.
+
+   b) Give prominent notice with the combined library that part of it
+   is a work based on the Library, and explaining where to find the
+   accompanying uncombined form of the same work.
+
+  6. Revised Versions of the GNU Lesser General Public License.
+
+  The Free Software Foundation may publish revised and/or new versions
+of the GNU Lesser General Public License from time to time. Such new
+versions will be similar in spirit to the present version, but may
+differ in detail to address new problems or concerns.
+
+  Each version is given a distinguishing version number. If the
+Library as you received it specifies that a certain numbered version
+of the GNU Lesser General Public License "or any later version"
+applies to it, you have the option of following the terms and
+conditions either of that published version or of any later version
+published by the Free Software Foundation. If the Library as you
+received it does not specify a version number of the GNU Lesser
+General Public License, you may choose any version of the GNU Lesser
+General Public License ever published by the Free Software Foundation.
+
+  If the Library as you received it specifies that a proxy can decide
+whether future versions of the GNU Lesser General Public License shall
+apply, that proxy's public statement of acceptance of any version is
+permanent authorization for you to choose that version for the
+Library.

README.md

+# IPAACA
+
+This repository contains the software library IPAACA developed by the Social Cognitive Systems Group at Bielefeld University. IPAACA stands for 'Incremental Processing Architecture for Artificial Conversational Agents.' The library is available in three languages: Python (Python3 compatible), C++, and Java, and for three operating systems: Linux, OS X, and Windows.
+
+## Build dependencies 
+
+### Linux
+Dependencies: Protocol Buffer (libprotobuf), Transport Protocol (**libmosquittopp**, ros, librsb)
+
+sudo apt-get install libprotobuf-dev
+
+sudo apt-get install libprotoc-dev
+
+sudo apt-get install protobuf-compiler
+
+sudo apt-get install mosquitto libmosquittopp-dev
+
+## Build/Install instructions 
+
+### Linux
+**Compiling C++ Version** 
+
+cd ipaaca/ipaacalib/cpp
+
+mkdir build
+
+cd build
+
+cmake ..
+
+make
+
+sudo make install
+
+**Installing Python Version**
+
+cd ipaaca/ipaacalib/python
+
+python3 setup.py install --user
+
+### OS X
+
+### Windows
+
+## Usage
+
+**Python:** import ipaaca
+
+**C++:** #include "ipaaca/ipaaca.h"
+
+## History
+
+
+## Credits
+Hendrik Buschmeier <hbuschme@techfak.uni-bielefeld.de> 
+
+Ramin Yaghoubzadeh <ryaghoub@techfak.uni-bielefeld.de>
+
+## License
+GNU LESSER GENERAL PUBLIC LICENSE (See LICENSE.txt in the repository)
+
+## Further Reading
+[1] IPAACA: https://scs.techfak.uni-bielefeld.de/wiki/public/ipaaca/start
+
+[2] Schlangen et al. "Middleware for Incremental Processing in Conversational Agents," SIGDIAL 2010. https://www.aclweb.org/anthology/W10-4308

conda.recipe/cross-linux.cmake

+# this one is important
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_PLATFORM Linux)
+#this one not so much
+set(CMAKE_SYSTEM_VERSION 1)
+
+# specify the cross compiler
+set(CMAKE_C_COMPILER $ENV{CC})
+
+# where is the target environment
+set(CMAKE_FIND_ROOT_PATH $ENV{PREFIX} $ENV{BUILD_PREFIX}/$ENV{HOST}/sysroot)
+
+# search for programs in the build host directories
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+# for libraries and headers in the target directories
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+
+# god-awful hack because it seems to not run correct tests to determine this:
+set(__CHAR_UNSIGNED___EXITCODE 1)
\ No newline at end of file

conda.recipe/install_cpp.sh

+#!/bin/bash
+echo "Installing ipaaca-cpp"
+
+declare -a CMAKE_PLATFORM_FLAGS
+
+INCLUDE_PATH="${PREFIX}/include"
+LIBRARY_PATH="${PREFIX}/lib"
+
+export CMAKE_INCLUDE_PATH=$INCLUDE_PATH
+export CMAKE_LIBRARY_PATH=$LIBRARY_PATH
+
+if [[ "$(uname)" == "Linux" ]]; then
+    # Linus needs this lrt flag
+    export LDFLAGS="$LDFLAGS -lrt"
+    CMAKE_PLATFORM_FLAGS+=(-DCMAKE_TOOLCHAIN_FILE="${RECIPE_DIR}/cross-linux.cmake")
+elif [[ "$(uname)" == "Darwin" ]]; then
+    echo "mac"
+fi
+
+# build protobuf files
+mkdir -p ipaaca-cpp/build/ipaaca
+cd proto
+protoc ipaaca.proto --cpp_out=../ipaaca-cpp/build/ipaaca
+
+# build ipaaca cpp
+cd ../ipaaca-cpp/build
+export VERBOSE=1
+
+cmake .. -DCMAKE_INSTALL_PREFIX=${PREFIX} -DBOOST_INCLUDEDIR=${INCLUDE_PATH} -DBOOST_LIBRARYDIR=${LIBRARY_PATH} ${CMAKE_PLATFORM_FLAGS[@]}
+echo "Finished cmake, trying build now"
+make 
+make install DESTDIR=${PREFIX}
+cd ../../..
\ No newline at end of file

conda.recipe/install_python.sh

+#!/bin/bash
+
+# Since we setup subfolders for ipaaca and proto, we want to step into the ipaaca folder here
+# Note: setup.py assumes protoc file to be at ../proto from here and we do not want to change
+# that for easier manual installation
+cd ipaaca-py
+echo "Installing ipaaca using setup.py"
+$PYTHON -m pip install . -vv --no-deps
+#python setup.py install --single-version-externally-managed --record=record.txt

conda.recipe/meta.yaml

+{% set protobufversion = "3.8.0.*" %}
+{% set pahomqttversion = "1.4.0.*" %} # Currently no longer needed, but you may want to build your own if you want to include Ramin's patch
+
+package:
+        name: ipaaca
+        version: "0.1.3"
+
+source:
+        - path: ../ipaacalib/cpp
+          folder: ipaaca-cpp
+        - path: ../ipaacalib/proto
+          folder: proto
+        - path: ../ipaacalib/python
+          folder: ipaaca-py
+
+build:
+        number: 4
+
+
+requirements:
+        run:
+                - ipaaca-cpp
+                - ipaaca-py
+
+
+outputs:
+        - name: ipaaca-cpp
+          script: install_cpp.sh        # [unix]
+          requirements:
+                  build:
+                        - {{ compiler('c') }}
+                        - {{ compiler('cxx') }}
+                        - cmake >=3.10
+                  host:
+                        - libprotobuf {{ protobufversion }}
+                        - mosquitto
+                        - boost-cpp
+                        - libuuid
+                  run:
+                        - mosquitto
+                        - libprotobuf {{ protobufversion }}
+                        - boost-cpp
+                        - libuuid
+
+        - name: ipaaca-py
+          noarch: python
+          script: install_python.sh
+          requirements:
+                  host:
+                        - python {{ python }}
+                        - pip
+                        - protobuf {{ protobufversion }}
+                  run:
+                        - python 
+                        - mosquitto
+                        - paho-mqtt
+                        - protobuf {{ protobufversion }}

conda.recipe/meta.yaml_variantTest

+{% set protobufversion = "3.8.0" %}
+
+package:
+        name: ipaaca
+        version: "0.1.2"
+
+source:
+        - path: ../ipaacalib/cpp
+          folder: ipaaca-cpp
+        - path: ../ipaacalib/proto
+          folder: proto
+        - path: ../ipaacalib/python
+          folder: ipaaca-py
+
+build:
+    number: 9
+
+requirements:
+        run:
+                - ipaaca-cpp
+                - ipaaca-py
+
+outputs:
+    - name: ipaaca-cpp
+      script: install_cpp.sh        # [unix]
+      requirements:
+      build:
+                - {{ compiler('c') }}
+                - {{ compiler('cxx') }}
+                - cmake >=3.10
+      host:
+                - libprotobuf {{ protobufversion }}
+                - mosquitto
+                - boost-cpp {{ boostcpp }}
+      run:
+                - mosquitto
+                - libprotobuf {{ protobufversion }}
+                - boost-cpp {{ boostcpp }}
+    - name: ipaaca-py
+      noarch: python
+      script: install_python.sh
+      requirements:
+      host:
+                - python {{ py_version }}
+                - pip
+                - setuptools
+                - protobuf {{ protobufversion }}
+      run:
+                - python {{ py_version }}
+                - mosquitto
+                - paho-mqtt
+                - protobuf {{ protobufversion }}
\ No newline at end of file

