cp_gcalcli_connection.hpp

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// Copyright 2024 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#pragma once
 
#include <chrono>
#include <functional>
#include <mutex>
#include <string>
 
#include <rclcpp/rclcpp.hpp>
#include <smacc2/client_core_components/cp_subprocess_executor.hpp>
#include <smacc2/smacc.hpp>
 
#include <cl_gcalcli/events.hpp>
#include <cl_gcalcli/types.hpp>
 
namespace cl_gcalcli
{
 
class CpGcalcliConnection : public smacc2::ISmaccComponent, public smacc2::ISmaccUpdatable
{
public:
  CpGcalcliConnection();
  virtual ~CpGcalcliConnection() = default;
 
  void onInitialize() override;
 
  void configure(const GcalcliConfig & config);
 
  ConnectionState getConnectionState() const;
 
  bool isConnected() const;
 
  bool checkConnection();
 
  void restartConnection();
 
  smacc2::client_core_components::SubprocessResult executeGcalcli(
    const std::string & args, int timeout_ms = 30000);
 
  const GcalcliConfig & getConfig() const { return config_; }
 
  // Signals
  smacc2::SmaccSignal<void()> onConnectionLost_;
  smacc2::SmaccSignal<void()> onConnectionRestored_;
  smacc2::SmaccSignal<void()> onAuthenticationRequired_;
 
  // Signal connection helpers
  template <typename T>
  smacc2::SmaccSignalConnection onConnectionLost(void (T::*callback)(), T * object)
  {
    return this->getStateMachine()->createSignalConnection(onConnectionLost_, callback, object);
  }
 
  template <typename T>
  smacc2::SmaccSignalConnection onConnectionRestored(void (T::*callback)(), T * object)
  {
    return this->getStateMachine()->createSignalConnection(onConnectionRestored_, callback, object);
  }
 
  template <typename T>
  smacc2::SmaccSignalConnection onAuthenticationRequired(void (T::*callback)(), T * object)
  {
    return this->getStateMachine()->createSignalConnection(
      onAuthenticationRequired_, callback, object);
  }
 
  // Event posting function - set via onStateOrthogonalAllocation
  std::function<void()> postConnectionLostEvent_;
  std::function<void()> postConnectionRestoredEvent_;
  std::function<void()> postAuthenticationRequiredEvent_;
 
  template <typename TOrthogonal, typename TSourceObject>
  void onStateOrthogonalAllocation()
  {
    postConnectionLostEvent_ = [this]()
    { this->postEvent<EvConnectionLost<CpGcalcliConnection, TOrthogonal>>(); };
 
    postConnectionRestoredEvent_ = [this]()
    { this->postEvent<EvConnectionRestored<CpGcalcliConnection, TOrthogonal>>(); };
 
    postAuthenticationRequiredEvent_ = [this]()
    { this->postEvent<EvAuthenticationRequired<CpGcalcliConnection, TOrthogonal>>(); };
  }
 
protected:
  void update() override;
 
private:
  void performHeartbeat();
 
  void handleConnectionStateChange(bool success, const std::string & output);
 
  bool isAuthenticationError(const std::string & output) const;
 
  GcalcliConfig config_;
  ConnectionState connection_state_;
  int consecutive_failures_;
  bool initialized_;
 
  std::chrono::steady_clock::time_point last_heartbeat_time_;
 
  smacc2::client_core_components::CpSubprocessExecutor * subprocess_executor_;
  mutable std::mutex state_mutex_;
};
 
}  // namespace cl_gcalcli