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  • scs/ipaaca
  • ramin.yaghoubzadeh/ipaaca
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with 1981 additions and 489 deletions
docs/skizze-hendrik.pdf → docs/notes/skizze-hendrik.pdf
View file @ 460357ca
File moved
docs/patches/python-paho-mqtt-preventConnectionLockup-RYT.patch 0 → 100644
View file @ 460357ca
--- 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
View file @ 460357ca
......@@ -3,19 +3,20 @@ 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 )
#set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/../../deps/share/rsc0.10/cmake/Modules )
if(WIN32) # Check if we are on Windows
if(MSVC) # Check if we are using the Visual Studio compiler
......@@ -35,58 +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-0.10.0-win32/include/rsc0.10 )
include_directories( ${PROJECT_SOURCE_DIR}/../../../rsx/RSB-0.10.2-win32/include/rsb0.10 )
link_directories( ${PROJECT_SOURCE_DIR}/../../../rsx/RSC-0.10.0-win32/lib )
link_directories( ${PROJECT_SOURCE_DIR}/../../../rsx/RSB-0.10.2-win32/lib )
set(RSBLIBS rsc0.10 rsb)
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})
### (First attempts to fix linking problem:)
##list(REMOVE_ITEM Boost_LIBRARIES boost_thread-vc100-mt-gd-1_54)
##set(Boost_LIBRARIES boost_regex-vc100-mt-gd-1_54 boost_date_time-vc100-mt-gd-1_54 boost_program_options-vc100-mt-gd-1_54 boost_filesystem-vc100-mt-gd-1_54 boost_signals-vc100-mt-gd-1_54 boost_system-vc100-mt-gd-1_54)
# 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})
#include_directories( ${PROJECT_SOURCE_DIR}/../../../rsx/boost/include/boost-1_54 )
#link_directories( ${PROJECT_SOURCE_DIR}/../../../rsx/boost/lib )
## 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})
#include_directories( ${PROJECT_SOURCE_DIR}/../../../rsx/RSC-0.10.0-win32/include/rsc0.10 )
#include_directories( ${PROJECT_SOURCE_DIR}/../../../rsx/RSB-0.10.2-win32/include/rsb0.10 )
#include_directories( ${PROJECT_SOURCE_DIR}/../../../rsx/protobuf/include )
#link_directories( ${PROJECT_SOURCE_DIR}/../../../rsx/RSC-0.10.0-win32/lib )
#link_directories( ${PROJECT_SOURCE_DIR}/../../../rsx/RSB-0.10.2-win32/lib )
#link_directories( ${PROJECT_SOURCE_DIR}/../../../rsx/protobuf/bin )
# Using custom Protobuf script (from rsc) because it honors PROTOBUF_ROOT
#find_package(ProtocolBuffers REQUIRED PATHS "\\Libs\\protobuf")
#link_directories(${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" ${CompilerFlag} "${${CompilerFlag}}")
endforeach()
else()
message(SEND_ERROR "Unsupported compiler! Please build with MSVC (2010).")
message(SEND_ERROR "Unsupported compiler! Please build with MSVC++ 19.x (Visual Studio 2017).")
endif()
else()
#
......@@ -94,7 +84,7 @@ else()
# Setup section for Linux or OS X (using 'rsb' soa project)
#
#
find_package(Boost COMPONENTS system filesystem thread regex signals REQUIRED)
find_package(Boost COMPONENTS system filesystem thread regex REQUIRED)
link_directories(${Boost_LIBRARY_DIRS})
include_directories(${Boost_INCLUDE_DIRS})
#set(BOOSTLIBS boost_regex-mt boost_date_time-mt boost_program_options-mt boost_thread-mt boost_filesystem-mt boost_signals-mt boost_system-mt)
......@@ -103,12 +93,21 @@ else()
link_directories(${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 ...)
