ChatBot_nws_yarp.h

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/*
 * SPDX-FileCopyrightText: 2023-2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_CHATBOT_NWS_YARP_H
#define YARP_DEV_CHATBOT_NWS_YARP_H
 
#include <cstdio>
#include <cstdlib>
#include <mutex>
#include <memory>
 
#include <yarp/os/BufferedPort.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/IChatBot.h>
#include <yarp/os/Time.h>
#include <yarp/os/Network.h>
#include <yarp/os/Vocab.h>
#include <yarp/os/Bottle.h>
#include <yarp/os/RpcServer.h>
#include <yarp/dev/WrapperSingle.h>
#include "IChatBotMsgs.h"
#include "ChatBot_nws_yarp_ParamsParser.h"
 
using namespace yarp::os;
using namespace yarp::dev;
 
// Callback implementation after buffered input.
class ChatBotRPC_CallbackHelper : public yarp::os::TypedReaderCallback<yarp::os::Bottle>
{
protected:
    yarp::dev::IChatBot* m_iChatBot{nullptr};
    yarp::os::Port*      m_outPort{nullptr};
 
public:
    virtual ~ChatBotRPC_CallbackHelper() override {};
 
    bool setCommunications(yarp::dev::IChatBot* iser, yarp::os::Port* port);
 
    using yarp::os::TypedReaderCallback<yarp::os::Bottle>::onRead;
    void onRead(yarp::os::Bottle& b) override;
};
 
// rpc commands
class IChatBotMsgsImpl : public IChatBotMsgs
{
private:
    std::mutex           m_mutex;
    yarp::dev::IChatBot* m_iChatBot{nullptr};
 
public:
    return_interact    interactRPC(const std::string& messageIn) override;
    ReturnValue        setLanguageRPC(const std::string& language) override;
    return_getLanguage getLanguageRPC() override;
    return_getStatus   getStatusRPC() override;
    ReturnValue        resetBotRPC() override;
 
public:
    bool setInterfaces(yarp::dev::IChatBot* iChatBot);
    std::mutex* getMutex() { return &m_mutex; }
};
 
 
class ChatBot_nws_yarp :
        public yarp::dev::DeviceDriver,
        public yarp::dev::WrapperSingle,
        public yarp::os::PortReader,
        public ChatBot_nws_yarp_ParamsParser
{
private:
    yarp::dev::IChatBot* m_iChatBot{ nullptr };
    yarp::os::Port       m_inputPort;
    yarp::os::Port       m_outputPort;
    yarp::os::RpcServer  m_thriftServerPort;
    IChatBotMsgsImpl     m_msgsImpl;
 
    yarp::os::PortReaderBuffer <yarp::os::Bottle> m_inputBuffer;
    std::unique_ptr<ChatBotRPC_CallbackHelper>    m_cbkHelper;
 
    // yarp::dev::IWrapper
    bool  attach(yarp::dev::PolyDriver* deviceToAttach) override;
    bool  detach() override;
 
private:
    bool closeMain();
 
public:
    ChatBot_nws_yarp() = default;
    ChatBot_nws_yarp(const ChatBot_nws_yarp&) = delete;
    ChatBot_nws_yarp(ChatBot_nws_yarp&&) = delete;
    ChatBot_nws_yarp& operator=(const ChatBot_nws_yarp&) = delete;
    ChatBot_nws_yarp& operator=(ChatBot_nws_yarp&&) = delete;
    virtual ~ChatBot_nws_yarp() override;
 
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
    bool read(yarp::os::ConnectionReader& connection) override;
};
 
#endif // YARP_DEV_CHATBOT_NWS_YARP_H