Some renaming + update_statistics -> publish_statistics + agent tool …

…docs + timeout reply (#94) * agent_tool -> amlip_agent | ModelDataType -> ModelRequestDataType | ModelSolutionDataType -> ModelReplyDataType Signed-off-by: Irene Bandera <[email protected]> * Add comments Signed-off-by: Irene Bandera <[email protected]> * Uncrustify Signed-off-by: Irene Bandera <[email protected]> * Memory leaks Signed-off-by: Irene Bandera <[email protected]> * Add agent tool docu Signed-off-by: Irene Bandera <[email protected]> * Apply changes Signed-off-by: Irene Bandera <[email protected]> * Add copy_data parameter Signed-off-by: Irene Bandera <[email protected]> * Add timeout to get a reply Signed-off-by: Irene Bandera <[email protected]> * Uncrustify Signed-off-by: Irene Bandera <[email protected]> * Apply changes Signed-off-by: Irene Bandera <[email protected]> * Apply changes Signed-off-by: Irene Bandera <[email protected]> --------- Signed-off-by: Irene Bandera <[email protected]>
eProsima · Aug 7, 2023 · 5cfbf9e · 5cfbf9e
1 parent 8a16e7b
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diff --git a/amlip_cpp/include/amlip_cpp/node/collaborative_learning/ModelManagerReceiverNode.hpp b/amlip_cpp/include/amlip_cpp/node/collaborative_learning/ModelManagerReceiverNode.hpp
@@ -26,8 +26,8 @@
 #include <amlip_cpp/node/ParentNode.hpp>
 
 #include <amlip_cpp/types/id/TaskId.hpp>
-#include <amlip_cpp/types/model/ModelDataType.hpp>
-#include <amlip_cpp/types/model/ModelSolutionDataType.hpp>
+#include <amlip_cpp/types/model/ModelReplyDataType.hpp>
+#include <amlip_cpp/types/model/ModelRequestDataType.hpp>
 #include <amlip_cpp/types/model/ModelStatisticsDataType.hpp>
 
 
@@ -54,7 +54,7 @@ namespace node {
  * @brief Object that listens to:
  *
  *  - new ModelStatisticsDataType messages received from a \c ModelManagerSenderNode and executes a callback.
- *  - new ModelSolutionDataType messages received from a \c ModelManagerSenderNode and executes a callback.
+ *  - new ModelReplyDataType messages received from a \c ModelManagerSenderNode and executes a callback.
  *
  * This class is supposed to be implemented by a User and be given to a \c ModelManagerReceiverNode in order to process
  * the messages received from other Nodes in the network.
@@ -75,12 +75,12 @@ class ModelListener
             const types::ModelStatisticsDataType statistics) = 0;
 
     /**
-     * @brief Method that will be called with each ModelSolutionDataType message received
+     * @brief Method that will be called with each ModelReplyDataType message received
      *
-     * @param model new ModelSolutionDataType message received.
+     * @param model new ModelReplyDataType message received.
      */
     virtual bool model_received (
-            const types::ModelSolutionDataType model) = 0;
+            const types::ModelReplyDataType model) = 0;
 };
 
 /**
@@ -101,7 +101,7 @@ class ModelManagerReceiverNode : public ParentNode
      */
     AMLIP_CPP_DllAPI ModelManagerReceiverNode(
             types::AmlipIdDataType id,
-            types::ModelDataType& data,
+            types::ModelRequestDataType& data,
             uint32_t domain_id);
 
     /**
@@ -112,7 +112,7 @@ class ModelManagerReceiverNode : public ParentNode
      */
     AMLIP_CPP_DllAPI ModelManagerReceiverNode(
             types::AmlipIdDataType id,
-            types::ModelDataType& data);
+            types::ModelRequestDataType& data);
 
     /**
      * @brief Construct a new ModelManagerReceiverNode Node object.
@@ -123,7 +123,7 @@ class ModelManagerReceiverNode : public ParentNode
      */
     AMLIP_CPP_DllAPI ModelManagerReceiverNode(
             const char* name,
-            types::ModelDataType& data,
+            types::ModelRequestDataType& data,
             uint32_t domain_id);
 
     /**
@@ -134,7 +134,7 @@ class ModelManagerReceiverNode : public ParentNode
      */
     AMLIP_CPP_DllAPI ModelManagerReceiverNode(
             const char* name,
-            types::ModelDataType& data);
+            types::ModelRequestDataType& data);
 