......@@ -122,24 +121,29 @@ else()
endif(DEFINED APPLE)
endif(WIN32)
set(LIBS ${LIBS} ${PROTOBUF_LIBRARY} ${Boost_LIBRARIES})
set(LIBS ${LIBS} ${PROTOBUF_LIBRARY} ${Boost_LIBRARIES} ${RSBLIBS})
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 )
......@@ -149,13 +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
......@@ -163,43 +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 ${LIBS})
set(DEFAULT_BIN_SUBDIR bin)
set(DEFAULT_LIB_SUBDIR lib)
set(DEFAULT_DATA_SUBDIR share/data)
set(DEFAULT_INCLUDE_SUBDIR include)
set(CMAKE_INSTALL_PREFIX "")
install (
TARGETS ipaaca
TARGETS ipaaca ipaaca-tester-cpp
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
......@@ -214,11 +302,4 @@ install(
DESTINATION include/ipaaca/
)
install (
TARGETS ipaaca-test-json
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
)
ipaacalib/cpp/build-windows.bat 0 → 100644
View file @ 460357ca
@echo off
md build
cd build
md ipaaca
\Users\ryaghoub\Documents\Develop\repo\protobuf\bin\protoc.exe --proto_path=../../proto ../../proto/ipaaca.proto --cpp_out=build/ipaaca/
cmake .. -DBoost_DEBUG:bool=True -DBOOST_LIBRARYDIR:string=C:\Users\ryaghoub\Downloads\boost_1_57_0__built__boost_subdir_moved_to_stage_include\stage\lib -DBoost_USE_STATIC_LIBS=ON -DBoost_USE_MULTITHREADED=ON -DPROTOBUF_ROOT:string=C:\Users\ryaghoub\Documents\Develop\repo\protobuf
msbuild INSTALL.vcxproj
ipaacalib/cpp/build.properties
View file @ 460357ca
......@@ -4,4 +4,6 @@ resource.path=${shared.resources}/;
rebuild.list=
publish.resolver=asap.sftp.publish
dist.dir=../../dist
deps.dir=../../deps
test.binary=testipaaca
ipaacalib/cpp/build.xml
View file @ 460357ca
......@@ -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
View file @ 460357ca
......@@ -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 0 → 100644
View file @ 460357ca
/**
* `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 0 → 100644
View file @ 460357ca
/*
* 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 0 → 100644
View file @ 460357ca
/*
* 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 0 → 100644
View file @ 460357ca
/*
* 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
ipaacalib/cpp/include/ipaaca/ipaaca-cmdline-parser.h 0 → 100644
View file @ 460357ca
/*
* 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-cmdline_parser.h
*
* \brief Header file for basic command line parser
*
* Users should not include this file directly, but use ipaaca.h
*
* \author Ramin Yaghoubzadeh (ryaghoubzadeh@uni-bielefeld.de)
* \date February, 2019
*/
#ifndef __ipaaca_cmdline_parser_h_INCLUDED__
#define __ipaaca_cmdline_parser_h_INCLUDED__
#ifndef __ipaaca_h_INCLUDED__
#error "Please do not include this file directly, use ipaaca.h instead"
#endif
// in ipaaca-cmdline-parser.cc
// additional misc classes ( Command line options )//{{{
/** \brief Command line argument container for CommandLineParser
*
* Contains the results of argument parsing from CommandLineParser::parse()
*
* The parser is preconfigured to handle some standard options:
*
* Option | Function
* --------------------------------|------------------------------------------------------------------------------
* --help | Print list of available options
* --verbose | Set verbose flag
* --character-name <name> | Set character name (legacy)
* --component-name <name> | Set component name (legacy)
* --ipaaca-payload-type <type> | Set default ipaaca payload type (default JSON, set STR for legacy protocol)
* --ipaaca-default-channel <name> | Set default channel name (default 'default')
* --ipaaca-enable-logging <level> | Set console log level, one of NONE, DEBUG, INFO, WARNING, ERROR, CRITICAL
* --rsb-enable-logging <level> | Set rsb (transport) log level
*
*/
class CommandLineOptions {
public:
IPAACA_HEADER_EXPORT inline CommandLineOptions()
{ }
IPAACA_HEADER_EXPORT inline ~CommandLineOptions() {
}
IPAACA_MEMBER_VAR_EXPORT std::map<std::string, std::string> param_opts;
IPAACA_MEMBER_VAR_EXPORT std::map<std::string, bool> param_set;
public:
IPAACA_HEADER_EXPORT void set_option(const std::string& name, bool expect, const char* optarg);
/// Get the option argument or default value (if the option expected an argument)
IPAACA_HEADER_EXPORT std::string get_param(const std::string& o);
/// Check whether option has been set
IPAACA_HEADER_EXPORT bool is_set(const std::string& o);
IPAACA_HEADER_EXPORT void dump();
public:
typedef std::shared_ptr<CommandLineOptions> ptr;
};
/**
* \brief Command line parser for ipaaca programs.