docs/README-build-windows.txt

+Instructions for building ipaaca on Windows
+
+Install Visual Studio 2017 (with C++), including CMake
+Install GoW (Gnu on Windows) to have some POSIX-like utilities, or double-check the commands below
+
+Open terminal via Visual Studio's "x64 Native Tools Command Prompt", for 64-bit builds
+
+The following instructions are for Debug mode, you can use Release, too
+(replace all occurrences below).
+
+
+BUILD DEPS:
+
+protobuf (latest test with 3.9.0):
+
+cd cmake
+mkdir build
+cd build
+cmake -Dprotobuf_BUILD_TESTS=OFF -DCMAKE_INSTALL_PREFIX="C:/Libs/protobuf/x64" -G "Visual Studio 15 2017 Win64" /p:Configuration=Debug ..
+cmake --build . --target INSTALL --config Debug -- /nologo /verbosity:minimal /maxcpucount
+
+mosquitto (latest test with 1.5.4):
+mkdir build
+cd build
+# threading=off below disables a nasty library dependency, our dispatcher is threaded anyway
+cmake -DWITH_THREADING=OFF -DCMAKE_INSTALL_PREFIX=C:/Libs/mosquitto/x64 -G "Visual Studio 15 2017 Win64" /p:Configuration=Debug ..
+cmake --build . --target INSTALL --config Debug -- /nologo /verbosity:minimal /maxcpucount
+cp lib\Debug\*.lib lib\cpp\Debug\*.lib \Libs\mosquitto\x64\
+
+
+BUILD IPAACA (ipaaca4):
+
+cd ......\repo\ipaaca\ipaacalib\proto
+mkdir ..\cpp\build\ipaaca
+\Libs\protobuf\x64\bin\protoc.exe ipaaca.proto --cpp_out=..\cpp\build\ipaaca
+cd ..\cpp\build\ipaaca
+cmake -DCMAKE_INSTALL_PREFIX="C:/Libs/ipaaca/x64" -G "Visual Studio 15 2017 Win64" /p:Configuration=Debug ..
+cmake --build . --target INSTALL --config Debug -- /nologo /verbosity:minimal /maxcpucount
+
+
+SETUP FOR VISUAL STUDIO PROJECTS:
+Project -> Properties ->
+Debugging: add the runtime paths to the environment variables (Path=%Path%;C:\Libs\ipaaca\x64\bin;C:\Libs\mosquitto\x64\bin)
+C++: add the include directories (C:\Libs\ipaaca\x64\include;C:\Libs\protobuf\x64\include)
+Linker: add ipaaca.lib to the dependencies and C:\Libs\ipaaca\x64\lib to the additional lib dirs
+Also add /wd4146 to compiler options if you get errors in protobuf headers (like "unary negative on unsigned value").
+
+

docs/ipaacaCpp.Doxyfile

@@ -38,7 +38,7 @@ PROJECT_NAME           = "IPAACA-C++"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = "Revision 12 (Protocol 2.0)"
+#PROJECT_NUMBER         = "Revision ... (Protocol ...)"
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

docs/patches/python-paho-mqtt-preventConnectionLockup-RYT.patch

+--- client.py.sav	2018-12-14 18:30:04.836523913 +0100
++++ client.py	2018-12-14 19:23:13.759468147 +0100
+@@ -983,7 +983,7 @@
+ 
+         # sockpairR is used to break out of select() before the timeout, on a
+         # call to publish() etc.
+-        rlist = [self._sock, self._sockpairR]
++        rlist = [self._sock, self._sockpairR] if self._sock else [self._sockpairR]
+         try:
+             socklist = select.select(rlist, wlist, [], timeout)
+         except TypeError:

ipaacalib/cpp/CMakeLists.txt

@@ -3,19 +3,18 @@ cmake_minimum_required (VERSION 2.6)
 # project name
 project (ipaaca_cpp)
 
-# use C++11 (starting with proto v2 / ipaaca-c++ release 12)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+#set (CMAKE_CXX_STANDARD 11)
 
+## use C++11 (starting with proto v2 / ipaaca-c++ release 12)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 ## use the following line to enable console debug messages in ipaaca
+##  (this entails a slight slowdown since dynamic log level checks made at the very least)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DIPAACA_DEBUG_MESSAGES")
-
 # expose the full RSB api in the headers (set only in ipaaca itself)
 #  !! NOTE: at the moment required in any ipaaca cpp project in Windows !!
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DIPAACA_EXPOSE_FULL_RSB_API")
-
 ## use the following line to enable building mock IUs (FakeIU)
 #set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DIPAACA_BUILD_MOCK_OBJECTS")
-
 # find cmake modules locally too
 set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/CMakeModules )
 
@@ -37,44 +36,47 @@ if(WIN32) # Check if we are on Windows
 		#
 		#
 		
-		#
-		#  If you want to compile rsb locally, check out the soa project 'rsb', build it
-		#  and use resolve.sh to pull its libraries into this project.
-		#  On the other hand, if you simply want to use the precompiled rsb from inside
-		#  "rsx" (it works but has no debug info), uncomment the following four lines.
-		#
-		include_directories( ${PROJECT_SOURCE_DIR}/../../../rsx/RSC-0.11.0-win32/include/rsc0.11 )
-		include_directories( ${PROJECT_SOURCE_DIR}/../../../rsx/RSB-0.11.2-win32/include/rsb0.11 )
-		link_directories( ${PROJECT_SOURCE_DIR}/../../../rsx/RSC-0.11.0-win32/lib )
-		link_directories( ${PROJECT_SOURCE_DIR}/../../../rsx/RSB-0.11.2-win32/lib )
-		
-		set(RSBLIBS rsc0.11 rsb0.11)
 		set(LIBS ${LIBS} rpcrt4)
+
+		#set(Boost_USE_STATIC_LIBS ON)
+		#set(Boost_USE_MULTITHREADED ON)
+	
+		#find_package(Boost COMPONENTS date_time program_options system filesystem thread signals regex REQUIRED)
+		#link_directories(${Boost_LIBRARY_DIRS})
+		#include_directories(${Boost_INCLUDE_DIRS})
 		
-		# Using custom Protobuf script (from rsc) because it honors PROTOBUF_ROOT
-		find_package(ProtocolBuffers REQUIRED)
-		link_directories(${PROTOBUF_LIBRARY_DIRS})
-		include_directories(${PROTOBUF_INCLUDE_DIRS})
-		
-		find_package(Boost COMPONENTS date_time program_options system filesystem thread signals regex REQUIRED)
-		link_directories(${Boost_LIBRARY_DIRS})
-		include_directories(${Boost_INCLUDE_DIRS})
+		## Windows linkage hack: overriding the determined libs to remove boost_thread (causes multiple-definition issues)
+		#set(CORRECT_BOOST_LIBS "")
+		#foreach(BLIB ${Boost_LIBRARIES})
+		#			list(APPEND CORRECT_BOOST_LIBS ${BLIB})
+		#endforeach(BLIB ${Boost_LIBRARIES})
+		#set(Boost_LIBRARIES ${CORRECT_BOOST_LIBS})
 		
-		# Windows linkage hack: overriding the determined libs to remove boost_thread (causes multiple-definition issues)
-		set(CORRECT_BOOST_LIBS "")
-		foreach(BLIB ${Boost_LIBRARIES})
-			#message(STATUS "Boost lib: ${BLIB}")
-			string(REGEX MATCH "boost_thread[^/]+$" drop_item ${BLIB})
-			if(drop_item)
-				message(STATUS "(Windows hack:) Removing boost_thread library from the linkage list.")
-			else(drop_item)
-				list(APPEND CORRECT_BOOST_LIBS ${BLIB})
-			endif(drop_item)
-		endforeach(BLIB ${Boost_LIBRARIES})
-		set(Boost_LIBRARIES ${CORRECT_BOOST_LIBS})
+		# Using custom Protobuf script (from rsc) because it honors PROTOBUF_ROOT
+		#find_package(ProtocolBuffers REQUIRED PATHS "\\Libs\\protobuf")
+		#link_directories(${PROTOBUF_LIBRARY_DIRS})
+		#include_directories(${PROTOBUF_INCLUDE_DIRS})
+		#message(STATUS "############################")
+		#message(STATUS ${PROTOBUF_INCLUDE_DIRS})
+		set(PROTOBUF_LIBRARY optimized "C:\\libs\\protobuf\\x64\\lib\\libprotobuf.lib" debug "C:\\libs\\protobuf\\x64\\lib\\libprotobufd.lib")
+		link_directories( "C:\\libs\\protobuf\\x64\\lib" )
+		include_directories( "C:\\libs\\protobuf\\x64\\include" )
 		
