Program Listing for File MqttClient.ros2.hpp

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/*
==============================================================================
MIT License

Copyright 2022 Institute for Automotive Engineering of RWTH Aachen University.

Permission is hereby granted, free of charge, to any person obtaining a copy
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copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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SOFTWARE.
==============================================================================
*/


#pragma once

#include <filesystem>
#include <map>
#include <memory>
#include <optional>
#include <string>

#define FMT_HEADER_ONLY
#include <fmt/format.h>
#include <mqtt/async_client.h>
#include <mqtt_client_interfaces/srv/is_connected.hpp>
#include <mqtt_client_interfaces/srv/new_mqtt2_ros_bridge.hpp>
#include <mqtt_client_interfaces/srv/new_ros2_mqtt_bridge.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rclcpp/serialization.hpp>
#include <rclcpp/qos.hpp>
#include <std_msgs/msg/float64.hpp>


namespace mqtt_client {


class MqttClient : public rclcpp::Node,
                   public virtual mqtt::callback,
                   public virtual mqtt::iaction_listener {

 public:
  explicit MqttClient(const rclcpp::NodeOptions& options);

 protected:
   struct Ros2MqttInterface;
   struct Mqtt2RosInterface;

  void loadParameters();

  bool loadParameter(const std::string& key, std::string& value);

  bool loadParameter(const std::string& key, std::string& value, const std::string& default_value);

  template <typename T>
  bool loadParameter(const std::string& key, T& value);

  template <typename T>
  bool loadParameter(const std::string& key, T& value, const T& default_value);

  template <typename T>
  bool loadParameter(const std::string& key, std::vector<T>& value);

  template <typename T>
  bool loadParameter(const std::string& key, std::vector<T>& value, const std::vector<T>& default_value);

  std::filesystem::path resolvePath(const std::string& path_string);

  void setup();

   std::optional<rclcpp::QoS> getCompatibleQoS(
     const std::string& ros_topic, const rclcpp::TopicEndpointInfo& tei,
     const Ros2MqttInterface& ros2mqtt) const;

   std::vector<rclcpp::TopicEndpointInfo> getCandidatePublishers(
     const std::string& ros_topic, const Ros2MqttInterface& ros2mqtt) const;

  void setupSubscriptions();

  void setupPublishers();

  void setupClient();

  void connect();

  void ros2mqtt(
    const std::shared_ptr<rclcpp::SerializedMessage>& serialized_msg,
    const std::string& ros_topic);

  void mqtt2ros(mqtt::const_message_ptr mqtt_msg,
                const rclcpp::Time& arrival_stamp);

  void mqtt2primitive(mqtt::const_message_ptr mqtt_msg);

  void mqtt2fixed(mqtt::const_message_ptr mqtt_msg);

  void connected(const std::string& cause) override;

  void connection_lost(const std::string& cause) override;

  bool isConnected();

  void isConnectedService(
    mqtt_client_interfaces::srv::IsConnected::Request::SharedPtr request,
    mqtt_client_interfaces::srv::IsConnected::Response::SharedPtr response);

  void newRos2MqttBridge(
    mqtt_client_interfaces::srv::NewRos2MqttBridge::Request::SharedPtr request,
    mqtt_client_interfaces::srv::NewRos2MqttBridge::Response::SharedPtr response);

  void newMqtt2RosBridge(
    mqtt_client_interfaces::srv::NewMqtt2RosBridge::Request::SharedPtr request,
    mqtt_client_interfaces::srv::NewMqtt2RosBridge::Response::SharedPtr response);

  void message_arrived(mqtt::const_message_ptr mqtt_msg) override;

  void delivery_complete(mqtt::delivery_token_ptr token) override;

  void on_success(const mqtt::token& token) override;

  void on_failure(const mqtt::token& token) override;

 protected:
  struct BrokerConfig {
    std::string host;
    int port;
    std::string user;
    std::string pass;
    struct {
      bool enabled;
      std::filesystem::path ca_certificate;
    } tls;
  };

  struct ClientConfig {
    std::string id;
    struct {
      bool enabled;
      int size;
      std::filesystem::path directory;
    } buffer;
    struct {
      std::string topic;
      std::string message;
      int qos;
      bool retained;
    } last_will;
    bool clean_session;
    double keep_alive_interval;
    int max_inflight;
    struct {
      std::filesystem::path certificate;
      std::filesystem::path key;
      std::string password;
      int version;
      bool verify;
      std::vector<std::string> alpn_protos;
    } tls;
  };