*
* The parser is preconfigured to handle some standard options:
*
* Option | Function
* --------------------------------|------------------------------------------------------------------------------
* --help | Print list of available options
* --verbose | Set verbose flag
* --character-name <name> | Set character name (legacy)
* --component-name <name> | Set component name (legacy)
* --ipaaca-payload-type <type> | Set default ipaaca payload type (default JSON, set STR for legacy protocol)
* --ipaaca-default-channel <name> | Set default channel name (default 'default')
* --ipaaca-enable-logging <level> | Set console log level, one of NONE, DEBUG, INFO, WARNING, ERROR, CRITICAL
* --rsb-enable-logging <level> | Set rsb (transport) log level
*
*/
class CommandLineParser {
protected:
IPAACA_MEMBER_VAR_EXPORT std::map<char, std::string> longopt; // letter->name
IPAACA_MEMBER_VAR_EXPORT std::map<std::string, char> shortopt; // letter->name
IPAACA_MEMBER_VAR_EXPORT std::map<std::string, bool> options; // name / expect_param
IPAACA_MEMBER_VAR_EXPORT std::map<std::string, std::string> defaults; // for opt params
IPAACA_MEMBER_VAR_EXPORT std::map<std::string, int> set_flag; // for paramless opts
protected:
IPAACA_HEADER_EXPORT CommandLineParser();
IPAACA_MEMBER_VAR_EXPORT bool library_options_handled;
IPAACA_HEADER_EXPORT bool consume_library_option(const std::string& name, bool expect, const char* optarg);
IPAACA_HEADER_EXPORT void ensure_defaults_in( CommandLineOptions::ptr clo );
public:
IPAACA_HEADER_EXPORT inline ~CommandLineParser() { }
/// Create a new parser object reference.
IPAACA_HEADER_EXPORT static inline std::shared_ptr<CommandLineParser> create() {
return std::shared_ptr<CommandLineParser>(new CommandLineParser());
}
IPAACA_HEADER_EXPORT void initialize_parser_defaults();
IPAACA_HEADER_EXPORT void dump_options();
/** \brief Add a user-defined option
*
* \param optname The long option name, e.g. verbose for --verbose
* \param shortn The short option (or \0 for none)
* \param expect_param Whether an argument is expected for the option
* \param defaultv The default string value (unused if expect_param is false)
*/
IPAACA_HEADER_EXPORT void add_option(const std::string& optname, char shortn, bool expect_param, const std::string& defaultv);
/** \brief Parse argument list and return result.
*
* Parse argument list (e.g. from main()) with the parser, consuming the internal options.
* The remaining options are packaged into a CommandLineOptions object.
*/
IPAACA_HEADER_EXPORT CommandLineOptions::ptr parse(int argc, char* const* argv);
public:
typedef std::shared_ptr<CommandLineParser> ptr;
};
//}}}
#endif
ipaacalib/cpp/include/ipaaca/ipaaca-config.h 0 → 100644
View file @ 460357ca
/*
* 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_config_h_INCLUDED__
#define __ipaaca_config_h_INCLUDED__
#ifndef __ipaaca_h_INCLUDED__
#error "Please do not include this file directly, use ipaaca.h instead"
#endif
class Config {
public:
typedef std::shared_ptr<Config> ptr;
protected:
std::map<std::string, std::string> _data;
std::set<std::string> _messages_delivered;
template<typename T> T get_with_default_internal(const std::string& key, T const& default_value, bool warn);
template<typename T> void config_key_not_found(const std::string& key, T const& default_value, bool warn)
{
if (!_messages_delivered.count(key)) {
if (warn) { IPAACA_WARNING("Config: no key '" << key << "', using default value " << default_value) }
else { IPAACA_DEBUG("Config: no key '" << key << "', using default value " << default_value) }
_messages_delivered.insert(key);
}
}
template<typename T> void config_conversion_failed(const std::string& key, T const& default_value)
{
if (!_messages_delivered.count(key)) {
IPAACA_WARNING("Config: failed conversion for key '" << key << "', using default value " << default_value)
_messages_delivered.insert(key);
}
}
bool get_key_and_value(const std::string& line, std::string& key, std::string& value);
public:
inline std::map<std::string, std::string>::const_iterator data_cbegin() const { return _data.begin(); }
inline std::map<std::string, std::string>::const_iterator data_cend() const { return _data.end(); }
void populate_from_global_sources();
void populate_from_environment();
void populate_from_any_conf_files();
void populate_from_conf_file(std::fstream& fs);
template<typename T> T get_with_default(const std::string& key, T const& default_value) {
return get_with_default_internal(key, default_value, false);
}
template<typename T> T get_with_default_and_warning(const std::string& key, T const& default_value) {
return get_with_default_internal(key, default_value, true);
}
//inline std::map<std::string, std::string>::iterator begin() { return std::map<std::string, std::string>::begin(); }
//inline std::map<std::string, std::string>::iterator end() { return std::map<std::string, std::string>::end(); }
};
Config::ptr get_global_config(bool auto_parse_on_demand=true);
#endif
ipaacalib/cpp/include/ipaaca/ipaaca-converters.h 0 → 100644
View file @ 460357ca
/*
* 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-internal.h
*
* \brief Header file for internal transport implementation (RSB).
