qt6-migration-pipeline/external/tmsif/include/ddkit/actors/SimpleActor.hpp

#pragma once

#include "ddkit/utils/assert.hpp"
#include "ddkit/access/TopicPoolRead.hpp"
#include "ddkit/access/TopicPoolWrite.hpp"
#include "ddkit/actors/CallbackInfo.hpp"
#include "ddkit/actors/IActor.hpp"
#include "ddkit/actors/SessionImpl.hpp"
#include "ddkit/idls/ActorInfo.hpp"
#include "ddkit/actors/Key.hpp"
#include "ddkit/utils/CallbackWrapper.hpp"

#include <string>
#include <map>


namespace ddkit {
namespace actors {

class SimpleActor : public IActor {

public:
    SimpleActor(const SessionImplPtr& sessionImpl,
                const std::string& serviceName,
                bool isService,
                const std::string& module);

    ~SimpleActor();

    bool hasObserver();
    bool hasSender();

    access::TopicPoolRead& topicPoolRead();
    access::TopicPoolWrite& topicPoolWrite();

    std::string moduleName() const;
    bool isService() const;
    int domain() const;
    std::string serviceName() const;
    ActorConfiguration config() const;

    std::string actorId() const;

    bool operator==(const SimpleActor& other) const;

    void setClientName(const std::string& clientName);

    void waitUntilConnected();

    void addConnectCheck(access::IConnectCheckPtr connectCheck);

    // template-class-parameters Observer and Sender in the following methods must be the 'reader-class'
    // respectively the 'writer-class' of one of the rmodel-modules. They are called Observer and Sender
    // in the corresponding namespace and inherit the interface IObserver/ISender. They define a typedef TypeUser
    // to refer to the API-Interface-Type IClient/IService. Sender also inherits its TypeUser-Type

    /// @brief  - needed for access from generated Service/Client, to call write-stuff
    template <typename Sender>
    ISenderPtr sender() {
        DDKIT_LOG_TRACE;
        checkSenderType<Sender>();

        if (hasSender()) {
            std::shared_ptr<Sender> sender = std::dynamic_pointer_cast<Sender>(m_sender); // Sender inherits ISender
            if (sender) {
                checkTypeOfSender(sender.get());
                return sender;
            }
        }

        return nullptr;
    }
    
    ISenderPtr sender() {
        return m_sender;
    }

    IObserverPtr observer() {
        return m_observer;
    }

    bool hasSession() {
        return !m_sessionImplWeak.expired();
    }

    template <typename Observer>
    IObserverPtr createObserver(typename Observer::TypeUser& callbacks, const std::vector<std::string>& methods) {

        ddkit::log::info() << "Create observer";

        SessionImplPtr sessionImpl = m_sessionImplWeak.lock();
        if (!sessionImpl) {
            throw std::runtime_error("Failure locking std::weak_ptr<SessionImpl> in ActorImpl");
        }

        checkObserverType<Observer>();

        typename Observer::TypeUser* userCallback = &callbacks; // (keep * inside ... else problems with capturing)

        // insert observer
        DDKIT_THROW_ON_FALSE_INFO(
            !hasObserver(),
            "Inserting an observer to an actor already containing one."
            "Called ObsFactory::add() twice? (same serviceName + domain)");
        m_observer = std::make_shared<Observer>(*this, m_topicPoolRead, methods, userCallback);
        DDKIT_THROW_ON_FALSE_INFO(hasObserver(), "creation of observer failed");

        // update actorInfo
        if (m_actorInfo.isReading()) {
            ddkit::log::warn() << "SimpleActor::createObserver: " << "actor is already reading";
        }
        m_actorInfo.isReading() = true;
        m_actorInfo.openReaders() = methods; // only vectors on dds

        sessionImpl->publishActorInfo(m_actorInfo);

        return m_observer;
    }

    template <typename Observer>
    IObserverPtr createObserver(std::map<std::string, std::vector<ddkit::callback::Base*>> callbacks, const std::vector<std::string> methods) {

        ddkit::log::info() << "Create observer";

        SessionImplPtr sessionImpl = m_sessionImplWeak.lock();
        if (!sessionImpl) {
            throw std::runtime_error("Failure locking std::weak_ptr<SessionImpl> in ActorImpl");
        }

        checkObserverType<Observer>();

        // insert observer
        DDKIT_THROW_ON_FALSE_INFO(
            !hasObserver(),
            "Inserting an observer to an actor already containing one."
            "Called ObsFactory::add() twice? (same serviceName + domain)");
        m_observer = std::make_shared<Observer>(*this, m_topicPoolRead, methods, callbacks);
        DDKIT_THROW_ON_FALSE_INFO(hasObserver(), "creation of observer failed");

        // update actorInfo
        if(m_actorInfo.isReading()) {
            ddkit::log::warn() << "SimpleActor::createObserver: actor is already reading";
        }
        m_actorInfo.isReading()   = true;
        m_actorInfo.openReaders() = methods; // only vectors on dds

        sessionImpl->publishActorInfo(m_actorInfo);

        return m_observer;
    }

    template <typename Sender>
    ISenderPtr createSender(const std::vector<std::string>& methods) {

        ddkit::log::info() << "Create sender";

        SessionImplPtr sessionImpl = m_sessionImplWeak.lock();
        if (!sessionImpl) {
            throw std::runtime_error("Failure locking std::weak_ptr<SessionImpl> in ActorImpl");
        }

        checkSenderType<Sender>();

        DDKIT_THROW_ON_FALSE_INFO(
            !hasSender(),
            "Inserting a sender to an actor already containing one. "
            "Called Factory::create() twice? (same serviceName + domain)");
        m_sender = std::make_shared<Sender>(*this, m_topicPoolWrite);
        Sender* sender2 = dynamic_cast<Sender*>(m_sender.get());
        checkTypeOfSender(sender2);
        DDKIT_THROW_ON_FALSE(sender2);
        DDKIT_THROW_ON_FALSE(hasSender());

        // update actorInfo
        if (m_actorInfo.isWriting()) {
            ddkit::log::warn() << "SimpleActor::createSender: " << "actor is already writing";
        }
        m_actorInfo.isWriting()   = true;
        m_actorInfo.openWriters() = methods; // only vectors on dds
        sessionImpl->publishActorInfo(m_actorInfo);
        return m_sender;
    }

    void discardSender();
    void discardObserver();
    bool isValid() override;
    void shutdown() override;
    bool shutdownRequested();

    CallbackInfo callbackInfoBase();
    CallbackInfo callbackInfo();
    void setCallbackInfo(CallbackInfo callbackInfo);
    void resetCallbackInfo();

private:
    ddkit_intern::ActorInfo m_actorInfo;

    access::IQosStrategyPtr m_qosStrategy;
    access::ITopicStrategyPtr m_topicStrategy;
    access::TopicPoolRead m_topicPoolRead;
    access::TopicPoolWrite m_topicPoolWrite;
    std::vector<access::IConnectCheckPtr> m_connectCheckSet;

    IObserverPtr m_observer; // or nullptr, if none
    ISenderPtr m_sender;   // or nullptr, if none

    CallbackInfo m_callbackInfoBase;

    std::atomic<bool> m_shutdownRequested;
};

} // namespace actors
} // namespace ddkit