+		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /MT")
+		set(CompilerFlags
+			CMAKE_CXX_FLAGS
+			CMAKE_CXX_FLAGS_DEBUG
+			CMAKE_CXX_FLAGS_RELEASE
+			CMAKE_C_FLAGS
+			CMAKE_C_FLAGS_DEBUG
+			CMAKE_C_FLAGS_RELEASE
+			)
+		foreach(CompilerFlag ${CompilerFlags})
+		  string(REPLACE "/MD" "/MT" ${CompilerFlag} "${${CompilerFlag}}")
+		endforeach()
+			
 	else()
-		message(SEND_ERROR "Unsupported compiler! Please build with MSVC (2010).")
+		message(SEND_ERROR "Unsupported compiler! Please build with MSVC++ 19.x (Visual Studio 2017).")
 	endif()
 else()
 	#
@@ -82,7 +84,7 @@ else()
 	# Setup section for Linux or OS X (using 'rsb' soa project)
 	#
 	#
-	find_package(Boost COMPONENTS system filesystem thread regex signals REQUIRED)
+	find_package(Boost COMPONENTS system filesystem thread regex REQUIRED)
 	link_directories(${Boost_LIBRARY_DIRS})
 	include_directories(${Boost_INCLUDE_DIRS})
 	#set(BOOSTLIBS boost_regex-mt boost_date_time-mt boost_program_options-mt boost_thread-mt boost_filesystem-mt boost_signals-mt boost_system-mt)
@@ -91,12 +93,21 @@ else()
 	link_directories(${PROTOBUF_LIBRARY_DIRS})
 	include_directories(${PROTOBUF_INCLUDE_DIRS})
 
+    set(PROTOBUF_INPUT_DIRECTORY "${PROJECT_SOURCE_DIR}")
+    set(PROTOBUF_OUTPUT_DIRECTORY "${PROJECT_SOURCE_DIR}/build/ipaaca")
+    file(MAKE_DIRECTORY ${PROTOBUF_OUTPUT_DIRECTORY})
+    set(PROTOBUF_ARGUMENTS "--cpp_out=${PROTOBUF_OUTPUT_DIRECTORY}")
+    execute_process(COMMAND protoc ${PROTOBUF_ARGUMENTS} ipaaca.proto
+            WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/../proto/
+            RESULT_VARIABLE PROTOBUF_RESULT
+            OUTPUT_VARIABLE PROTOBUF_OUTPUT_VARIABLE)
+
 	# change for each new rsb version
-	if (DEFINED APPLE)
-		set(RSBLIBS rsc0.11 rsb0.11)
-		#set(RSBLIBS rsc0.10 rsb.0.10)
-	else(DEFINED APPLE)
-		set(RSBLIBS ${PROJECT_SOURCE_DIR}/../../deps/lib/librsc0.11.so ${PROJECT_SOURCE_DIR}/../../deps/lib/librsb0.11.so )
+        if (DEFINED APPLE)
+        	#set(RSBLIBS rsc0.14 rsb0.14)
+        	#set(RSBLIBS rsc0.10 rsb.0.10)
+        else(DEFINED APPLE)
+		#set(RSBLIBS ${PROJECT_SOURCE_DIR}/../../deps/lib/librsc0.14.so ${PROJECT_SOURCE_DIR}/../../deps/lib/librsb0.14.so )
 		set(LIBS ${LIBS} uuid)
 	endif(DEFINED APPLE)
 	# enhance the default search paths (headers, libs ...)
@@ -110,24 +121,29 @@ else()
 	endif(DEFINED APPLE)
 endif(WIN32)
 
+set(LIBS ${LIBS} ${PROTOBUF_LIBRARY} ${Boost_LIBRARIES})
 
-set(LIBS ${LIBS} ${PROTOBUF_LIBRARY} ${Boost_LIBRARIES} ${RSBLIBS} pthread)
+
+if(NOT DEFINED WIN32)
+	if (DEFINED APPLE)
+		message(STATUS "No extra pthread flags needed on Mac")
+	else()
+		message(STATUS "Adding extra pthread flags for Linux")
+		# needs -lpthread AND -pthread
+		set(LIBS ${LIBS} pthread)
+		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")
+	endif()
+endif(NOT DEFINED WIN32)
 
 # Hide the rsb-induced boost-signals warning (FOR NOW)
-set(IPAACA_CXX_DEFINES "${IPAACA_CXX_DEFINES} -DBOOST_SIGNALS_NO_DEPRECATION_WARNING")
+#set(IPAACA_CXX_DEFINES "${IPAACA_CXX_DEFINES} -DBOOST_SIGNALS_NO_DEPRECATION_WARNING")
 
-# Compiler defines copied from the old build system
-set(IPAACA_CXX_DEFINES "${IPAACA_CXX_DEFINES} -D_BSD_SOURCE -DUSE_AV -DMGC_USE_DOUBLE -DLEDA_PREFIX -D__NO_CAST_TO_LOCAL_TYPE__ -DDBGLVL=0")
+## Compiler defines copied from the old build system
+#set(IPAACA_CXX_DEFINES "${IPAACA_CXX_DEFINES} -D_DEFAULT_SOURCE -DUSE_AV -DMGC_USE_DOUBLE -DLEDA_PREFIX -D__NO_CAST_TO_LOCAL_TYPE__ -DDBGLVL=0")
 
 # Combine the extra compiler flags
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CXX_OLD_CODE_CONVENIENCE_FLAGS} ${IPAACA_CXX_DEFINES}")
 
-# add for for each new rsb version
-include_directories( ${PROJECT_SOURCE_DIR}/../../deps/include/rsc0.11 )
-include_directories( ${PROJECT_SOURCE_DIR}/../../deps/include/rsb0.11 )
-#include_directories( ${PROJECT_SOURCE_DIR}/../../deps/include/rsc0.10 )
-#include_directories( ${PROJECT_SOURCE_DIR}/../../deps/include/rsb0.10 )
-
 # add include dir for auto-generated headers placed in build/
 include_directories( ${PROJECT_SOURCE_DIR}/build )
 
@@ -137,13 +153,62 @@ include_directories( ${PROJECT_SOURCE_DIR}/include )
 include_directories( ${PROJECT_SOURCE_DIR}/../../deps/include )
 link_directories( ${PROJECT_SOURCE_DIR}/../../deps/lib )
 
+###
+### Back-ends  (will include any and all that are compileable)
+###
+#
+if(WIN32)
+if(MSVC)
+# fixed configuration for Windows
+set(LIBS ${LIBS} "C:\\libs\\mosquitto\\x64\\mosquitto.lib" "C:\\libs\\mosquitto\\x64\\mosquittopp.lib")
+link_directories( "C:\\libs\\mosquitto\\x64" )
+include_directories( "C:\\libs\\mosquitto\\x64\\include" )
+set(BACKEND_SOURCES ${BACKEND_SOURCES} src/ipaaca-backend-mqtt.cc)
+endif(MSVC)
+else()
+# dynamic checks under Unix
+
+# 1: MQTT
+find_library(MOSQUITTO_LIB mosquittopp)
+if(MOSQUITTO_LIB)
+    message(STATUS "=== MQTT backend ===    enabled")
+    set(LIBS ${LIBS} mosquittopp)
+    set(BACKEND_SOURCES ${BACKEND_SOURCES} src/ipaaca-backend-mqtt.cc)
+else()
+    message(STATUS "=== MQTT backend ===    DISABLED (mosquittopp not found)")
+endif()
+
+# 2: ROS
+set (ROSBASE $ENV{ROS_ROOT}/../..)
+find_library(ROSCPP_LIB roscpp PATHS ${ROSBASE})
+if(ROSCPP_LIB)
+    message(STATUS "=== ROS backend ===    enabled")
+    include_directories($ENV{ROS_ROOT}/../../include)
+    link_directories($ENV{ROS_ROOT}/../../lib)
+    set(LIBS ${LIBS} roscpp roscpp_serialization rosconsole)
+    set(BACKEND_SOURCES ${BACKEND_SOURCES} src/ipaaca-backend-ros.cc)
+else()
+    message(STATUS "=== ROS backend ===    DISABLED (roscpp not found)")
+endif()
+
+#
+# Now make sure that at least one of those backends is available
+#
+if(NOT BACKEND_SOURCES)
+    message(SEND_ERROR "\nWill not build IPAACA without any backends!\n")
+endif()
+
+endif() # of Unix block
 
 # specify source files for ipaaca (auto-generated ones are in build/ )
 set (SOURCE
 	src/ipaaca.cc
+        src/ipaaca-config.cc
+        src/ipaaca-converters.cc
+        src/ipaaca-backend.cc
 	src/ipaaca-buffers.cc
-	src/ipaaca-internal.cc
-	src/ipaaca-iuinterface.cc
+	src/ipaaca-initializer.cc
+        src/ipaaca-iuinterface.cc
 	src/ipaaca-ius.cc
 	src/ipaaca-links.cc
 	src/ipaaca-locking.cc
@@ -151,44 +216,78 @@ set (SOURCE
 	src/ipaaca-cmdline-parser.cc
 	src/ipaaca-string-utils.cc
 	src/util/notifier.cc
+        src/b64/b64.cc
 	build/ipaaca/ipaaca.pb.cc
 	)
+set (SOURCE ${SOURCE} ${BACKEND_SOURCES})
 