*
* 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.
*
* The file provides callback glue from RSB, and wire converters
* for the respective ipaaca classes.
*
* \author Ramin Yaghoubzadeh (ryaghoubzadeh@uni-bielefeld.de)
* \date March, 2015
*/
#ifndef __ipaaca_converters_h_INCLUDED__
#define __ipaaca_converters_h_INCLUDED__
#ifndef __ipaaca_h_INCLUDED__
#error "Please do not include this file directly, use ipaaca.h instead"
#endif
namespace converters {
// Wrap a serialized inner object and a wire type in a protobuf::TransportLevelWrapper
std::string cooked_message(const std::string& raw_message, ipaaca::protobuf::TransportMessageType msg_type);
// protobuf serialization for all supported types (replaces converter repository)
std::string internal_serialize(std::shared_ptr<ipaaca::IU> iu);
//std::string internal_serialize(std::shared_ptr<ipaaca::Message> msg);
std::string internal_serialize(std::shared_ptr<ipaaca::IUPayloadUpdate> pup);
std::string internal_serialize(std::shared_ptr<ipaaca::IULinkUpdate> lup);
std::string internal_serialize(std::shared_ptr<protobuf::RemoteRequestResult> pb);
std::string internal_serialize(std::shared_ptr<protobuf::IURetraction> pb);
std::string internal_serialize(std::shared_ptr<protobuf::IUCommission> pb);
std::string internal_serialize(std::shared_ptr<protobuf::IUResendRequest> pb);
std::string internal_serialize(std::shared_ptr<protobuf::IUPayloadUpdateRequest> pb);
std::string internal_serialize(std::shared_ptr<protobuf::IULinkUpdateRequest> pb);
std::string internal_serialize(std::shared_ptr<protobuf::IUCommissionRequest> pb);
// deserialization (just switching here instead of the converter registry business)
std::shared_ptr<ipaaca::backend::Event> internal_deserialize(const std::string& wire);
class IUConverter {//{{{
public:
IPAACA_HEADER_EXPORT static std::string serialize(std::shared_ptr<ipaaca::IU> iu); // const rsb::AnnotatedData& data, std::string& wire);
IPAACA_HEADER_EXPORT static std::shared_ptr<ipaaca::IUInterface> deserialize(const std::string& wire);
};//}}}
/*
IPAACA_HEADER_EXPORT class MessageConverter {//{{{
public:
IPAACA_HEADER_EXPORT static std::string serialize(std::shared_ptr<ipaaca::Message> msg); // const rsb::AnnotatedData& data, std::string& wire);
IPAACA_HEADER_EXPORT static std::shared_ptr<ipaaca::RemoteMessage> deserialize(const std::string& wire);
};//}}}
*/
class IUPayloadUpdateConverter {//{{{
public:
IPAACA_HEADER_EXPORT static std::string serialize(std::shared_ptr<ipaaca::IUPayloadUpdate> pup); // const rsb::AnnotatedData& data, std::string& wire);
IPAACA_HEADER_EXPORT static std::shared_ptr<ipaaca::IUPayloadUpdate> deserialize(const std::string& wire);
};//}}}
class IULinkUpdateConverter {//{{{
public:
IPAACA_HEADER_EXPORT static std::string serialize(std::shared_ptr<ipaaca::IULinkUpdate> lup); // const rsb::AnnotatedData& data, std::string& wire);
IPAACA_HEADER_EXPORT static std::shared_ptr<ipaaca::IULinkUpdate> deserialize(const std::string& wire);
};//}}}
} // of namespace converters
#endif // __ipaaca_converters_h_INCLUDED__
ipaacalib/cpp/include/ipaaca/ipaaca-errors.h 0 → 100644
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