rtiAmbassadorFedProBase.h

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/*********************************************************************
** Copyright (c) 2025 MAK Technologies
** All rights reserved.
*********************************************************************/

#pragma once

#include <RTI/RTIambassador.h>

#include <rtiutil/rtiMsConfig.h>

#include <fedPro/heartbeatMessage.h>
#include <fedPro/protobuf/RTIambassador.pb.h>

#include <vlutil/vlSmartPointers.h>
#include <vlutil/vlTime.h>

#include <vector>
#include <set>
#include <queue>

class DtTcpMsgSocket;
class DtMsgHeaderReader;

namespace FedProSess
{
   class DtCallResponseMessage;
   class DtCallbackRequestMessage;
   class DtHeartbeatResponseMessage;
};

namespace rti1516_2025
{
   class FederateAmbassador;
};

namespace FedProWrap
{
   class DtFederateAmbassadorWrapper;

   typedef std::string DtFedProHandle;

   enum TransportationType
   {
      RELIABLE    = 1,
      BEST_EFFORT = 2
   };

   class DT_DLL_FEDPRO_WRAPPER DtRtiAmbassadorFedProBase
   {
   public:

      DtRtiAmbassadorFedProBase();

      virtual ~DtRtiAmbassadorFedProBase();

   public:

      // The federate protocol "string" data is UTF8 in some cases converted from UTF16
      // These functions convert between the two formats
      static std::string wstringToString(const std::wstring& wstr);
      static std::wstring stringToWstring(const std::string& str);

   protected:

      virtual bool initializeSession(rti1516_2025::FederateAmbassador& federateAmbassador);

      virtual void clearSession();

      virtual void terminateSession(MAKRti::DtTime waitInterval = 3.0);

      virtual bool reconnect();

      // Has connection and status is connected
      virtual bool isConnected() const;

      template<class HandleType>
      HandleType const& nameToHandle(std::map<std::wstring, HandleType> const& handleToNameMap, std::wstring const& handleName,
         HandleType const& invalidHandle) const;

      template<class HandleType>
      std::wstring const& handleToName(std::map<HandleType, std::wstring> const& nameToHandleMap, HandleType const& handle) const;


      virtual rti1516_2025::ObjectClassHandle const& nameToObjectClassHandle(std::wstring const& name) const;
      virtual std::wstring const& objectClassHandleToName(rti1516_2025::ObjectClassHandle const& handle) const;

      virtual rti1516_2025::ObjectInstanceHandle const& nameToObjectInstanceHandle(std::wstring const& name) const;
      virtual std::wstring const& objectInstanceHandleToName(rti1516_2025::ObjectInstanceHandle const& handle) const;

      virtual rti1516_2025::AttributeHandle const& nameToAttributeHandle(rti1516_2025::ObjectClassHandle const& classHandle, std::wstring const& name) const;
      virtual std::wstring const& attributeHandleToName(rti1516_2025::ObjectClassHandle const& classHandle, rti1516_2025::AttributeHandle const& attributeHandle) const;

      virtual rti1516_2025::InteractionClassHandle const& nameToInteractionClassHandle(std::wstring const& name) const;
      virtual std::wstring const& interactionClassHandleToName(rti1516_2025::InteractionClassHandle const& handle) const;

      virtual rti1516_2025::ParameterHandle const& nameToParameterHandle(rti1516_2025::InteractionClassHandle const& classHandle, std::wstring const& name) const;
      virtual std::wstring const& parameterHandleToName(rti1516_2025::InteractionClassHandle const& classHandle, rti1516_2025::ParameterHandle const& parameterHandle) const;

      template <class HandleType>
      DtFedProHandle& convertToFedProHandle(HandleType const& rtiHandle, DtFedProHandle& fedProHandle) const;


      virtual DtFedProHandle& convertToFedProFederateHandle(rti1516_2025::FederateHandle const& rtiHandle, DtFedProHandle& fedProHandle) const;
      virtual DtFedProHandle& convertToFedProObjectClassHandle(rti1516_2025::ObjectClassHandle  const& rtiHandle, DtFedProHandle& fedProHandle) const;
      virtual DtFedProHandle& convertToFedProObjectInstanceHandle(rti1516_2025::ObjectInstanceHandle const& rtiHandle, DtFedProHandle& fedProHandle) const;
      virtual DtFedProHandle& convertToFedProInteractionClassHandle(rti1516_2025::InteractionClassHandle  const& rtiHandle, DtFedProHandle& fedProHandle) const;
      virtual DtFedProHandle& convertToFedProAttributeHandle(rti1516_2025::AttributeHandle  const& rtiHandle, DtFedProHandle& fedProHandle) const;
      virtual DtFedProHandle& convertToFedProParameterHandle(rti1516_2025::ParameterHandle  const& rtiHandle, DtFedProHandle& fedProHandle) const;