     /**
      * @brief Destroy the ModelManagerReceiverNode Node object
@@ -190,13 +190,16 @@ class ModelManagerReceiverNode : public ParentNode
      *
      * This is created from DDS Participant in ParentNode, and its destruction is handled by ParentNode.
      */
-    std::shared_ptr<dds::RPCClient<types::ModelDataType, types::ModelSolutionDataType>> model_receiver_;
+    std::shared_ptr<dds::RPCClient<types::ModelRequestDataType, types::ModelReplyDataType>> model_receiver_;
 
     //! Whether the Node is currently open to receive data or it is stopped.
     std::atomic<bool> running_;
 
     //! Data to request to ModelManagerSenderNode.
-    types::ModelDataType data_;
+    types::ModelRequestDataType data_;
+
+    //! Maximum wait reply in milliseconds (0 = no wait)
+    static const uint32_t REPLY_TIMEOUT_;        // 2500
 };
 
 } /* namespace node */

diff --git a/amlip_cpp/include/amlip_cpp/node/collaborative_learning/ModelManagerSenderNode.hpp b/amlip_cpp/include/amlip_cpp/node/collaborative_learning/ModelManagerSenderNode.hpp
@@ -26,8 +26,8 @@
 #include <amlip_cpp/node/ParentNode.hpp>
 
 #include <amlip_cpp/types/id/TaskId.hpp>
-#include <amlip_cpp/types/model/ModelDataType.hpp>
-#include <amlip_cpp/types/model/ModelSolutionDataType.hpp>
+#include <amlip_cpp/types/model/ModelReplyDataType.hpp>
+#include <amlip_cpp/types/model/ModelRequestDataType.hpp>
 #include <amlip_cpp/types/model/ModelStatisticsDataType.hpp>
 
 
@@ -53,7 +53,7 @@ namespace node {
 /**
  * @brief Object that listens to:
  *
- *  - new ModelDataType messages received from a \c ModelManagerReceiverNode and executes a callback.
+ *  - new ModelRequestDataType messages received from a \c ModelManagerReceiverNode and executes a callback.
  *
  * This class is supposed to be implemented by a User and be given to a \c ModelManagerSenderNode in order to process
  * the messages received from other Nodes in the network.
@@ -67,12 +67,12 @@ class ModelReplier
     virtual ~ModelReplier() = default;
 
     /**
-     * @brief Method that will be called with each ModelSolutionDataType message received to calculate an answer.
+     * @brief Method that will be called with each ModelReplyDataType message received to calculate an answer.
      *
-     * @param data new ModelDataType message received.
+     * @param data new ModelRequestDataType message received.
      */
-    virtual types::ModelSolutionDataType fetch_model (
-            const types::ModelDataType data) = 0;
+    virtual types::ModelReplyDataType fetch_model (
+            const types::ModelRequestDataType data) = 0;
 };
 
 /**
@@ -109,34 +109,42 @@ class ModelManagerSenderNode : public ParentNode
     AMLIP_CPP_DllAPI ~ModelManagerSenderNode();
 
     /**
-     * @brief This function copies the values in member \c statistics_ and publishes them
+     * @brief This function copies the values into a ModelStatisticsDataType object and publishes them
      *
-     * @param name New value to be copied in member id \c statistics_.name_
-     * @param data New value to be copied in member id \c statistics_.data_
-     * @param size New value to be copied in member id \c statistics_.data_size_
+     * @param name New value to be copied in member \c name_
+     * @param data New value to be copied in member \c data_
+     * @param size New value to be copied in member \c data_size_
+     * @param copy_data
      */
-    void update_statistics(
+    void publish_statistics(
             const std::string& name,
             void* data,
-            const uint32_t size);
+            const uint32_t size,
+            bool copy_data = true);
 
     /**
-     * @brief This function copies the values in member \c statistics_ and publishes them
+     * @brief This function copies the values into a ModelStatisticsDataType object and publishes them
      *
-     * @param name New value to be copied in member id \c statistics_.name_
-     * @param data New value to be copied in member id \c statistics_.data_
+     * @param name New value to be copied in member \c name_
+     * @param data New value to be copied in member \c data_
+     * @param copy_data
      */
-    void update_statistics(
+    void publish_statistics(
             const std::string& name,
-            const std::string& data);
+            const std::vector<types::ByteType>& data,
+            bool copy_data = true);
 