-set (JSON_TEST_SOURCE
+#set (JSON_TEST_SOURCE
+#	src/ipaaca.cc
+#	src/ipaaca-buffers.cc
+#	src/ipaaca-fake.cc
+#	src/ipaaca-internal.cc
+#	src/ipaaca-iuinterface.cc
+#	src/ipaaca-json.cc    # main
+#	src/ipaaca-locking.cc
+#	src/ipaaca-links.cc
+#	src/ipaaca-payload.cc
+#	src/ipaaca-cmdline-parser.cc
+#	src/ipaaca-string-utils.cc
+#	# more stuff going beyond the fake test case
+#	src/ipaaca-ius.cc
+#	build/ipaaca/ipaaca.pb.cc
+#	)
+#
+set (TESTER_SOURCE
+	src/ipaaca-tester.cc    # main
 	src/ipaaca.cc
+        src/ipaaca-config.cc
+        src/ipaaca-converters.cc
+        src/ipaaca-backend.cc
 	src/ipaaca-buffers.cc
-	src/ipaaca-fake.cc
-	src/ipaaca-internal.cc
+	src/ipaaca-initializer.cc
 	src/ipaaca-iuinterface.cc
-	src/ipaaca-json.cc    # main
-	src/ipaaca-locking.cc
+	src/ipaaca-ius.cc
 	src/ipaaca-links.cc
+	src/ipaaca-locking.cc
 	src/ipaaca-payload.cc
 	src/ipaaca-cmdline-parser.cc
 	src/ipaaca-string-utils.cc
-	# more stuff going beyond the fake test case
-	src/ipaaca-ius.cc
+	src/util/notifier.cc
+        src/b64/b64.cc
 	build/ipaaca/ipaaca.pb.cc
 	)
+set (TESTER_SOURCE ${TESTER_SOURCE} ${BACKEND_SOURCES})
 
-
-
+if(WIN32)
+if(MSVC)
+  if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+    set(CMAKE_INSTALL_PREFIX "C:/Libs/ipaaca/x64")
+  endif()
+endif()
+else()
+  # this is for building with cmake/soa
+  set(CMAKE_INSTALL_PREFIX "")
+endif()
 
 # compile all files to "ipaaca" shared library
 add_library(ipaaca SHARED ${SOURCE})
 # and link all the required external libs (found above using find_package etc.)
 target_link_libraries(ipaaca ${LIBS})
 
-add_executable (ipaaca-test-json ${JSON_TEST_SOURCE})
-target_link_libraries (ipaaca-test-json ${LIBS})
+#add_executable (ipaaca-test-json ${JSON_TEST_SOURCE})
+#target_link_libraries (ipaaca-test-json ${LIBS})
+
+add_executable (ipaaca-tester-cpp ${TESTER_SOURCE})
+target_compile_options (ipaaca-tester-cpp PRIVATE "-DIPAACA_STATIC_BINARY")
+target_link_libraries (ipaaca-tester-cpp ${LIBS})
 
 set(DEFAULT_BIN_SUBDIR bin)
 set(DEFAULT_LIB_SUBDIR lib)
 set(DEFAULT_DATA_SUBDIR share/data)
 set(DEFAULT_INCLUDE_SUBDIR include)
-set(CMAKE_INSTALL_PREFIX "")
 install (
-	TARGETS ipaaca
+	TARGETS ipaaca ipaaca-tester-cpp
 	RUNTIME DESTINATION bin
 	LIBRARY DESTINATION lib
 	ARCHIVE DESTINATION lib
@@ -203,11 +302,4 @@ install(
 	DESTINATION include/ipaaca/
 	)
 
-install (
-	TARGETS ipaaca-test-json
-	RUNTIME DESTINATION bin
-	LIBRARY DESTINATION lib
-	ARCHIVE DESTINATION lib
-	)
-
 

ipaacalib/cpp/build-windows.bat

+@echo off
+md build
+cd build
+md ipaaca
+
+\Users\ryaghoub\Documents\Develop\repo\protobuf\bin\protoc.exe --proto_path=../../proto ../../proto/ipaaca.proto --cpp_out=build/ipaaca/
+
+cmake .. -DBoost_DEBUG:bool=True -DBOOST_LIBRARYDIR:string=C:\Users\ryaghoub\Downloads\boost_1_57_0__built__boost_subdir_moved_to_stage_include\stage\lib -DBoost_USE_STATIC_LIBS=ON -DBoost_USE_MULTITHREADED=ON -DPROTOBUF_ROOT:string=C:\Users\ryaghoub\Documents\Develop\repo\protobuf
+
+msbuild INSTALL.vcxproj
+

ipaacalib/cpp/build.xml

@@ -16,13 +16,16 @@
          <arg value="../proto/ipaaca.proto" />
          <arg value="--cpp_out=build/ipaaca/" />
       </exec>
-   </target>
+  </target>
    <target name="-pre-compilation" depends="-proto-yes,-proto-no" />
    <target name="-compilation" depends="-build-setup, -pre-compilation">
       <!-- echo message="Using temporary RSBProtocol_DIR=${cmake.base.dir}/rsc_tmp/share/rsbprotocol0.10" / -->
       <cmake srcdir="${cmake.base.dir}"
          bindir="${build.dir}"
          buildtype="Debug">
+         <generator name="Visual Studio 14 Win64" platform="windows" buildtype="Release" buildargs="ALL_BUILD.vcxproj">
+             <variable name="CMAKE_INSTALL_PREFIX" type="PATH" value="../${zip.tmp.dir}" />
+         </generator>
          <generator name="Visual Studio 10" platform="windows" buildargs="ALL_BUILD.vcxproj">
              <variable name="CMAKE_INSTALL_PREFIX" type="PATH" value="../${zip.tmp.dir}" />
          </generator>

ipaacalib/cpp/examples/src/example-component.cc

@@ -3,7 +3,7 @@
  *  "Incremental Processing Architecture
  *   for Artificial Conversational Agents".  
  *
- * Copyright (c) 2009-2013 Sociable Agents Group
+ * Copyright (c) 2009-2022 Sociable Agents Group
  *                         CITEC, Bielefeld University   
  *
  * http://opensource.cit-ec.de/projects/ipaaca/

ipaacalib/cpp/include/b64/b64.h

+
+/**
+ * `b64.h' - b64
+ *
+ * copyright (c) 2014 joseph werle
+ */
+
+/*
+From https://github.com/littlstar/b64.c/blob/master/LICENSE :
+
+The MIT License (MIT)
+
+Copyright (c) 2014 Little Star Media, Inc.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+*/
+
+#ifndef B64_H
+#define B64_H 1
+
+// RYT start
+#include <string>
+std::string base64_encode(const std::string& bin);
+std::string base64_decode(const std::string& b64);
+// RYT end
+
+/**
+ *  Memory allocation functions to use. You can define b64_malloc and
+ * b64_realloc to custom functions if you want.
+ */
+
+#ifndef b64_malloc
+#  define b64_malloc(ptr) malloc(ptr)
+#endif
+#ifndef b64_realloc
+#  define b64_realloc(ptr, size) realloc(ptr, size)
+#endif
+
+/**
+ * Base64 index table.
+ */
+
+static const char b64_table[] = {
+  'A', 'B', 'C', 'D', 'E', 'F', 'G', 'H',
+  'I', 'J', 'K', 'L', 'M', 'N', 'O', 'P',
+  'Q', 'R', 'S', 'T', 'U', 'V', 'W', 'X',
+  'Y', 'Z', 'a', 'b', 'c', 'd', 'e', 'f',
+  'g', 'h', 'i', 'j', 'k', 'l', 'm', 'n',
+  'o', 'p', 'q', 'r', 's', 't', 'u', 'v',
+  'w', 'x', 'y', 'z', '0', '1', '2', '3',
+  '4', '5', '6', '7', '8', '9', '+', '/'
+};
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Encode `unsigned char *' source with `size_t' size.
+ * Returns a `char *' base64 encoded string.
+ */
+
+char *
+b64_encode (const unsigned char *, size_t);
+
+/**
+ * Dencode `char *' source with `size_t' size.
+ * Returns a `unsigned char *' base64 decoded string.
+ */
+unsigned char *
+b64_decode (const char *, size_t);
+
+/**
+ * Dencode `char *' source with `size_t' size.
+ * Returns a `unsigned char *' base64 decoded string + size of decoded string.
+ */
+unsigned char *
+b64_decode_ex (const char *, size_t, size_t *);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

