input_node.h

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/* * NRP Core - Backend infrastructure to synchronize simulations
 *
 * Copyright 2020-2023 NRP Team
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 * This project has received funding from the European Union’s Horizon 2020
 * Framework Programme for Research and Innovation under the Specific Grant
 * Agreement No. 945539 (Human Brain Project SGA3).
 */
 
#ifndef INPUT_MQTT_NODE_H
#define INPUT_MQTT_NODE_H
 
#include <mutex>
#include <functional>
#include "nlohmann/json.hpp"
#include <google/protobuf/message.h>
#include "nrp_protobuf/engine_grpc.pb.h"
#include "nrp_general_library/datapack_interface/datapack.h"
 
#include "nrp_event_loop/computational_graph/input_node.h"
#include "nrp_event_loop/python/input_edge.h"
 
#include "nrp_mqtt_proxy/nrp_mqtt_proxy.h"
 
template<class MSG_TYPE>
class InputMQTTNode : public InputNode<MSG_TYPE> {
public:
 
    InputMQTTNode(const std::string &id, const std::string &address) :
            InputNode<MSG_TYPE>(id),
            _address(address)
    {}
 
    std::string typeStr() const override
    { return "MQTTSubscriber"; }
 
protected:
 
    void configure() override
    {
        setMsgFromString();
 
        // Subscribes to mqtt topic
        NRPMQTTProxy* mqttProxy = &(NRPMQTTProxy::getInstance());
        if(mqttProxy) {
            using std::placeholders::_1;
            mqttProxy->subscribe(_address, std::bind(&InputMQTTNode::topic_callback, this, _1));
        }
        else
            NRPLogger::warn("From InputMQTTNode \"" + this->id() +
                            "\". NRPCoreSim is not connected to MQTT and this node can't subscribe to topics. Check your experiment configuration");
 
        // reserves memory space for storing incoming msgs
        _msgTemp.reserve(InputNode<MSG_TYPE>::_queueSize);
        _msgStore.reserve(InputNode<MSG_TYPE>::_queueSize);
    }
 
    void topic_callback(const std::string& msg)
    {
        std::lock_guard<std::mutex> lock(_msgMutex);
 
        // store msg pointer
        if(_msgTemp.size() < _msgTemp.capacity())
            _msgTemp.push_back(_msgFromString(msg));
        else
            NRPLogger::debug("'"+this->id()+"' node capacity is full. Dropping message...");
    }
 
    bool updatePortData(const std::string& id) override
    {
        std::lock_guard<std::mutex> lock(_msgMutex);
 
        // TODO: check that 'id' is equal to the topic address this node subscribes to?
 
        if(_msgTemp.size()) {
            _msgStore.clear();
            InputNode<MSG_TYPE>::_portMap.at(id).clear();
 
            for(auto & msg : _msgTemp) {
                _msgStore.push_back(std::move(msg));
                InputNode<MSG_TYPE>::_portMap.at(id).addMsg(&_msgStore.back());
            }
 
            _msgTemp.clear();
 
            return true;
        }
 
        return false;
    }
 
protected:
 
    virtual void setMsgFromString()
    {
        // Set msg conversion function
        if constexpr (std::is_same_v<MSG_TYPE, std::string>)
            _msgFromString = [] (const std::string& s) { return s; };
        else if constexpr (std::is_same_v<MSG_TYPE, nlohmann::json>)
            _msgFromString = [] (const std::string& s) {
                try {
                    return nlohmann::json::parse(s);
                }
                catch(const std::exception &e) {
                    std::stringstream error_msg;
                    error_msg << "Error in InputMQTTNode while converting incoming msg into json format: " << e.what();
                    throw NRPException::logCreate(error_msg.str());
                }
            };
        else if constexpr (std::is_base_of_v<google::protobuf::Message, MSG_TYPE>)
            _msgFromString = [] (const std::string& s) {
                MSG_TYPE m;
                if(m.ParseFromString(s))
                    return m;
                else
                    throw NRPException::logCreate("Error in InputMQTTNode while converting incoming msg into protobuf format");
            };
        else
            throw NRPException::logCreate("InputMQTTNode \""+ this->id() +"\" was instantiated with a non supported type");
    }
 
    std::function<MSG_TYPE (const std::string&)> _msgFromString;
 
private:
 
    std::mutex _msgMutex;
    std::vector<MSG_TYPE> _msgTemp;
    std::vector<MSG_TYPE> _msgStore;
    std::string _address;
};
 
 
template<class MSG_TYPE>
class InputMQTTEdge : public SimpleInputEdge<MSG_TYPE, InputMQTTNode<MSG_TYPE>> {
 
public:
 