     /**
-     * @brief This function gets the value of member \c statistics_ as ModelStatisticsDataType
+     * @brief This function copies the values into a ModelStatisticsDataType object and publishes them
      *
-     * @return Value of member \c statistics_ as ModelStatisticsDataType
+     * @param name New value to be copied in member \c name_
+     * @param data New value to be copied in member \c data_
+     * @param copy_data
      */
-    types::ModelStatisticsDataType statistics();
-
+    void publish_statistics(
+            const std::string& name,
+            const std::string& data,
+            bool copy_data = true);
 
     /**
      * @brief Process model replies
@@ -185,13 +193,11 @@ class ModelManagerSenderNode : public ParentNode
      *
      * This is created from DDS Participant in ParentNode, and its destruction is handled by ParentNode.
      */
-    std::shared_ptr<dds::RPCServer<types::ModelDataType, types::ModelSolutionDataType>> model_sender_;
+    std::shared_ptr<dds::RPCServer<types::ModelRequestDataType, types::ModelReplyDataType>> model_sender_;
 
     //! Whether the Node is currently open to receive data or it is stopped.
     std::atomic<bool> running_;
 
-    //! Statistical data from models.
-    types::ModelStatisticsDataType statistics_;
 };
 
 } /* namespace node */

diff --git a/...e/amlip_cpp/types/model/ModelDataType.hpp → ...ip_cpp/types/model/ModelReplyDataType.hpp b/...e/amlip_cpp/types/model/ModelDataType.hpp → ...ip_cpp/types/model/ModelReplyDataType.hpp
@@ -13,11 +13,11 @@
 // limitations under the License.
 
 /*!
- * @file ModelDataType.hpp
+ * @file ModelReplyDataType.hpp
  */
 
-#ifndef AMLIPCPP__SRC_CPP_TYPES_MODEL_MODELDATATYPE_HPP
-#define AMLIPCPP__SRC_CPP_TYPES_MODEL_MODELDATATYPE_HPP
+#ifndef AMLIPCPP__SRC_CPP_TYPES_MODEL_MODELREPLYDATATYPE_HPP
+#define AMLIPCPP__SRC_CPP_TYPES_MODEL_MODELREPLYDATATYPE_HPP
 
 #include <string>
 #include <vector>
@@ -28,10 +28,10 @@ namespace eprosima {
 namespace amlip {
 namespace types {
 
-using ModelDataType = GenericDataType;
+using ModelReplyDataType = GenericDataType;
 
 } /* namespace types */
 } /* namespace amlip */
 } /* namespace eprosima */
 
-#endif // AMLIPCPP__SRC_CPP_TYPES_MODEL_MODELDATATYPE_HPP
+#endif // AMLIPCPP__SRC_CPP_TYPES_MODEL_MODELREPLYDATATYPE_HPP
diff --git a/...cpp/types/model/ModelSolutionDataType.hpp → ..._cpp/types/model/ModelRequestDataType.hpp b/...cpp/types/model/ModelSolutionDataType.hpp → ..._cpp/types/model/ModelRequestDataType.hpp
@@ -13,11 +13,11 @@
 // limitations under the License.
 
 /*!
- * @file ModelSolutionDataType.hpp
+ * @file ModelRequestDataType.hpp
  */
 
-#ifndef AMLIPCPP__SRC_CPP_TYPES_MODEL_MODELSOLUTIONDATATYPE_HPP
-#define AMLIPCPP__SRC_CPP_TYPES_MODEL_MODELSOLUTIONDATATYPE_HPP
+#ifndef AMLIPCPP__SRC_CPP_TYPES_MODEL_MODELREQUESTDATATYPE_HPP
+#define AMLIPCPP__SRC_CPP_TYPES_MODEL_MODELREQUESTDATATYPE_HPP
 
 #include <string>
 #include <vector>
@@ -28,10 +28,10 @@ namespace eprosima {
 namespace amlip {
 namespace types {
 
-using ModelSolutionDataType = GenericDataType;
+using ModelRequestDataType = GenericDataType;
 
 } /* namespace types */
 } /* namespace amlip */
 } /* namespace eprosima */
 
-#endif // AMLIPCPP__SRC_CPP_TYPES_MODEL_MODELSOLUTIONDATATYPE_HPP
+#endif // AMLIPCPP__SRC_CPP_TYPES_MODEL_MODELREQUESTDATATYPE_HPP
diff --git a/amlip_cpp/include/amlip_cpp/types/model/ModelStatisticsDataType.hpp b/amlip_cpp/include/amlip_cpp/types/model/ModelStatisticsDataType.hpp
@@ -23,8 +23,8 @@
 #include <string>
 #include <vector>
 