ipaacalib/cpp/include/ipaaca/ipaaca-backend-mqtt.h

+/*
+ * This file is part of IPAACA, the
+ *  "Incremental Processing Architecture
+ *   for Artificial Conversational Agents".
+ *
+ * Copyright (c) 2009-2022 Social Cognitive Systems Group
+ *                         (formerly the Sociable Agents Group)
+ *                         CITEC, Bielefeld University
+ *
+ * http://opensource.cit-ec.de/projects/ipaaca/
+ * http://purl.org/net/ipaaca
+ *
+ * This file may be licensed under the terms of of the
+ * GNU Lesser General Public License Version 3 (the ``LGPL''),
+ * or (at your option) any later version.
+ *
+ * Software distributed under the License is distributed
+ * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
+ * express or implied. See the LGPL for the specific language
+ * governing rights and limitations.
+ *
+ * You should have received a copy of the LGPL along with this
+ * program. If not, go to http://www.gnu.org/licenses/lgpl.html
+ * or write to the Free Software Foundation, Inc.,
+ * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The development of this software was supported by the
+ * Excellence Cluster EXC 277 Cognitive Interaction Technology.
+ * The Excellence Cluster EXC 277 is a grant of the Deutsche
+ * Forschungsgemeinschaft (DFG) in the context of the German
+ * Excellence Initiative.
+ */
+
+/**
+ * \file   ipaaca-backend.h
+ *
+ * \brief Header file for abstract backend participant implementation
+ *   (used in the core library and as a base to derive specific backends).
+ *
+ * Users should not include this file directly, but use ipaaca.h
+ *
+ * \b Note: This file is only included during compilation of ipaaca,
+ * for regular use, the full internal API is not exposed.
+ * Users generally need never touch the internal transport layer.
+ *
+ * \author Ramin Yaghoubzadeh Torky (ryaghoubzadeh@uni-bielefeld.de)
+ * \date   January, 2019
+ */
+
+#ifndef __ipaaca_backend_mqtt_h_INCLUDED__
+#define __ipaaca_backend_mqtt_h_INCLUDED__
+
+#ifndef __ipaaca_h_INCLUDED__
+#error "Please do not include this file directly, use ipaaca.h instead"
+#endif
+
+}
+// Backend-specific include[s]
+#include <mosquittopp.h>
+namespace ipaaca {
+
+#define _MQTT_REMOTE_SERVER_MAX_QUEUED_REQUESTS 0
+
+namespace backend {
+namespace mqtt {
+
+//
+// START of backend-specific implementation
+//
+// here: MQTT
+
+// helper to encapsulate a wait-until-live mechanism
+//  you can take this for other backends and adopt the friend class name
+class ParticipantCore {
+    friend class MQTTBackEnd;
+    protected:
+        IPAACA_MEMBER_VAR_EXPORT std::condition_variable _condvar;
+        IPAACA_MEMBER_VAR_EXPORT std::mutex _condvar_mutex;
+        IPAACA_MEMBER_VAR_EXPORT bool _running;
+        IPAACA_MEMBER_VAR_EXPORT bool _live;
+    protected:
+        IPAACA_HEADER_EXPORT ParticipantCore();
+        IPAACA_HEADER_EXPORT void signal_live();
+        IPAACA_HEADER_EXPORT bool wait_live(long timeout_milliseconds = 15000);
+};
+
+class MQTTParticipant: public ParticipantCore, public mosqpp::mosquittopp {
+    public:
+        typedef std::shared_ptr<MQTTParticipant> ptr;
+    protected:
+        IPAACA_MEMBER_VAR_EXPORT std::string _scope;
+        IPAACA_MEMBER_VAR_EXPORT std::string _client_id;
+        IPAACA_MEMBER_VAR_EXPORT std::string host;
+        IPAACA_MEMBER_VAR_EXPORT int port;
+        IPAACA_MEMBER_VAR_EXPORT int keepalive;
+    public:
+        IPAACA_HEADER_EXPORT MQTTParticipant(const MQTTParticipant& orig) = delete; // forbid copy-construction for backend
+        IPAACA_HEADER_EXPORT inline virtual ~MQTTParticipant() { }
+        IPAACA_HEADER_EXPORT MQTTParticipant(const std::string& client_id, const std::string& scope, Config::ptr config = nullptr);
+        IPAACA_HEADER_EXPORT void connect_and_background();
+        IPAACA_HEADER_EXPORT virtual void on_error();
+        IPAACA_HEADER_EXPORT virtual void on_disconnect(int rc);
+        IPAACA_HEADER_EXPORT static int get_next_mid();
+        /* // available mosquittopp callbacks:
+        virtual void on_connect(int rc) {return;}
+        virtual void on_disconnect(int rc) {return;}
+        virtual void on_publish(int mid) {return;}
+        virtual void on_message(const struct mosquitto_message * message) {return;}
+        virtual void on_subscribe(int mid, int qos_count, const int * granted_qos) {return;}
+        virtual void on_unsubscribe(int mid) {return;}
+        virtual void on_log(int level, const char * str) {return;}
+        virtual void on_error() {return;}
+        */
+};
+
+class MQTTInformer: public MQTTParticipant, public Informer {
+    public:
+        typedef std::shared_ptr<MQTTInformer> ptr;
+    protected:
+        IPAACA_MEMBER_VAR_EXPORT std::string _client_id;
+    public:
+        IPAACA_HEADER_EXPORT MQTTInformer(const std::string& client_id, const std::string& scope, Config::ptr config = nullptr);
+        IPAACA_HEADER_EXPORT virtual void on_connect(int rc);
+        IPAACA_HEADER_EXPORT virtual bool internal_publish(const std::string& wire);
+};
+
+class MQTTListener: public MQTTParticipant, public Listener {
+    public:
+        typedef std::shared_ptr<MQTTListener> ptr;
+    public:
+        IPAACA_HEADER_EXPORT MQTTListener(const std::string& client_id, const std::string& scope, InputBuffer* buffer_ptr, Config::ptr config = nullptr);
+        IPAACA_HEADER_EXPORT virtual void on_connect(int rc);
+        IPAACA_HEADER_EXPORT virtual void on_subscribe(int mid, int qos_count, const int * granted_qos);
+        IPAACA_HEADER_EXPORT virtual void on_message(const struct mosquitto_message * message);
+};
+
+class MQTTLocalServer: public MQTTParticipant, public LocalServer {
+    public:
+        typedef std::shared_ptr<MQTTLocalServer> ptr;
+    protected:
+        IPAACA_HEADER_EXPORT void send_result_for_request(const std::string& request_endpoint, const std::string& request_uid, int64_t result);
+    public:
+        IPAACA_HEADER_EXPORT MQTTLocalServer(const std::string& client_id, const std::string& scope, ipaaca::OutputBuffer* buffer_ptr, Config::ptr config = nullptr);
+        IPAACA_HEADER_EXPORT virtual void on_connect(int rc);
+        IPAACA_HEADER_EXPORT virtual void on_subscribe(int mid, int qos_count, const int * granted_qos);
+        IPAACA_HEADER_EXPORT virtual void on_message(const struct mosquitto_message * message);
+};
+
+class MQTTRemoteServer: public MQTTParticipant, public RemoteServer {
+    public:
+        typedef std::shared_ptr<RemoteServer> ptr;
+    protected:
+        IPAACA_MEMBER_VAR_EXPORT std::map<std::string, PendingRequest::ptr> _pending_requests;
+        IPAACA_MEMBER_VAR_EXPORT ipaaca::Lock _pending_requests_lock;
+        IPAACA_MEMBER_VAR_EXPORT std::string _remote_end_scope; // this is the actual important scope,
+            // MQTTParticipant::_scope is repurposed here for receiving replies
+        IPAACA_MEMBER_VAR_EXPORT std::string _name; // using this (unique) auto-generated name
+    public:
+        IPAACA_HEADER_EXPORT MQTTRemoteServer(const std::string& client_id, const std::string& scope, Config::ptr config = nullptr);
+        IPAACA_HEADER_EXPORT int64_t request_remote_payload_update(std::shared_ptr<IUPayloadUpdate> update);
+        IPAACA_HEADER_EXPORT int64_t request_remote_link_update(std::shared_ptr<IULinkUpdate> update);
+        IPAACA_HEADER_EXPORT int64_t request_remote_commission(std::shared_ptr<protobuf::IUCommission> update);
+        IPAACA_HEADER_EXPORT int64_t request_remote_resend_request(std::shared_ptr<protobuf::IUResendRequest> update);
+        IPAACA_HEADER_EXPORT virtual void on_connect(int rc);
+        IPAACA_HEADER_EXPORT virtual void on_subscribe(int mid, int qos_count, const int * granted_qos);
+        IPAACA_HEADER_EXPORT virtual void on_message(const struct mosquitto_message * message);
+        IPAACA_HEADER_EXPORT PendingRequest::ptr queue_pending_request(Event::ptr request);
+        IPAACA_HEADER_EXPORT int64_t blocking_call(Event::ptr request);
+};
+
+
+class MQTTBackEnd: public BackEnd
+{
+    public:
+        typedef std::shared_ptr<MQTTBackEnd> ptr;
+        friend class BackEndLibrary;
+    protected:
+        IPAACA_HEADER_EXPORT MQTTBackEnd();
+    public:
+        IPAACA_HEADER_EXPORT static BackEnd::ptr get();
+        IPAACA_HEADER_EXPORT void teardown();
+        IPAACA_HEADER_EXPORT Informer::ptr createInformer(const std::string& scope);
+        IPAACA_HEADER_EXPORT Listener::ptr createListener(const std::string& scope, InputBuffer* buf);
+        IPAACA_HEADER_EXPORT LocalServer::ptr createLocalServer(const std::string& scope, OutputBuffer* buf);
+        IPAACA_HEADER_EXPORT RemoteServer::ptr createRemoteServer(const std::string& scope);
+        IPAACA_HEADER_EXPORT inline std::string make_valid_scope(const std::string& scope) override { return scope; }
+};
+
+} // of namespace mqtt
+} // of namespace backend
+
+#endif // of __ipaaca_backend_mqtt_h_INCLUDED__

