listener.cpp

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// Copyright (c) 2022 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>.

#include "carla/multigpu/listener.h"
#include "carla/multigpu/primary.h"

#include <boost/asio/post.hpp>

#include "carla/Logging.h"

#include <memory>

namespace carla {
namespace multigpu {

  Listener::Listener(boost::asio::io_context &io_context, endpoint ep)
    : _io_context(io_context),
      _acceptor(_io_context, std::move(ep)),
      _timeout(time_duration::seconds(1u)) {
        _acceptor.listen();
      }

  Listener::~Listener() {
    Stop();
  }
  
  void Listener::Stop() {
    _acceptor.cancel();
    _acceptor.close();
    _io_context.stop();
    _io_context.reset();
  }
  
  void Listener::OpenSession(
      time_duration timeout,
      callback_function_type on_opened,
      callback_function_type on_closed,
      callback_function_type_response on_response) {

    using boost::system::error_code;

    auto session = std::make_shared<Primary>(_io_context, timeout, *this);
    auto self = shared_from_this();
    
    auto handle_query = [on_opened, on_closed, on_response, session, self](const error_code &ec) {
    if (!ec) {
      session->Open(std::move(on_opened), std::move(on_closed), std::move(on_response));
    } else {
      log_error("Secondary server:", ec.message());
    }
  };

    _acceptor.async_accept(session->_socket, [=](error_code ec) {
      // Handle query and open a new session immediately.
      boost::asio::post(_io_context, [=]() { handle_query(ec); });
      OpenSession(timeout, on_opened, on_closed, on_response);
    });
  }

} // namespace multigpu
} // namespace carla