-#include <amlip_cpp/types/InterfaceDataType.hpp>
 #include <amlip_cpp/types/id/AmlipIdDataType.hpp>
+#include <amlip_cpp/types/InterfaceDataType.hpp>
 
 namespace eprosima {
 namespace fastcdr {
@@ -49,16 +49,53 @@ class ModelStatisticsDataType : public InterfaceDataType
 
     /*!
      * @brief Constructor with name.
+     * @param name New value to be copied in member id \c name_
      */
     AMLIP_CPP_DllAPI ModelStatisticsDataType(
             const std::string& name);
 
     /*!
      * @brief Constructor with name given in char*.
+     * @param name New value to be copied in member id \c name_
      */
     AMLIP_CPP_DllAPI ModelStatisticsDataType(
             const char* name);
 
+    /*!
+     * @brief Constructor with name, data given in void* and data size.
+     * @param name New value to be copied in member id \c name_
+     * @param data New value to be copied in member id \c data_
+     * @param size New value to be copied in member id \c data_size_
+     * @param copy_data
+     */
+    AMLIP_CPP_DllAPI ModelStatisticsDataType(
+            const std::string& name,
+            void* data,
+            const uint32_t size,
+            bool copy_data = true);
+
+    /*!
+     * @brief Constructor with name and data given in std::vector<uint8_t>.
+     * @param name New value to be copied in member id \c name_
+     * @param bytes New value to be copied in member id \c data_
+     * @param copy_data
+     */
+    AMLIP_CPP_DllAPI ModelStatisticsDataType(
+            const std::string& name,
+            const std::vector<ByteType>& bytes,
+            bool copy_data = true);
+
+    /*!
+     * @brief Constructor with name and data.
+     * @param name New value to be copied in member id \c name_
+     * @param bytes New value to be copied in member id \c data_
+     * @param copy_data
+     */
+    AMLIP_CPP_DllAPI ModelStatisticsDataType(
+            const std::string& name,
+            const std::string& bytes,
+            bool copy_data = true);
+
     /*!
      * @brief Default destructor.
      */
@@ -145,27 +182,14 @@ class ModelStatisticsDataType : public InterfaceDataType
     AMLIP_CPP_DllAPI void* data() const;
 
     /*!
-     * @brief This function copies the value in member \c data_
-     * @param bytes New value to be copied in member id \c data_
-     */
-    AMLIP_CPP_DllAPI void data(
-            const std::vector<ByteType>& bytes);
-
-    /*!
-     * @brief This function copies the value in member \c data_
-     * @param bytes New value to be copied in member id \c data_
+     * @brief Return value of attribute \c data_ in std::string
      */
-    AMLIP_CPP_DllAPI void data(
-            const std::string& bytes);
+    AMLIP_CPP_DllAPI std::string to_string() const noexcept;
 
     /*!
-     * @brief This function copies the value in member \c data_
-     * @param data New value to be copied in member id \c data_
-     * @param size New value to be copied in member id \c data_size_
+     * @brief Return value of attribute \c data_ in std::vector<uint8_t>
      */
-    AMLIP_CPP_DllAPI void data(
-            void* data,
-            const uint32_t size);
+    AMLIP_CPP_DllAPI std::vector<ByteType> to_vector() const noexcept;
 
     /*!
      * @brief Return value of attribute \c data_size_
@@ -271,7 +295,7 @@ class ModelStatisticsDataType : public InterfaceDataType
 };
 
 //! \c ModelStatisticsDataType to stream serializator
-AMLIP_CPP_DllAPI std::ostream& operator <<(
+std::ostream& operator <<(
         std::ostream& os,
         const ModelStatisticsDataType& id);
 

diff --git a/amlip_cpp/src/cpp/dds/rpc/RPCClient.hpp b/amlip_cpp/src/cpp/dds/rpc/RPCClient.hpp
@@ -23,8 +23,9 @@
 #include <dds/DirectWriter.hpp>
 #include <dds/TargetedReader.hpp>
 
-#include <types/rpc/RpcRequestDataType.hpp>
 #include <types/rpc/RpcReplyDataType.hpp>
+#include <types/rpc/RpcRequestDataType.hpp>
+
 #include <amlip_cpp/types/id/TaskId.hpp>
 
 namespace eprosima {
@@ -107,6 +108,11 @@ class RPCClient
     std::string topic_;
 
     std::atomic<types::TaskId> last_task_id_used_;
+
+    template <typename D, typename S>
+    friend std::ostream& operator <<(
+            std::ostream&,
+            const RPCClient<D, S>& );
 };
 
 //! \c RPCClient to stream serializator