ipaacalib/cpp/include/ipaaca/ipaaca-backend-ros.h

+/*
+ * This file is part of IPAACA, the
+ *  "Incremental Processing Architecture
+ *   for Artificial Conversational Agents".
+ *
+ * Copyright (c) 2009-2022 Social Cognitive Systems Group
+ *                         (formerly the Sociable Agents Group)
+ *                         CITEC, Bielefeld University
+ *
+ * http://opensource.cit-ec.de/projects/ipaaca/
+ * http://purl.org/net/ipaaca
+ *
+ * This file may be licensed under the terms of of the
+ * GNU Lesser General Public License Version 3 (the ``LGPL''),
+ * or (at your option) any later version.
+ *
+ * Software distributed under the License is distributed
+ * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
+ * express or implied. See the LGPL for the specific language
+ * governing rights and limitations.
+ *
+ * You should have received a copy of the LGPL along with this
+ * program. If not, go to http://www.gnu.org/licenses/lgpl.html
+ * or write to the Free Software Foundation, Inc.,
+ * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The development of this software was supported by the
+ * Excellence Cluster EXC 277 Cognitive Interaction Technology.
+ * The Excellence Cluster EXC 277 is a grant of the Deutsche
+ * Forschungsgemeinschaft (DFG) in the context of the German
+ * Excellence Initiative.
+ */
+
+/**
+ * \file   ipaaca-backend.h
+ *
+ * \brief Header file for abstract backend participant implementation
+ *   (used in the core library and as a base to derive specific backends).
+ *
+ * Users should not include this file directly, but use ipaaca.h
+ *
+ * \b Note: This file is only included during compilation of ipaaca,
+ * for regular use, the full internal API is not exposed.
+ * Users generally need never touch the internal transport layer.
+ *
+ * \author Ramin Yaghoubzadeh Torky (ryaghoubzadeh@uni-bielefeld.de)
+ * \date   January, 2019
+ */
+
+#ifndef __ipaaca_backend_ros_h_INCLUDED__
+#define __ipaaca_backend_ros_h_INCLUDED__
+
+#ifndef __ipaaca_h_INCLUDED__
+#error "Please do not include this file directly, use ipaaca.h instead"
+#endif
+
+}
+// Backend-specific include[s]
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+namespace ipaaca {
+
+#define _ROS_REMOTE_SERVER_MAX_QUEUED_REQUESTS 0
+
+namespace backend {
+namespace ros {
+
+//
+// START of backend-specific implementation
+//
+// here: ROS
+
+// helper to encapsulate a wait-until-live mechanism
+//  you can take this for other backends and adopt the friend class name
+class ParticipantCore {
+    friend class ROSBackEnd;
+    protected:
+        IPAACA_MEMBER_VAR_EXPORT std::condition_variable _condvar;
+        IPAACA_MEMBER_VAR_EXPORT std::mutex _condvar_mutex;
+        IPAACA_MEMBER_VAR_EXPORT bool _running;
+        IPAACA_MEMBER_VAR_EXPORT bool _live;
+    protected:
+        IPAACA_HEADER_EXPORT ParticipantCore();
+        IPAACA_HEADER_EXPORT void signal_live();
+        IPAACA_HEADER_EXPORT bool wait_live(long timeout_milliseconds = 15000);
+};
+
+class ROSParticipant: public ParticipantCore {
+    public:
+        typedef std::shared_ptr<ROSParticipant> ptr;
+    protected:
+        IPAACA_MEMBER_VAR_EXPORT std::string _scope;
+        IPAACA_MEMBER_VAR_EXPORT std::string host;
+        IPAACA_MEMBER_VAR_EXPORT int port;
+        IPAACA_MEMBER_VAR_EXPORT int keepalive;
+    protected:
+        // a pointer; odd, but see the ROSBackEnd constructor & destructor
+        ::ros::NodeHandle* _node_handle;
+    public:
+        IPAACA_HEADER_EXPORT ROSParticipant(const ROSParticipant& orig) = delete; // forbid copy-construction for backend
+        IPAACA_HEADER_EXPORT inline virtual ~ROSParticipant() { }
+        IPAACA_HEADER_EXPORT ROSParticipant(::ros::NodeHandle* node, const std::string& scope, Config::ptr config = nullptr);
+};
+
+class ROSInformer: public ROSParticipant, public Informer {
+    public:
+        typedef std::shared_ptr<ROSInformer> ptr;
+    protected:
+        ::ros::Publisher _ros_pub;
+    public:
+        IPAACA_HEADER_EXPORT ROSInformer(::ros::NodeHandle* node, const std::string& scope, Config::ptr config = nullptr);
+        IPAACA_HEADER_EXPORT virtual bool internal_publish(const std::string& wire);
+};
+
+class ROSListener: public ROSParticipant, public Listener {
+    public:
+        typedef std::shared_ptr<ROSListener> ptr;
+    protected:
+        IPAACA_MEMBER_VAR_EXPORT ::ros::Subscriber _ros_sub;
+    public:
+        IPAACA_HEADER_EXPORT ROSListener(::ros::NodeHandle* node, const std::string& scope, InputBuffer* buffer_ptr, Config::ptr config = nullptr);
+        IPAACA_HEADER_EXPORT virtual void on_message(const std_msgs::String::ConstPtr& msg);
+};
+
+class ROSLocalServer: public ROSParticipant, public LocalServer {
+    public:
+        typedef std::shared_ptr<ROSLocalServer> ptr;
+    protected:
+        IPAACA_MEMBER_VAR_EXPORT ::ros::Subscriber _ros_sub;
+        IPAACA_MEMBER_VAR_EXPORT std::map<std::string, ::ros::Publisher> _ros_pubs;
+    protected:
+        IPAACA_HEADER_EXPORT void send_result_for_request(const std::string& request_endpoint, const std::string& request_uid, int64_t result);
+        IPAACA_HEADER_EXPORT ::ros::Publisher get_publisher(const std::string& endpoint);
+    public:
+        IPAACA_HEADER_EXPORT ROSLocalServer(::ros::NodeHandle* node, const std::string& scope, ipaaca::OutputBuffer* buffer_ptr, Config::ptr config = nullptr);
+        IPAACA_HEADER_EXPORT virtual void on_message(const std_msgs::String::ConstPtr& msg);
+};
+
+class ROSRemoteServer: public ROSParticipant, public RemoteServer {
+    public:
+        typedef std::shared_ptr<RemoteServer> ptr;
+    protected:
+        IPAACA_MEMBER_VAR_EXPORT std::map<std::string, PendingRequest::ptr> _pending_requests;
+        IPAACA_MEMBER_VAR_EXPORT ipaaca::Lock _pending_requests_lock;
+        IPAACA_MEMBER_VAR_EXPORT std::string _remote_end_scope; // this is the actual important scope,
+            // ROSParticipant::_scope is repurposed here for receiving replies
+        IPAACA_MEMBER_VAR_EXPORT std::string _name; // using this (unique) auto-generated name
+        IPAACA_MEMBER_VAR_EXPORT ::ros::Subscriber _ros_sub;
+        IPAACA_MEMBER_VAR_EXPORT ::ros::Publisher _ros_pub;
+    public:
+        IPAACA_HEADER_EXPORT ROSRemoteServer(::ros::NodeHandle* node, const std::string& scope, Config::ptr config = nullptr);
+        IPAACA_HEADER_EXPORT int64_t request_remote_payload_update(std::shared_ptr<IUPayloadUpdate> update);
+        IPAACA_HEADER_EXPORT int64_t request_remote_link_update(std::shared_ptr<IULinkUpdate> update);
+        IPAACA_HEADER_EXPORT int64_t request_remote_commission(std::shared_ptr<protobuf::IUCommission> update);
+        IPAACA_HEADER_EXPORT int64_t request_remote_resend_request(std::shared_ptr<protobuf::IUResendRequest> update);
+        IPAACA_HEADER_EXPORT PendingRequest::ptr queue_pending_request(Event::ptr request);
+        IPAACA_HEADER_EXPORT int64_t blocking_call(Event::ptr request);
+        IPAACA_HEADER_EXPORT virtual void on_message(const std_msgs::String::ConstPtr& msg);
+};
+
+
+class ROSBackEnd: public BackEnd
+{
+    public:
+        typedef std::shared_ptr<ROSBackEnd> ptr;
+        friend class BackEndLibrary;
+    protected:
+        bool _need_init;
+        char* _cfakename;
+        ::ros::NodeHandle* _node_handle;
+        ::ros::AsyncSpinner* _spinner;
+    protected:
+        IPAACA_HEADER_EXPORT ROSBackEnd();
+    public:
+        IPAACA_HEADER_EXPORT static BackEnd::ptr get();
+        IPAACA_HEADER_EXPORT void teardown();
+        IPAACA_HEADER_EXPORT void init_once();
+        IPAACA_HEADER_EXPORT Informer::ptr createInformer(const std::string& scope);
+        IPAACA_HEADER_EXPORT Listener::ptr createListener(const std::string& scope, InputBuffer* buf);
+        IPAACA_HEADER_EXPORT LocalServer::ptr createLocalServer(const std::string& scope, OutputBuffer* buf);
+        IPAACA_HEADER_EXPORT RemoteServer::ptr createRemoteServer(const std::string& scope);
+        IPAACA_HEADER_EXPORT inline std::string make_valid_scope(const std::string& scope) override {
+            // strip the leading slash for the ROS node name (removing this
+            // extra rule would lead to a global (non-movable) namespace
+            if (scope.length() && (scope[0] == '/')) return scope.substr(1);
+            else return scope;
+        }
+};
+
+} // of namespace ros
+} // of namespace backend
+
+#endif // of __ipaaca_backend_ros_h_INCLUDED__

