Skip to content

switch to clips 6.4 from ros vendor #2

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
TarikViehmann wants to merge 11 commits into
base: main
Choose a base branch
from
Open

switch to clips 6.4 from ros vendor #2

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
11 commits
Select commit Hold shift + click to select a range
39d4ba6
remove lock in setup
snoato Oct 14, 2023
2e6cc8b
fix cmake
snoato Oct 30, 2023
7c8d0c0
fix compile error due to missing formatter
TarikViehmann Mar 8, 2024
e24d218
project: adapt to clips 6.4x syntax without clipsmm
TarikViehmann Aug 23, 2024
96a4b9d
project: add package xml for ros builds
TarikViehmann Aug 26, 2024
8f213b0
include: fix clips include due to change in clips vendor
TarikViehmann Aug 26, 2024
ff5f031
communicator: fix signature of argument types
TarikViehmann Sep 2, 2024
87e2684
communicator: improve output in case of wrong udf arg types
TarikViehmann Sep 2, 2024
2620847
package: use proper pkg-config name
TarikViehmann Sep 2, 2024
a7e4283
rm lock on destroy
TarikViehmann Oct 16, 2024
b84f999
communicator: fix multifield issues
TarikViehmann Oct 28, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
22 changes: 15 additions & 7 deletions CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,26 +2,34 @@ cmake_minimum_required(VERSION 3.12)

project(
clips_protobuf
VERSION 0.9.0
VERSION 1.0.0
DESCRIPTION "Read and write protobuf messages from within CLIPS")

include(GNUInstallDirs)

find_package(Protobuf REQUIRED)
find_package(ProtobufComm REQUIRED)
find_package(spdlog REQUIRED)
include(FindPkgConfig)
pkg_check_modules(clipsmm REQUIRED IMPORTED_TARGET clipsmm-1.0)
find_package(clips REQUIRED)
add_library(clips_protobuf SHARED src/communicator.cpp)
target_link_libraries(
clips_protobuf protobuf::libprotobuf ProtobufComm::protobuf_comm
PkgConfig::clipsmm spdlog::spdlog)
target_include_directories(
clips_protobuf PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)
ClipsNS::libclips_ns spdlog::spdlog)
#target_include_directories(
# clips_protobuf PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)
target_include_directories(clips_protobuf
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/>
$<INSTALL_INTERFACE:include/>)
target_include_directories(clips_protobuf
INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/>
$<INSTALL_INTERFACE:include/>)
target_compile_definitions(
clips_protobuf PRIVATE SHAREDIR="${CMAKE_INSTALL_FULL_DATADIR}/clips")
set_target_properties(clips_protobuf PROPERTIES SOVERSION
${PROJECT_VERSION_MAJOR})
set_property(TARGET clips_protobuf PROPERTY CXX_STANDARD 20)

install(
TARGETS clips_protobuf
Expand Down Expand Up @@ -49,7 +57,7 @@ install(FILES cmake/ClipsProtobufConfig.cmake
${CMAKE_CURRENT_BINARY_DIR}/ClipsProtobufConfigVersion.cmake
DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/ClipsProtobuf)

set(PKG_CONFIG_REQUIRES "protobuf protobuf_comm spdlog clipsmm-1.0")
set(PKG_CONFIG_REQUIRES "protobuf protobuf_comm spdlog")

configure_file(clips_protobuf.pc.in
${CMAKE_CURRENT_BINARY_DIR}/clips_protobuf.pc @ONLY)
Expand Down
3 changes: 1 addition & 2 deletions cmake/ClipsProtobufConfig.cmake
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,5 @@ include(CMakeFindDependencyMacro)
find_dependency(Protobuf)
find_dependency(ProtobufComm)
find_dependency(spdlog)
include(FindPkgConfig)
pkg_check_modules(clipsmm REQUIRED IMPORTED_TARGET clipsmm-1.0)
find_dependency(clips)
include("${CMAKE_CURRENT_LIST_DIR}/ClipsProtobufTargets.cmake")
304 changes: 146 additions & 158 deletions include/clips_protobuf/communicator.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,7 @@

