streaming/Server.h

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// Copyright (c) 2026 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include "carla/ThreadPool.h"
#include "carla/streaming/detail/tcp/Server.h"
#include "carla/streaming/detail/Types.h"
#include "carla/streaming/low_level/Server.h"
 
#include <boost/asio/io_context.hpp>
 
#include <optional>
 
namespace carla {
namespace streaming {
 
  /// A streaming server. Each new stream has a token associated, this token can
  /// be used by a client to subscribe to the stream.
  class Server {
    using underlying_server = low_level::Server<detail::tcp::Server>;
    using protocol_type = low_level::Server<detail::tcp::Server>::protocol_type;
    using token_type = carla::streaming::detail::token_type;
    using stream_id = carla::streaming::detail::stream_id_type;
  public:
 
    explicit Server(uint16_t port)
      : _server(_pool.io_context(), make_endpoint<protocol_type>(port)) {}
 
    explicit Server(const std::string &address, uint16_t port)
      : _server(_pool.io_context(), make_endpoint<protocol_type>(address, port)) {}
 
    explicit Server(
        const std::string &address, uint16_t port,
        const std::string &external_address, uint16_t external_port)
      : _server(
          _pool.io_context(),
          make_endpoint<protocol_type>(address, port),
          make_endpoint<protocol_type>(external_address, external_port)) {}
 
    ~Server() {
      _pool.Stop();
    }
 
    auto GetLocalEndpoint() const {
      return _server.GetLocalEndpoint();
    }
 
    void SetTimeout(time_duration timeout) {
      _server.SetTimeout(timeout);
    }
 
    Stream MakeStream() {
      return _server.MakeStream();
    }
 
    void CloseStream(carla::streaming::detail::stream_id_type id) {
      return _server.CloseStream(id);
    }
 
    void Run() {
      _pool.Run();
    }
 
    void AsyncRun(size_t worker_threads) {
      _pool.AsyncRun(worker_threads);
    }
 
    void SetSynchronousMode(bool is_synchro) {
      _server.SetSynchronousMode(is_synchro);
    }
 
    token_type GetToken(stream_id sensor_id) {
      return _server.GetToken(sensor_id);
    }
 
    /// Token of an existing stream, or std::nullopt if @a id is unknown.
    [[nodiscard]]
    std::optional<token_type> FindToken(stream_id id) {
      return _server.FindToken(id);
    }
 
    void SetSessionsUseStreamAliases(bool enabled) {
      _server.SetSessionsUseStreamAliases(enabled);
    }
 
    void SetStreamAlias(stream_id alias, stream_id target) {
      _server.SetStreamAlias(alias, target);
    }
 
    void RemoveStreamAlias(stream_id alias) {
      _server.RemoveStreamAlias(alias);
    }
 
    [[nodiscard]]
    std::optional<stream_id> FindStreamAlias(stream_id alias) {
      return _server.FindStreamAlias(alias);
    }
 
    void SetROS2TopicVisibilityDefaultEnabled(bool enabled) {
      _server.SetROS2TopicVisibilityDefaultEnabled(enabled);
    }
 
    void EnableForROS(stream_id sensor_id) {
      _server.EnableForROS(sensor_id);
    }
 
    void DisableForROS(stream_id sensor_id) {
      _server.DisableForROS(sensor_id);
    }
 
    bool IsEnabledForROS(stream_id sensor_id) {
      return _server.IsEnabledForROS(sensor_id);
    }
 
  private:
 
    // The order of these two arguments is very important.
 
    ThreadPool _pool;
 
    underlying_server _server;
  };
 
} // namespace streaming
} // namespace carla