RobotRaconteurNode.h

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#pragma once
 
#include "RobotRaconteur/DataTypes.h"
#include "RobotRaconteur/NodeID.h"
#include "RobotRaconteur/Message.h"
#include "RobotRaconteur/ServiceFactory.h"
#include "RobotRaconteur/Transport.h"
#include "RobotRaconteur/AutoResetEvent.h"
#include "RobotRaconteur/Error.h"
#include "RobotRaconteur/AsyncUtils.h"
#include "RobotRaconteur/ThreadPool.h"
#include "RobotRaconteur/Timer.h"
#include "RobotRaconteur/Discovery.h"
#include "RobotRaconteur/DataTypesPacking.h"
#include "RobotRaconteur/Logging.h"
#include "RobotRaconteur/Tap.h"
#include "RobotRaconteur/NodeDirectories.h"
 
#include <queue>
#include <boost/bind/placeholders.hpp>
#include <boost/unordered_map.hpp>
#include <boost/function.hpp>
#include <boost/bind/protect.hpp>
#include <boost/random.hpp>
#include <boost/random/random_device.hpp>
#include <boost/chrono.hpp>
 
#ifndef ROBOTRACONTEUR_EMSCRIPTEN
#include <boost/asio.hpp>
#endif
#include <boost/asio/error.hpp>
#include <boost/asio/placeholders.hpp>
 
#ifdef ROBOTRACONTEUR_WINDOWS
 
#undef SendMessage
 
#endif
 
namespace boost
{
namespace random
{
class random_device;
}
} // namespace boost
 
namespace RobotRaconteur
{
 
enum RobotRaconteurObjectLockFlags
{
    RobotRaconteurObjectLockFlags_USER_LOCK = 0,
    RobotRaconteurObjectLockFlags_CLIENT_LOCK
};
 
class ROBOTRACONTEUR_CORE_API ServiceSecurityPolicy;
class ROBOTRACONTEUR_CORE_API ServiceInfo2Subscription;
class ROBOTRACONTEUR_CORE_API ServiceSubscription;
class ROBOTRACONTEUR_CORE_API ServiceSubscriptionFilter;
class ROBOTRACONTEUR_CORE_API ServiceSubscriptionManager;
 
namespace detail
{
class Discovery;
}
 
class ROBOTRACONTEUR_CORE_API RobotRaconteurNode : boost::noncopyable,
                                                   public RR_ENABLE_SHARED_FROM_THIS<RobotRaconteurNode>
{
  private:
    bool is_shutdown;
    boost::mutex shutdown_lock;
    boost::signals2::signal<void()> shutdown_listeners;
 
    static bool is_init;
 
    bool instance_is_init;
    static boost::mutex init_lock;
 
  public:
    friend class detail::Discovery;
    friend class Transport;
    friend class ServerContext;
    friend class ServiceSubscriptionManager;
 
    void Init();
 
    RobotRaconteurNode();
 
    virtual ~RobotRaconteurNode();
 
    static RobotRaconteurNode* s();
 
    static RR_SHARED_PTR<RobotRaconteurNode> sp();
 
    static RR_WEAK_PTR<RobotRaconteurNode> weak_sp();
 
    RobotRaconteur::NodeID NodeID();
 
    std::string NodeName();
 
    void SetNodeID(const RobotRaconteur::NodeID& id);
 
    void SetNodeName(boost::string_ref name);
 
    bool TryGetNodeID(RobotRaconteur::NodeID& id);
 
    bool TryGetNodeName(std::string& node_name);
 
    RR_SHARED_PTR<ServiceFactory> GetServiceType(boost::string_ref type);
 
    bool IsServiceTypeRegistered(boost::string_ref servicetype);
 
    void RegisterServiceType(const RR_SHARED_PTR<ServiceFactory>& factory);
 
    void UnregisterServiceType(boost::string_ref type);
 
    std::vector<std::string> GetRegisteredServiceTypes();
 
    RR_INTRUSIVE_PTR<MessageElementNestedElementList> PackStructure(const RR_INTRUSIVE_PTR<RRStructure>& structure);
 
    RR_INTRUSIVE_PTR<RRStructure> UnpackStructure(const RR_INTRUSIVE_PTR<MessageElementNestedElementList>& structure);
 
    RR_INTRUSIVE_PTR<MessageElementNestedElementList> PackPodArray(const RR_INTRUSIVE_PTR<RRPodBaseArray>& pod_array);
 
    RR_INTRUSIVE_PTR<RRPodBaseArray> UnpackPodArray(const RR_INTRUSIVE_PTR<MessageElementNestedElementList>& pod_array);
 
    RR_INTRUSIVE_PTR<MessageElementNestedElementList> PackPodMultiDimArray(
        const RR_INTRUSIVE_PTR<RRPodBaseMultiDimArray>& pod_multiarray);
 