#include <protobuf_comm/server.h>

#include <clipsmm.h>
#include <clips_ns/clips.h>
#include <list>
#include <map>
#include <mutex>
Expand All @@ -56,182 +56,170 @@ class Logger;

namespace protobuf_clips {

class ClipsProtobufCommunicator
{
class ClipsProtobufCommunicator {
public:
ClipsProtobufCommunicator(CLIPS::Environment *env, std::mutex &env_mutex);
ClipsProtobufCommunicator(CLIPS::Environment * env,
std::mutex & env_mutex,
std::vector<std::string> &proto_path);
~ClipsProtobufCommunicator();
ClipsProtobufCommunicator(clips::Environment *env, std::mutex &env_mutex);
ClipsProtobufCommunicator(clips::Environment *env, std::mutex &env_mutex,
std::vector<std::string> &proto_path);
~ClipsProtobufCommunicator();

void enable_server(int port);
void disable_server();
void enable_server(int port);
void disable_server();

/** Get Protobuf server.
/** Get Protobuf server.
* @return protobuf server */
protobuf_comm::ProtobufStreamServer *
server() const
{
return server_;
}
protobuf_comm::ProtobufStreamServer *server() const { return server_; }

/** Get protobuf_comm peers.
/** Get protobuf_comm peers.
* @return protobuf_comm peer */
const std::map<long int, protobuf_comm::ProtobufBroadcastPeer *> &
peers() const
{
return peers_;
}
const std::map<long int, protobuf_comm::ProtobufBroadcastPeer *> &
peers() const {
return peers_;
}

/** Get the communicator's message register.
/** Get the communicator's message register.
* @return message register */
protobuf_comm::MessageRegister &
message_register()
{
return *message_register_;
}
protobuf_comm::MessageRegister &message_register() {
return *message_register_;
}

/** Signal invoked for a message that has been sent to a server client.
/** Signal invoked for a message that has been sent to a server client.
* @return signal
*/
boost::signals2::signal<void(protobuf_comm::ProtobufStreamServer::ClientID,
std::shared_ptr<google::protobuf::Message>)> &
signal_server_sent()
{
return sig_server_sent_;
}

/** Signal invoked for a message that has been sent to a client.
boost::signals2::signal<void(protobuf_comm::ProtobufStreamServer::ClientID,
std::shared_ptr<google::protobuf::Message>)> &
signal_server_sent() {
return sig_server_sent_;
}

/** Signal invoked for a message that has been sent to a client.
* @return signal
*/
boost::signals2::signal<
void(std::string, unsigned short, std::shared_ptr<google::protobuf::Message>)> &
signal_client_sent()
{
return sig_client_sent_;
}

/** Signal invoked for a message that has been sent via broadcast.
boost::signals2::signal<void(std::string, unsigned short,
std::shared_ptr<google::protobuf::Message>)> &
signal_client_sent() {
return sig_client_sent_;
}

/** Signal invoked for a message that has been sent via broadcast.
* @return signal
*/
boost::signals2::signal<void(long, std::shared_ptr<google::protobuf::Message>)> &
signal_peer_sent()
{
return sig_peer_sent_;
}
boost::signals2::signal<void(long,
std::shared_ptr<google::protobuf::Message>)> &
signal_peer_sent() {
return sig_peer_sent_;
}

private:
void setup_clips();

CLIPS::Value clips_pb_register_type(std::string full_name);
CLIPS::Values clips_pb_field_names(void *msgptr);
CLIPS::Value clips_pb_has_field(void *msgptr, std::string field_name);
CLIPS::Value clips_pb_field_value(void *msgptr, std::string field_name);
CLIPS::Value clips_pb_field_type(void *msgptr, std::string field_name);
CLIPS::Value clips_pb_field_label(void *msgptr, std::string field_name);
CLIPS::Values clips_pb_field_list(void *msgptr, std::string field_name);
CLIPS::Value clips_pb_field_is_list(void *msgptr, std::string field_name);
CLIPS::Value clips_pb_create(std::string full_name);
CLIPS::Value clips_pb_ref(void *msgptr);
void clips_pb_destroy(void *msgptr);
void clips_pb_set_field(void *msgptr, std::string field_name, CLIPS::Value value);
void clips_pb_add_list(void *msgptr, std::string field_name, CLIPS::Value value);
void clips_pb_send(long int client_id, void *msgptr);
std::string clips_pb_tostring(void *msgptr);
long int clips_pb_client_connect(std::string host, int port);
void clips_pb_disconnect(long int client_id);
void clips_pb_broadcast(long int peer_id, void *msgptr);
void clips_pb_enable_server(int port);

