/// Send messages between a client and server synchronously.
///
/// @see overview of zmq socket types https://sachabarbs.wordpress.com/2014/08/21/zeromq-2-the-socket-types-2/
/// @see bounce is based on https://github.com/zeromq/azmq/blob/master/test/socket/main.cpp
/// @see flatbuffers https://google.github.io/flatbuffers/md__cpp_usage.html
void bounce(azmq::socket & server, azmq::socket & client, bool send_only = true) {
flatbuffers::FlatBufferBuilder fbb;
std::array<uint8_t, 512> buf;
for (int x = 0; x<100; ++x) {
/////////////////////////
// Client sends to server
grl::flatbuffer::Vector3d rv(x,0,0);
auto controlPoint = grl::flatbuffer::CreateVrepControlPoint(fbb,&rv);
grl::flatbuffer::FinishVrepControlPointBuffer(fbb, controlPoint);
client.send(boost::asio::buffer(fbb.GetBufferPointer(), fbb.GetSize()));
std::cout << "sent: " << rv.x() << "\n";
//////////////////////////////
// Server receives from client
if(! send_only) {
auto size = server.receive(boost::asio::buffer(buf));
auto verifier = flatbuffers::Verifier(buf.begin(),buf.size());
auto bufOK = grl::flatbuffer::VerifyVrepControlPointBuffer(verifier);
if(size == fbb.GetSize() && bufOK){
const grl::flatbuffer::VrepControlPoint* VCPin = grl::flatbuffer::GetVrepControlPoint(buf.begin());
std::cout << "received: " << VCPin->position()->x() << "\n";
} else {
std::cout << "wrong size or failed verification. size: "<< size <<" bufOk: " <<bufOK << "\n";
}
}
fbb.Clear();
}
}
void start()
{
socket_.async_receive([this](boost::system::error_code const& ec,
azmq::message & msg, size_t) {
if (ec)
return;
event_t event;
msg.buffer_copy(boost::asio::buffer(&event, sizeof(event)));
events_.push_back(event);
socket_.flush();
start();
});
}
void ChannelServer::nextMonitorEvent(StreamIdx idx, azmq::socket &socket) {
auto self = shared_from_this();
socket.async_receive([this, self, idx, &socket](
const error_code &ec, azmq::message &msg, size_t) {
if (ec == errc::operation_canceled) {
// We are shutting down.
return;
}
if (ec) {
BOOST_LOG_TRIVIAL(error) << "Error receiving streaming monitor "
"event; should not happen unless there "
"is a ZeroMQ-internal problem?";
nextMonitorEvent(idx, socket);
return;
}
if (!msg.more()) {
BOOST_LOG_TRIVIAL(error) << "Streaming monitor event only consists "
"of one part; should not happen unless "
"there is a ZeroMQ-internal problem?";
nextMonitorEvent(idx, socket);
return;
}
MonitorEvent event;
msg.buffer_copy(buffer(&event, sizeof(event)));
if (event.type == ZMQ_EVENT_ACCEPTED) {
addStreamSubscription(idx);
} else if (event.type == ZMQ_EVENT_DISCONNECTED) {
removeStreamSubscription(idx);
} else {
// This might be triggered if the ZeroMQ API is changed in the
// future. Have a look at the API docs to see if we need to handle
// that event type then. Currently, all the other events should not
// be triggered during normal operation of the server.
BOOST_LOG_TRIVIAL(info)
<< "Ignoring streaming socket monitor event: type = "
<< event.type << ", value = " << event.value;
}
socket.flush();
nextMonitorEvent(idx, socket);
});
}
void cancel()
{
socket_.cancel();
}
monitor_handler(boost::asio::io_service & ios, azmq::socket& s, std::string role)
: socket_(s.monitor(ios, ZMQ_EVENT_ALL))
, role_(std::move(role))
{ }