83 lines
2.3 KiB
C
83 lines
2.3 KiB
C
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// Copyright (c) 2022 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#pragma once
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// #include "carla/Logging.h"
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#include "carla/streaming/detail/tcp/Message.h"
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#include "carla/ThreadPool.h"
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#include "carla/multigpu/primary.h"
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#include "carla/multigpu/primaryCommands.h"
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#include "carla/multigpu/commands.h"
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#include <boost/asio/io_context.hpp>
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#include <boost/asio/ip/tcp.hpp>
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#include <mutex>
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#include <vector>
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#include <sstream>
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#include <unordered_map>
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namespace carla {
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namespace multigpu {
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// class Primary;
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class Listener;
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struct SessionInfo {
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std::shared_ptr<Primary> session;
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carla::Buffer buffer;
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};
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class Router : public std::enable_shared_from_this<Router> {
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public:
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Router(void);
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explicit Router(uint16_t port);
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~Router();
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void Write(MultiGPUCommand id, Buffer &&buffer);
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std::future<SessionInfo> WriteToNext(MultiGPUCommand id, Buffer &&buffer);
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std::future<SessionInfo> WriteToOne(std::weak_ptr<Primary> server, MultiGPUCommand id, Buffer &&buffer);
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void Stop();
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void SetCallbacks();
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void SetNewConnectionCallback(std::function<void(void)>);
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void AsyncRun(size_t worker_threads);
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boost::asio::ip::tcp::endpoint GetLocalEndpoint() const;
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bool HasClientsConnected() {
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return (!_sessions.empty());
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}
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PrimaryCommands &GetCommander() {
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return _commander;
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}
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std::weak_ptr<Primary> GetNextServer();
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private:
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void ConnectSession(std::shared_ptr<Primary> session);
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void DisconnectSession(std::shared_ptr<Primary> session);
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void ClearSessions();
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// mutex and thread pool must be at the beginning to be destroyed last
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std::mutex _mutex;
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ThreadPool _pool;
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boost::asio::ip::tcp::endpoint _endpoint;
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std::vector<std::shared_ptr<Primary>> _sessions;
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std::shared_ptr<Listener> _listener;
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uint32_t _next;
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std::unordered_map<Primary *, std::shared_ptr<std::promise<SessionInfo>>> _promises;
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PrimaryCommands _commander;
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std::function<void(void)> _callback;
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};
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} // namespace multigpu
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} // namespace carla
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