ipaacalib/cpp/include/ipaaca/ipaaca-backend.h

+/*
+ * This file is part of IPAACA, the
+ *  "Incremental Processing Architecture
+ *   for Artificial Conversational Agents".
+ *
+ * Copyright (c) 2009-2022 Social Cognitive Systems Group
+ *                         (formerly the Sociable Agents Group)
+ *                         CITEC, Bielefeld University
+ *
+ * http://opensource.cit-ec.de/projects/ipaaca/
+ * http://purl.org/net/ipaaca
+ *
+ * This file may be licensed under the terms of of the
+ * GNU Lesser General Public License Version 3 (the ``LGPL''),
+ * or (at your option) any later version.
+ *
+ * Software distributed under the License is distributed
+ * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
+ * express or implied. See the LGPL for the specific language
+ * governing rights and limitations.
+ *
+ * You should have received a copy of the LGPL along with this
+ * program. If not, go to http://www.gnu.org/licenses/lgpl.html
+ * or write to the Free Software Foundation, Inc.,
+ * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The development of this software was supported by the
+ * Excellence Cluster EXC 277 Cognitive Interaction Technology.
+ * The Excellence Cluster EXC 277 is a grant of the Deutsche
+ * Forschungsgemeinschaft (DFG) in the context of the German
+ * Excellence Initiative.
+ */
+
+/**
+ * \file   ipaaca-backend.h
+ *
+ * \brief Header file for abstract backend participant implementation
+ *   (used in the core library and as a base to derive specific backends).
+ *
+ * Users should not include this file directly, but use ipaaca.h
+ *
+ * \b Note: This file is only included during compilation of ipaaca,
+ * for regular use, the full internal API is not exposed.
+ * Users generally need never touch the internal transport layer.
+ *
+ * \author Ramin Yaghoubzadeh Torky (ryaghoubzadeh@uni-bielefeld.de)
+ * \date   December, 2018
+ */
+
+#ifndef __ipaaca_backend_h_INCLUDED__
+#define __ipaaca_backend_h_INCLUDED__
+
+#ifndef __ipaaca_h_INCLUDED__
+#error "Please do not include this file directly, use ipaaca.h instead"
+#endif
+
+namespace backend {
+
+#if _WIN32 || _WIN64
+inline std::string generate_client_id()
+{
+    // '-' not allowed e.g. in ROS
+    std::string uuid = ipaaca::generate_uuid_string().substr(0,8);
+    return uuid;
+}
+#else
+// get simplified basename of the process name from /proc
+//  (we could also decide to route argv here instead)
+inline std::string get_simplified_process_name()
+{
+    std::fstream fs;
+    fs.open("/proc/self/cmdline", std::fstream::in);
+    if (!fs.is_open()) {
+        IPAACA_DEBUG("Could not open /proc/self/cmdline")
+        return "ipaaca_cpp";
+    }
+    std::string line;
+    std::vector<std::string> tokens;
+    if (!std::getline(fs, line)) {
+        IPAACA_DEBUG("Failed to read a line from /proc/self/cmdline")
+        fs.close();
+        return "ipaaca_cpp";
+    }
+    fs.close();
+    int cnt = ipaaca::str_split_append(line, tokens, "\000");
+    if (cnt < 1) {
+        IPAACA_DEBUG("Failed to get process name from /proc/self/cmdline")
+        return "ipaaca_cpp";
+    }
+    line = tokens[0];
+    cnt = ipaaca::str_split_wipe(line, tokens, "/");
+    if (cnt < 1) {
+        IPAACA_DEBUG("Failed to parse process name in /proc/self/cmdline")
+        return "ipaaca_cpp";
+    }
+    std::string procname;
+    line = tokens[cnt-1];
+    for (auto ch: line) {
+        if ((ch>='a' && ch<='z') || (ch>='A' && ch<='Z') || (ch>='0' && ch<='9') || (ch=='_')) {
+            procname += ch;
+        } else if (ch=='-' || ch=='.' || ch==' ') {
+            procname += '_';
+        }
+    }
+    if (procname=="") {
+        IPAACA_DEBUG("Only unacceptable characters in process name from /proc/self/cmdline")
+        return "ipaaca_cpp";
+    } else {
+        return procname;
+    }
+}
+inline std::string generate_client_id()
+{
+    //std::stringstream ss;
+    //ss << "Process_" << getpid() << "_ClientID_" << ipaaca::generate_uuid_string();
+    //return ss.str();
+    std::string uuid = get_simplified_process_name() + "_" + ipaaca::generate_uuid_string().substr(0,8);
+    return uuid;
+}
+#endif
+
+/*
+ * class Scope {
+    public:
+        std::string scope_string;
+        Scope(const std::string& sc): scope_string(sc) {}
+        Scope(const Scope& scope): scope_string(scope.scope_string) {}
+        inline operator std::string() const { return scope_string; }
+};
+*/
+
+// RSB-like wrapper for {wire type; void ref to deserialized obj}
+//  to avoid modifying the event handling side.
+class Event {
+    public:
+        typedef std::shared_ptr<Event> ptr;
+    protected:
+        std::string _type;
+        std::shared_ptr<void> _data;
+    public:
+        inline Event(const std::string& type, std::shared_ptr<void> data): _type(type), _data(data) { }
+        inline std::string getType() const { return _type; }
+        inline std::shared_ptr<void> getData() const { return _data; }
+};
+
+
+class PendingRequest {
+    /** Encapsulation of a pending remote request with
+    a facility to keep the requesting thread locked
+    until the reply or a timeout unlocks it. */
+    public:
+        typedef std::shared_ptr<PendingRequest> ptr;
+    protected:
+        Event::ptr _pending_request;
+        std::condition_variable _condvar;
+        std::mutex _condvar_mutex;
+        // block var
+    public:
+        std::string _request_uid;
+        int _result;
+    public:
+        inline PendingRequest(Event::ptr req) {
+            std::string uuid = ipaaca::generate_uuid_string();
+            _request_uid = uuid.substr(0,8);
+            _pending_request = req;
+            _result = -1;
+        }
+        /// reply_with_result is called by the backend when a remote request reply has been received (and it was a known tracked request)
+        inline void reply_with_result(int result) {
+            _result = result;
+            _condvar.notify_one(); // wake up the waiting thread
+        };
+        /// wait_for_reply is called internally by the user thread that attempts to modify remote IUs, it waits until the remote end replies
+        inline int wait_for_reply(long timeout_milliseconds = 30000) {
+            std::unique_lock<std::mutex> lock(_condvar_mutex);
+            // the remote end will set the result >=0 (from the other thread), which suffices to continue
+            auto success = _condvar.wait_for(lock, std::chrono::milliseconds(timeout_milliseconds), [this]{return this->_result >= 0;});
+            if (!success) {
+                IPAACA_ERROR("Request timeout: we did not receive a reply for a remote server request")
+                // TODO could throw instead
+            }
+            return _result;
+        }
+};
+
+//
+// Abstract interface
+//
+
+class Informer {
+    public:
+        typedef std::shared_ptr<Informer> ptr;
+    protected:
+        std::string _client_id;
+    public:
+        IPAACA_HEADER_EXPORT inline virtual ~Informer() { }
+        template<typename Data> IPAACA_HEADER_EXPORT inline bool publish(Data d) { return internal_publish(ipaaca::converters::internal_serialize(d)); }
