87 lines
2.4 KiB
C++
87 lines
2.4 KiB
C++
// 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/Buffer.h"
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#include "carla/NonCopyable.h"
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#include "carla/TypeTraits.h"
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#include "carla/profiler/LifetimeProfiled.h"
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#include "carla/multigpu/secondaryCommands.h"
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#include "carla/streaming/detail/tcp/Message.h"
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#include "carla/streaming/detail/Token.h"
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#include "carla/streaming/detail/Types.h"
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#include "carla/ThreadPool.h"
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#include <boost/asio/deadline_timer.hpp>
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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 <boost/asio/strand.hpp>
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#include <atomic>
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#include <functional>
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#include <memory>
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namespace carla {
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class BufferPool;
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namespace multigpu {
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class Secondary
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: public std::enable_shared_from_this<Secondary>,
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private profiler::LifetimeProfiled,
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private NonCopyable {
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public:
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using endpoint = boost::asio::ip::tcp::endpoint;
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using protocol_type = endpoint::protocol_type;
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Secondary(boost::asio::ip::tcp::endpoint ep, SecondaryCommands::callback_type callback);
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Secondary(std::string ip, uint16_t port, SecondaryCommands::callback_type callback);
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~Secondary();
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void Connect();
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void Stop();
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void AsyncRun(size_t worker_threads);
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void Write(std::shared_ptr<const carla::streaming::detail::tcp::Message> message);
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void Write(Buffer buffer);
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void Write(std::string text);
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SecondaryCommands &GetCommander() {
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return _commander;
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}
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template <typename... Buffers>
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static auto MakeMessage(Buffers... buffers) {
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static_assert(
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are_same<SharedBufferView, Buffers...>::value,
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"This function only accepts arguments of type BufferView.");
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return std::make_shared<const carla::streaming::detail::tcp::Message>(buffers...);
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}
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private:
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void Reconnect();
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void ReadData();
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ThreadPool _pool;
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boost::asio::ip::tcp::socket _socket;
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boost::asio::ip::tcp::endpoint _endpoint;
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boost::asio::io_context::strand _strand;
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boost::asio::deadline_timer _connection_timer;
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std::shared_ptr<BufferPool> _buffer_pool;
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std::atomic_bool _done {false};
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SecondaryCommands _commander;
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};
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} // namespace multigpu
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} // namespace carla
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