      virtual rti1516_2025::FederateHandle convertToRtiFederateHandle(DtFedProHandle const& fedProHandle) const;
      virtual rti1516_2025::ObjectClassHandle convertToRtiObjectClassHandle(DtFedProHandle const& fedProHandle) const;
      virtual rti1516_2025::ObjectInstanceHandle convertToRtiObjectInstanceHandle(DtFedProHandle const& fedProHandle) const;
      virtual rti1516_2025::InteractionClassHandle convertToRtiInteractionClassHandle(DtFedProHandle const& fedProHandle) const;
      virtual rti1516_2025::AttributeHandle convertToRtiAttributeHandle(DtFedProHandle const& fedProHandle) const;
      virtual rti1516_2025::ParameterHandle convertToRtiParameterHandle(DtFedProHandle const& fedProHandle) const;

      virtual int readAndProcess(MAKRti::DtTime maxTime = 0.0, MAKRti::DtTime minTime = 0.0);


      virtual int sendMessage(FedProSess::DtFedproMessage& message);
      virtual int sendMessage(FedProSess::DtFedproMessage* message);
      virtual int resendMessage(FedProSess::DtFedproMessage* message);

      virtual FedProSess::DtFedproMessage* readMessage(MAKRti::DtTime waitInterval);

      virtual FedProSess::DtFedproMessage* pollForMessage(FedProSess::DtFedproMessage::MessageType messageType,
         MAKRti::DtTime waitInterval);

      virtual int pollForCallResponse(unsigned long sequenceNumber, MAKRti::DtTime waitInterval,
         rti1516_2025::fedpro::CallResponse::CallResponseCase responseType);

      virtual void updateLastReceived(unsigned long sequenceNumber);

      virtual void processHeartbeatResponse(FedProSess::DtHeartbeatResponseMessage* heartbeatResponseMessage);

      virtual void processCallResponse(FedProSess::DtCallResponseMessage* callResponseMessage);

      virtual void processCallbackRequest(FedProSess::DtCallbackRequestMessage* callbackRequestMessage);

      virtual bool sendAndWait(rti1516_2025::fedpro::CallRequest const& callRequest, MAKRti::DtTime waitInterval,
         rti1516_2025::fedpro::CallResponse::CallResponseCase responseType);


      virtual void bufferMessage(FedProSess::DtFedproMessage* message);

      virtual void clearBuffer(unsigned long lastReceived);

   protected:

      friend DtFederateAmbassadorWrapper;

      DtTcpMsgSocket* mySocket;
      int myServerPort;
      std::shared_ptr<DtMsgHeaderReader> myHeaderReader;
      MAKRti::DtClock myClock;

      unsigned long mySequenceNumber;
      unsigned long mySessionId;
      unsigned long myLastReceivedMessageNumber;
      std::map<unsigned long, FedProSess::DtFedproMessage*> myMessageBuffer;
      std::map<unsigned long, bool> myOldestSentMessage;
      std::set <unsigned long> myReceivedNumbers;
      MAKRti::DtTime myNextHeartbeat;
      double myHeartbeatInterval;
      FedProSess::DtHeartbeatMessage myHeartbeatMessage;
      MAKRti::DtTime myHeartbeatTimeout;
      double myHeartbeatTimeoutPeriod;

      rti1516_2025::fedpro::CallResponse::CallResponseCase myExpectedResponseType;
      unsigned long myExpectedResponseRequestNumber;
      rti1516_2025::fedpro::CallResponse myCallResponse;
      std::queue<FedProSess::DtCallbackRequestMessage*> myCallbackRequestQueue;
      bool myQueueCallbackRequests;
      std::vector<char> myCallRequestBuffer;

      const rti1516_2025::ObjectClassHandle myInvalidObjectClassHandle;
      rti1516_2025::ObjectInstanceHandle myInvalidObjectInstanceHandle;
      rti1516_2025::AttributeHandle myInvalidAttributeHandle;
      rti1516_2025::InteractionClassHandle myInvalidInteractionClassHandle;
      rti1516_2025::ParameterHandle myInvalidParameterHandle;
      const std::wstring myUknownName;

      std::map<rti1516_2025::ObjectClassHandle, std::wstring> myObjectClassHandleToNameMap;
      std::map<rti1516_2025::ObjectInstanceHandle, std::wstring> myObjectInstanceHandleToNameMap;
      std::map<rti1516_2025::InteractionClassHandle, std::wstring> myInteractionClassHandleToNameMap;
      std::map<rti1516_2025::ObjectClassHandle, std::map<rti1516_2025::AttributeHandle, std::wstring>> myAttributeHandleToNameMap;
      std::map<rti1516_2025::InteractionClassHandle, std::map<rti1516_2025::ParameterHandle, std::wstring>> myParameterHandleToNameMap;

      std::map<std::wstring, rti1516_2025::ObjectClassHandle> myObjectClassNameToHandleMap;
      std::map<std::wstring, rti1516_2025::ObjectInstanceHandle> myObjectInstanceNameToHandleMap;
      std::map<std::wstring, rti1516_2025::InteractionClassHandle> myInteractionClassNameToHandleMap;
      std::map<rti1516_2025::ObjectClassHandle, std::map<std::wstring, rti1516_2025::AttributeHandle>> myAttributeNameToHandleMap;
      std::map<rti1516_2025::InteractionClassHandle, std::map<std::wstring, rti1516_2025::ParameterHandle>> myParameterNameToHandleMap;

      DtFederateAmbassadorWrapper* myFederateAmbassador;
   };
}