  struct Ros2MqttInterface {
    struct {
      rclcpp::GenericSubscription::SharedPtr
        subscriber;
      std::string msg_type;
      int queue_size = 1;
      bool is_stale = false;
      struct {
        // If these are set to nullopt then that part of the QoS is determine automatically based on discovery
        std::optional<rclcpp::ReliabilityPolicy> reliability;
        std::optional<rclcpp::DurabilityPolicy> durability;
      } qos;
    } ros;
    struct {
      std::string topic;
      int qos = 0;
      bool retained = false;
    } mqtt;
    bool fixed_type = false;
    bool primitive = false;
    bool stamped = false;
  };

  struct Mqtt2RosInterface {
    struct {
      int qos = 0;
    } mqtt;
    struct {
      std::string topic;
      std::string msg_type;
      rclcpp::GenericPublisher::SharedPtr publisher;
      rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr
        latency_publisher;
      int queue_size = 1;
      struct {
        rclcpp::ReliabilityPolicy reliability = rclcpp::ReliabilityPolicy::SystemDefault;
        rclcpp::DurabilityPolicy durability = rclcpp::DurabilityPolicy::SystemDefault;
      } qos;
      bool latched = false;
      bool is_stale = false;
    } ros;
    bool fixed_type = false;
    bool primitive = false;
    bool stamped = false;
  };

 protected:
  static const std::string kRosMsgTypeMqttTopicPrefix;

  static const std::string kLatencyRosTopicPrefix;

  rclcpp::TimerBase::SharedPtr check_subscriptions_timer_;

  rclcpp::Service<mqtt_client_interfaces::srv::IsConnected>::SharedPtr
    is_connected_service_;

  rclcpp::Service<mqtt_client_interfaces::srv::NewRos2MqttBridge>::SharedPtr
    new_ros2mqtt_bridge_service_;

  rclcpp::Service<mqtt_client_interfaces::srv::NewMqtt2RosBridge>::SharedPtr
    new_mqtt2ros_bridge_service_;

  bool is_connected_ = false;

  BrokerConfig broker_config_;

  ClientConfig client_config_;

  std::shared_ptr<mqtt::async_client> client_;

  mqtt::connect_options connect_options_;

  std::map<std::string, Ros2MqttInterface> ros2mqtt_;

  std::map<std::string, Mqtt2RosInterface> mqtt2ros_;

  uint32_t stamp_length_;
};


template <typename T>
bool MqttClient::loadParameter(const std::string& key, T& value) {
  bool found = get_parameter(key, value);
  if (found)
    RCLCPP_DEBUG(get_logger(), "Retrieved parameter '%s' = '%s'", key.c_str(),
                 std::to_string(value).c_str());
  return found;
}


template <typename T>
bool MqttClient::loadParameter(const std::string& key, T& value,
                               const T& default_value) {
  bool found = get_parameter_or(key, value, default_value);
  if (!found)
    RCLCPP_WARN(get_logger(), "Parameter '%s' not set, defaulting to '%s'",
                key.c_str(), std::to_string(default_value).c_str());
  if (found)
    RCLCPP_DEBUG(get_logger(), "Retrieved parameter '%s' = '%s'", key.c_str(),
                 std::to_string(value).c_str());
  return found;
}


template <typename T>
bool MqttClient::loadParameter(const std::string& key, std::vector<T>& value) {
  const bool found = get_parameter(key, value);
  if (found)
    RCLCPP_WARN(get_logger(), "Retrieved parameter '%s' = '[%s]'", key.c_str(),
                fmt::format("{}", fmt::join(value, ", ")).c_str());
  return found;
}


template <typename T>
bool MqttClient::loadParameter(const std::string& key, std::vector<T>& value,
                               const std::vector<T>& default_value) {
  const bool found = get_parameter_or(key, value, default_value);
  if (!found)
    RCLCPP_WARN(get_logger(), "Parameter '%s' not set, defaulting to '%s'",
                key.c_str(), fmt::format("{}", fmt::join(value, ", ")).c_str());
  if (found)
    RCLCPP_DEBUG(get_logger(), "Retrieved parameter '%s' = '%s'", key.c_str(),
                 fmt::format("{}", fmt::join(value, ", ")).c_str());
  return found;
}


template <typename T>
void serializeRosMessage(const T& msg,
                         rclcpp::SerializedMessage& serialized_msg) {

  rclcpp::Serialization<T> serializer;
  serializer.serialize_message(&msg, &serialized_msg);
}


template <typename T>
void deserializeRosMessage(const rclcpp::SerializedMessage& serialized_msg,
                           T& msg) {

  rclcpp::Serialization<T> serializer;
  serializer.deserialize_message(&serialized_msg, &msg);
}

}  // namespace mqtt_client