ReceiverBase.h

Go to the documentation of this file.

// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2020 www.open3d.org
//
// 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.
// ----------------------------------------------------------------------------

#pragma once

#include <atomic>
#include <mutex>
#include <thread>

#include "open3d/utility/Console.h"

namespace zmq {
class message_t;
class socket_t;
class context_t;
}  // namespace zmq

namespace open3d {
namespace io {
namespace rpc {

namespace messages {
struct Request;
struct SetMeshData;
struct GetMeshData;
struct SetCameraData;
struct SetProperties;
struct SetActiveCamera;
struct SetTime;
}  // namespace messages

class ReceiverBase {
public:
    ReceiverBase(const std::string& address = "tcp://127.0.0.1:51454",
                 int timeout = 10000);

    ReceiverBase(const ReceiverBase&) = delete;
    ReceiverBase& operator=(const ReceiverBase&) = delete;

    virtual ~ReceiverBase();

    void Start();

    void Stop();

    std::runtime_error GetLastError();

protected:
    // Opaque type for providing the original msgpack::object to the
    // ProcessMessage functions
    struct MsgpackObject;

    virtual std::shared_ptr<zmq::message_t> ProcessMessage(
            const messages::Request& req,
            const messages::SetMeshData& msg,
            const MsgpackObject& obj);
    virtual std::shared_ptr<zmq::message_t> ProcessMessage(
            const messages::Request& req,
            const messages::GetMeshData& msg,
            const MsgpackObject& obj);
    virtual std::shared_ptr<zmq::message_t> ProcessMessage(
            const messages::Request& req,
            const messages::SetCameraData& msg,
            const MsgpackObject& obj);
    virtual std::shared_ptr<zmq::message_t> ProcessMessage(
            const messages::Request& req,
            const messages::SetProperties& msg,
            const MsgpackObject& obj);
    virtual std::shared_ptr<zmq::message_t> ProcessMessage(
            const messages::Request& req,
            const messages::SetActiveCamera& msg,
            const MsgpackObject& obj);
    virtual std::shared_ptr<zmq::message_t> ProcessMessage(
            const messages::Request& req,
            const messages::SetTime& msg,
            const MsgpackObject& obj);

private:
    void Mainloop();

    const std::string address_;
    const int timeout_;
    std::shared_ptr<zmq::context_t> context_;
    std::unique_ptr<zmq::socket_t> socket_;
    std::thread thread_;
    std::mutex mutex_;
    bool keep_running_;
    std::atomic<bool> loop_running_;
    std::atomic<int> mainloop_error_code_;
    std::runtime_error mainloop_exception_;
};

}  // namespace rpc
}  // namespace io
}  // namespace open3d