long int clips_pb_peer_create(std::string host, int port);
long int clips_pb_peer_create_local(std::string host, int send_port, int recv_port);
long int clips_pb_peer_create_crypto(std::string host,
int port,
std::string crypto_key = "",
std::string cipher = "");
long int clips_pb_peer_create_local_crypto(std::string host,
int send_port,
int recv_port,
std::string crypto_key = "",
std::string cipher = "");
void clips_pb_peer_destroy(long int peer_id);
void clips_pb_peer_setup_crypto(long int peer_id, std::string crypto_key, std::string cipher);

typedef enum { CT_SERVER, CT_CLIENT, CT_PEER } ClientType;
void clips_assert_message(std::pair<std::string, unsigned short> & endpoint,
uint16_t comp_id,
uint16_t msg_type,
std::shared_ptr<google::protobuf::Message> &msg,
ClientType ct,
long int client_id = 0);
void handle_server_client_connected(protobuf_comm::ProtobufStreamServer::ClientID client,
boost::asio::ip::tcp::endpoint & endpoint);
void handle_server_client_disconnected(protobuf_comm::ProtobufStreamServer::ClientID client,
const boost::system::error_code & error);

void handle_server_client_msg(protobuf_comm::ProtobufStreamServer::ClientID client,
uint16_t component_id,
uint16_t msg_type,
std::shared_ptr<google::protobuf::Message> msg);

void handle_server_client_fail(protobuf_comm::ProtobufStreamServer::ClientID client,
uint16_t component_id,
uint16_t msg_type,
std::string msg);

void handle_peer_msg(long int peer_id,
boost::asio::ip::udp::endpoint & endpoint,
uint16_t component_id,
uint16_t msg_type,
std::shared_ptr<google::protobuf::Message> msg);
void handle_peer_recv_error(long int peer_id,
boost::asio::ip::udp::endpoint &endpoint,
std::string msg);
void handle_peer_send_error(long int peer_id, std::string msg);

void handle_client_connected(long int client_id);
void handle_client_disconnected(long int client_id, const boost::system::error_code &error);
void handle_client_msg(long int client_id,
uint16_t comp_id,
uint16_t msg_type,
std::shared_ptr<google::protobuf::Message> msg);
void handle_client_receive_fail(long int client_id,
uint16_t comp_id,
uint16_t msg_type,
std::string msg);

static std::string to_string(const CLIPS::Value &v);
void setup_clips();

clips::UDFValue clips_pb_register_type(std::string full_name);
clips::UDFValue clips_pb_field_names(void *msgptr);
clips::UDFValue clips_pb_has_field(void *msgptr, std::string field_name);
clips::UDFValue clips_pb_field_value(void *msgptr, std::string field_name);
clips::UDFValue clips_pb_field_type(void *msgptr, std::string field_name);
clips::UDFValue clips_pb_field_label(void *msgptr, std::string field_name);
clips::UDFValue clips_pb_field_list(void *msgptr, std::string field_name);
clips::UDFValue clips_pb_field_is_list(void *msgptr, std::string field_name);
clips::UDFValue clips_pb_create(std::string full_name);
clips::UDFValue clips_pb_ref(void *msgptr);
void clips_pb_destroy(void *msgptr);
void clips_pb_set_field(void *msgptr, std::string field_name,
clips::UDFValue value);
void clips_pb_add_list(void *msgptr, std::string field_name,
clips::UDFValue value);
void clips_pb_send(long int client_id, void *msgptr);
std::string clips_pb_tostring(void *msgptr);
long int clips_pb_client_connect(std::string host, int port);
void clips_pb_disconnect(long int client_id);
void clips_pb_broadcast(long int peer_id, void *msgptr);

long int clips_pb_peer_create(std::string host, int port);
long int clips_pb_peer_create_local(std::string host, int send_port,
int recv_port);
long int clips_pb_peer_create_crypto(std::string host, int port,
std::string crypto_key = "",
std::string cipher = "");
long int clips_pb_peer_create_local_crypto(std::string host, int send_port,
int recv_port,
std::string crypto_key = "",
std::string cipher = "");
void clips_pb_peer_destroy(long int peer_id);
void clips_pb_peer_setup_crypto(long int peer_id, std::string crypto_key,
std::string cipher);