    InputMQTTEdge(const std::string& keyword, const std::string& address,
                 InputNodePolicies::MsgPublishPolicy msgPublishPolicy,
                 InputNodePolicies::MsgCachePolicy msgCachePolicy) :
            SimpleInputEdge<MSG_TYPE, InputMQTTNode<MSG_TYPE>>(keyword, address+"_input", address, msgPublishPolicy, msgCachePolicy),
            _address(address)
    {}
 
protected:
 
    InputMQTTNode<MSG_TYPE>* makeNewNode() override
    { return new InputMQTTNode<MSG_TYPE>(this->_id, _address); }
 
    std::string _address;
};
 
template <class MSG_TYPE>
class DPInputMQTTNode : public InputMQTTNode<DataPack<MSG_TYPE>> {
public:
    DPInputMQTTNode(const std::string &id, const std::string &address) :
            InputMQTTNode<DataPack<MSG_TYPE>>(id, address)
    { }
 
protected:
 
    void setMsgFromString() override
    {
        if constexpr (std::is_base_of_v<google::protobuf::Message, MSG_TYPE>) {
            this->_msgFromString = [](const std::string &s) {
                EngineGrpc::DataPackMessage m;
                if (!m.ParseFromString(s))
                    throw NRPException::logCreate(
                            "Error in DPInputMQTTNode while converting incoming msg into EngineGrpc::DataPackMessage protobuf message");
                else if (!m.has_data())
                    throw NRPException::logCreate("Error in DPInputMQTTNode. Received empty DataPack");
                else if (!m.has_datapackid())
                    throw NRPException::logCreate("Error in DPInputMQTTNode. Received DataPack without id");
                else if (!m.data().Is<MSG_TYPE>())
                    throw NRPException::logCreate(
                            "Error in DPInputMQTTNode while converting incoming msg into DataPack. Wrong msg type");
 
                MSG_TYPE *data = new MSG_TYPE();
                m.data().UnpackTo(data);
                return DataPack<MSG_TYPE>(m.datapackid().datapackname(), m.datapackid().enginename(), data);
            };
        }
        else if constexpr (std::is_same_v<MSG_TYPE, nlohmann::json>)
            this->_msgFromString = [] (const std::string& s) {
                try {
                    auto datapack =  nlohmann::json::parse(s);
                    if(!datapack.contains("name") || !datapack.contains("engine_name"))
                        throw NRPException::logCreate("malformed json datapack received: \"" + s +
                        "\". It must contain keys name and engine_name");
                    else if(!datapack.contains("data"))
                        throw NRPException::logCreate("empty datapack received. This is not allowed");
                    else
                        return DataPack<nlohmann::json>(
                                datapack["name"].get<std::string>(),
                                datapack["engine_name"].get<std::string>(),
                                new nlohmann::json(std::move(datapack["data"])));
                }
                catch(const std::exception &e) {
                    std::stringstream error_msg;
                    error_msg << "Error in InputMQTTNode while converting incoming msg into json datapack format: " << e.what();
                    throw NRPException::logCreate(error_msg.str());
                }
            };
    }
 
};
 
 
template<class MSG_TYPE>
class DPInputMQTTEdge : public InputMQTTEdge<DataPack<MSG_TYPE>> {
 
public:
 
    DPInputMQTTEdge(const std::string& keyword, const std::string& address,
                    InputNodePolicies::MsgPublishPolicy msgPublishPolicy,
                    InputNodePolicies::MsgCachePolicy msgCachePolicy) :
            InputMQTTEdge<DataPack<MSG_TYPE>>(keyword, address, msgPublishPolicy, msgCachePolicy)
    {}
 
protected:
 
    InputMQTTNode<DataPack<MSG_TYPE>>* makeNewNode() override
    { return new DPInputMQTTNode<MSG_TYPE>(this->_id, this->_address); }
 
};
 
#endif //INPUT_MQTT_NODE_H