+    public:
+        //
+        // You MUST override these functions in the backend versions:
+        //
+        IPAACA_HEADER_EXPORT virtual bool internal_publish(const std::string& wire) { IPAACA_ERROR("Attempt to invoke abstract version of Informer::internal_publish"); throw NotImplementedError(); }
+};
+/*
+IPAACA_HEADER_EXPORT virtual bool publish(ipaaca::IU::ptr) = 0;
+IPAACA_HEADER_EXPORT virtual bool publish(ipaaca::Message::ptr) = 0;
+IPAACA_HEADER_EXPORT virtual bool publish(ipaaca::IUPayloadUpdate::ptr) = 0;
+IPAACA_HEADER_EXPORT virtual bool publish(ipaaca::IULinkUpdate::ptr) = 0;
+IPAACA_HEADER_EXPORT virtual bool publish(std::shared_ptr<protobuf::RemoteRequestResult>) = 0;
+IPAACA_HEADER_EXPORT virtual bool publish(std::shared_ptr<protobuf::IURetraction>) = 0;
+IPAACA_HEADER_EXPORT virtual bool publish(std::shared_ptr<protobuf::IUCommission>) = 0;
+IPAACA_HEADER_EXPORT virtual bool publish(std::shared_ptr<protobuf::IUResendRequest>) = 0;
+IPAACA_HEADER_EXPORT virtual bool publish(std::shared_ptr<protobuf::IUPayloadUpdateRequest>) = 0;
+IPAACA_HEADER_EXPORT virtual bool publish(std::shared_ptr<protobuf::IULinkUpdateRequest>) = 0;
+IPAACA_HEADER_EXPORT virtual bool publish(std::shared_ptr<protobuf::IUCommissionRequest>
+*/
+
+class Listener {
+    public:
+        typedef std::shared_ptr<Listener> ptr;
+    protected:
+        ipaaca::InputBuffer* _buffer;
+    protected:
+        Listener(ipaaca::InputBuffer* buffer): _buffer(buffer) { }
+    public:
+        IPAACA_HEADER_EXPORT inline virtual ~Listener() { }
+        //inline Listener(const Scope& scope, InputBuffer* buffer_ptr, Config::ptr config = nullptr)) {}
+        void relay_received_event_to_buffer(Event::ptr event);
+        void relay_received_event_to_buffer_threaded(Event::ptr event);
+};
+
+class LocalServer {
+    public:
+        typedef std::shared_ptr<LocalServer> ptr;
+    protected:
+        ipaaca::OutputBuffer* _buffer;
+    protected:
+        LocalServer(ipaaca::OutputBuffer* buffer): _buffer(buffer) { }
+    public:
+        //inline LocalServer(const Scope& scope, ipaaca::OutputBuffer* buffer_ptr, Config::ptr config = nullptr): _buffer(buffer_ptr);
+        IPAACA_HEADER_EXPORT inline virtual ~LocalServer() { }
+        //IPAACA_HEADER_EXPORT virtual int64_t attempt_to_apply_remote_payload_update(std::shared_ptr<IUPayloadUpdate> update) = 0;
+        //IPAACA_HEADER_EXPORT virtual int64_t attempt_to_apply_remote_link_update(std::shared_ptr<IULinkUpdate> update) = 0;
+        //IPAACA_HEADER_EXPORT virtual int64_t attempt_to_apply_remote_commission(std::shared_ptr<protobuf::IUCommission> update) = 0;
+        //IPAACA_HEADER_EXPORT virtual int64_t attempt_to_apply_remote_resend_request(std::shared_ptr<protobuf::IUResendRequest> update) = 0;
+        IPAACA_HEADER_EXPORT int64_t attempt_to_apply_remote_payload_update(std::shared_ptr<IUPayloadUpdate> update);
+        IPAACA_HEADER_EXPORT int64_t attempt_to_apply_remote_link_update(std::shared_ptr<IULinkUpdate> update);
+        IPAACA_HEADER_EXPORT int64_t attempt_to_apply_remote_commission(std::shared_ptr<protobuf::IUCommission> update);
+        IPAACA_HEADER_EXPORT int64_t attempt_to_apply_remote_resend_request(std::shared_ptr<protobuf::IUResendRequest> update);
+
+};
+
+class RemoteServer {
+    public:
+        typedef std::shared_ptr<RemoteServer> ptr;
+    public:
+        //inline RemoteServer(const Scope& scope, Config::ptr config = nullptr) {
+        //}
+        IPAACA_HEADER_EXPORT inline virtual ~RemoteServer() { }
+        IPAACA_HEADER_EXPORT virtual int64_t request_remote_payload_update(std::shared_ptr<IUPayloadUpdate> update) = 0;
+        IPAACA_HEADER_EXPORT virtual int64_t request_remote_link_update(std::shared_ptr<IULinkUpdate> update) = 0;
+        IPAACA_HEADER_EXPORT virtual int64_t request_remote_commission(std::shared_ptr<protobuf::IUCommission> update) = 0;
+        IPAACA_HEADER_EXPORT virtual int64_t request_remote_resend_request(std::shared_ptr<protobuf::IUResendRequest> update) = 0;
+};
+
+class BackEnd {
+    public:
+        typedef std::shared_ptr<BackEnd> ptr;
+    protected:
+        std::string _backend_name;
+    public:
+        BackEnd(std::string backend_name): _backend_name(backend_name) { }
+        inline std::string name() const { return _backend_name; }
+        virtual ~BackEnd() {}
+        virtual void teardown() = 0;
+        virtual LocalServer::ptr createLocalServer(const std::string& scope, OutputBuffer* buf) = 0;
+        virtual Informer::ptr createInformer(const std::string& scope) = 0;
+        virtual RemoteServer::ptr createRemoteServer(const std::string& scope) = 0;
+        virtual Listener::ptr createListener(const std::string& scope, InputBuffer* buf) = 0;
+        virtual std::string make_valid_scope(const std::string& scope) = 0;
+};
+
+class BackEndLibrary {
+    public:
+        typedef std::shared_ptr<BackEndLibrary> ptr;
+    protected:
+        std::map<std::string, BackEnd::ptr> _backends;
+    public:
+        BackEndLibrary() { }
+        inline static BackEndLibrary::ptr get() {
+            static BackEndLibrary::ptr lib;
+            if (!lib) {
+                lib = std::make_shared<BackEndLibrary>();
+            }
+            return lib;
+        }
+        inline bool register_backend(BackEnd::ptr backend) {
+            if (_backends.count(backend->name())) {
+                IPAACA_ERROR("Not registering another BackEnd with already known name: " << backend->name())
+                return false;
+            } else {
+                _backends[backend->name()] = backend;
+                return true;
+            }
+        }
+        inline BackEnd::ptr get_default_backend() {
+            static BackEnd::ptr _singleton;
+            if (_singleton) return _singleton;
+            if (_backends.size() == 0) {
+                IPAACA_ERROR("No backends are registered inside the library - cannot continue")
+                throw BackEndNotFoundError();
+            }
+            std::string preferred_backend = get_global_config()->get_with_default<std::string>("backend", "");
+            if (preferred_backend != "") {
+                if (_backends.count(preferred_backend)) {
+                    _singleton = _backends[preferred_backend];
+                } else {
+                    IPAACA_ERROR("Failed to initialize the selected BackEnd " << preferred_backend)
+                    throw BackEndNotFoundError();
+                }
+            } else {
+                // just return the first value // FIXME config or clean precedence rule
+                for (auto kv: _backends) {
+                    IPAACA_WARNING("No 'backend' config found, selecting BackEnd " << kv.second->name())
+                    _singleton = kv.second;
+                    break;
+                }
+            }
+            if (_singleton) return _singleton;
+            throw BackEndNotFoundError(); // should not be reached; silence warnings
+        }
+};
+
+inline BackEnd::ptr get_default_backend() {
+    return BackEndLibrary::get()->get_default_backend();
+}
+
+
+} // of namespace backend
+
+
+#endif
+