typedef enum { CT_SERVER, CT_CLIENT, CT_PEER } ClientType;
void clips_assert_message(std::pair<std::string, unsigned short> &endpoint,
uint16_t comp_id, uint16_t msg_type,
std::shared_ptr<google::protobuf::Message> &msg,
ClientType ct, long int client_id = 0);
void handle_server_client_connected(
protobuf_comm::ProtobufStreamServer::ClientID client,
boost::asio::ip::tcp::endpoint &endpoint);
void handle_server_client_disconnected(
protobuf_comm::ProtobufStreamServer::ClientID client,
const boost::system::error_code &error);

void
handle_server_client_msg(protobuf_comm::ProtobufStreamServer::ClientID client,
uint16_t component_id, uint16_t msg_type,
std::shared_ptr<google::protobuf::Message> msg);

void handle_server_client_fail(
protobuf_comm::ProtobufStreamServer::ClientID client,
uint16_t component_id, uint16_t msg_type, std::string msg);

void handle_peer_msg(long int peer_id,
boost::asio::ip::udp::endpoint &endpoint,
uint16_t component_id, uint16_t msg_type,
std::shared_ptr<google::protobuf::Message> msg);
void handle_peer_recv_error(long int peer_id,
boost::asio::ip::udp::endpoint &endpoint,
std::string msg);
void handle_peer_send_error(long int peer_id, std::string msg);

void handle_client_connected(long int client_id);
void handle_client_disconnected(long int client_id,
const boost::system::error_code &error);
void handle_client_msg(long int client_id, uint16_t comp_id,
uint16_t msg_type,
std::shared_ptr<google::protobuf::Message> msg);
void handle_client_receive_fail(long int client_id, uint16_t comp_id,
uint16_t msg_type, std::string msg);

static std::string to_string(const clips::UDFValue &v);

private:
CLIPS::Environment *clips_;
std::mutex & clips_mutex_;

protobuf_comm::MessageRegister * message_register_;
protobuf_comm::ProtobufStreamServer *server_;

boost::signals2::signal<void(protobuf_comm::ProtobufStreamServer::ClientID,
std::shared_ptr<google::protobuf::Message>)>
sig_server_sent_;
boost::signals2::signal<
void(std::string, unsigned short, std::shared_ptr<google::protobuf::Message>)>
sig_client_sent_;
boost::signals2::signal<void(long int, std::shared_ptr<google::protobuf::Message>)>
sig_peer_sent_;

std::mutex map_mutex_;
long int next_client_id_;

std::map<long int, protobuf_comm::ProtobufStreamServer::ClientID> server_clients_;
typedef std::map<protobuf_comm::ProtobufStreamServer::ClientID, long int> RevServerClientMap;
RevServerClientMap rev_server_clients_;
std::map<long int, protobuf_comm::ProtobufStreamClient *> clients_;
std::map<long int, protobuf_comm::ProtobufBroadcastPeer *> peers_;

std::map<long int, std::pair<std::string, unsigned short>> client_endpoints_;

std::list<std::string> functions_;
CLIPS::Fact::pointer avail_fact_;
clips::Environment *clips_;
std::mutex &clips_mutex_;

protobuf_comm::MessageRegister *message_register_;
protobuf_comm::ProtobufStreamServer *server_;

boost::signals2::signal<void(protobuf_comm::ProtobufStreamServer::ClientID,
std::shared_ptr<google::protobuf::Message>)>
sig_server_sent_;
boost::signals2::signal<void(std::string, unsigned short,
std::shared_ptr<google::protobuf::Message>)>
sig_client_sent_;
boost::signals2::signal<void(long int,
std::shared_ptr<google::protobuf::Message>)>
sig_peer_sent_;

std::mutex map_mutex_;
long int next_client_id_;

std::map<long int, protobuf_comm::ProtobufStreamServer::ClientID>
server_clients_;
typedef std::map<protobuf_comm::ProtobufStreamServer::ClientID, long int>
RevServerClientMap;
RevServerClientMap rev_server_clients_;
std::map<long int, protobuf_comm::ProtobufStreamClient *> clients_;
std::map<long int, protobuf_comm::ProtobufBroadcastPeer *> peers_;

std::map<long int, std::pair<std::string, unsigned short>> client_endpoints_;

std::list<std::string> functions_;
};

} // end namespace protobuf_clips
Expand Down
Loading