    RR_INTRUSIVE_PTR<RRPodBaseMultiDimArray> UnpackPodMultiDimArray(
        const RR_INTRUSIVE_PTR<MessageElementNestedElementList>& pod_multiarray);
 
    RR_INTRUSIVE_PTR<MessageElementNestedElementList> PackNamedArray(
        const RR_INTRUSIVE_PTR<RRNamedBaseArray>& namedarray);
 
    RR_INTRUSIVE_PTR<RRNamedBaseArray> UnpackNamedArray(
        const RR_INTRUSIVE_PTR<MessageElementNestedElementList>& namedarray);
 
    RR_INTRUSIVE_PTR<MessageElementNestedElementList> PackNamedMultiDimArray(
        const RR_INTRUSIVE_PTR<RRNamedBaseMultiDimArray>& named_multiarray);
 
    RR_INTRUSIVE_PTR<RRNamedBaseMultiDimArray> UnpackNamedMultiDimArray(
        const RR_INTRUSIVE_PTR<MessageElementNestedElementList>& named_multiarray);
 
    template <typename T>
    RR_INTRUSIVE_PTR<MessageElementNestedElementList> PackMultiDimArray(
        const RR_INTRUSIVE_PTR<RRMultiDimArray<T> >& arr)
    {
        return detail::packing::PackMultiDimArray<T>(arr);
    }
 
    template <typename T>
    RR_INTRUSIVE_PTR<RRMultiDimArray<T> > UnpackMultiDimArray(
        const RR_INTRUSIVE_PTR<MessageElementNestedElementList>& ar)
    {
        return detail::packing::UnpackMultiDimArray<T>(ar);
    }
 
    RR_INTRUSIVE_PTR<MessageElementData> PackVarType(const RR_INTRUSIVE_PTR<RRValue>& vardata);
 
    RR_INTRUSIVE_PTR<RRValue> UnpackVarType(const RR_INTRUSIVE_PTR<MessageElement>& mvardata);
 
    template <typename K, typename T, typename U>
    RR_INTRUSIVE_PTR<MessageElementNestedElementList> PackMapType(const U& map)
    {
        return detail::packing::PackMapType<K, T, U>(map, this);
    }
 
    template <typename K, typename T>
    RR_INTRUSIVE_PTR<RRMap<K, T> > UnpackMapType(const RR_INTRUSIVE_PTR<MessageElementNestedElementList>& map)
    {
        return detail::packing::UnpackMapType<K, T>(map, this);
    }
 
    template <typename T, typename U>
    RR_INTRUSIVE_PTR<MessageElementNestedElementList> PackListType(U& list)
    {
        return detail::packing::PackListType<T, U>(list, this);
    }
 
    template <typename T>
    RR_INTRUSIVE_PTR<RRList<T> > UnpackListType(const RR_INTRUSIVE_PTR<MessageElementNestedElementList>& list)
    {
        return detail::packing::UnpackListType<T>(list, this);
    }
 
    template <typename T, typename U>
    RR_INTRUSIVE_PTR<MessageElementData> PackAnyType(const RR_INTRUSIVE_PTR<U>& data)
    {
        return detail::packing::PackAnyType<T, U>(data, this);
    }
 
    template <typename T>
    T UnpackAnyType(const RR_INTRUSIVE_PTR<MessageElement>& mdata)
    {
        return detail::packing::UnpackAnyType<T>(mdata, this);
    }
 
    virtual void Shutdown();
 
    typedef boost::signals2::connection shutdown_listener_connection;
 
    template <typename Handler>
    shutdown_listener_connection AddShutdownListener(BOOST_ASIO_MOVE_ARG(Handler) h)
    {
        return shutdown_listeners.connect(h);
    }
 
    uint32_t RegisterTransport(const RR_SHARED_PTR<Transport>& transport);
 
    void AsyncSendMessage(const RR_INTRUSIVE_PTR<Message>& m,
                          const boost::function<void(const RR_SHARED_PTR<RobotRaconteurException>&)>& handler);
 
    void SendMessage(const RR_INTRUSIVE_PTR<Message>& m);
 
    void MessageReceived(const RR_INTRUSIVE_PTR<Message>& m);
 
  protected:
    void TransportConnectionClosed(uint32_t endpoint);
 
  private:
    uint32_t RequestTimeout;
    boost::mutex RequestTimeout_lock;
 
    uint32_t TransportInactivityTimeout;
    boost::mutex TransportInactivityTimeout_lock;
 
    uint32_t EndpointInactivityTimeout;
    boost::mutex EndpointInactivityTimeout_lock;
 
    uint32_t MemoryMaxTransferSize;
    boost::mutex MemoryMaxTransferSize_lock;
 
  public:
    uint32_t GetRequestTimeout();
 
    void SetRequestTimeout(uint32_t timeout);
 
    uint32_t GetTransportInactivityTimeout();
 
    void SetTransportInactivityTimeout(uint32_t timeout);
 
    uint32_t GetEndpointInactivityTimeout();
 
    void SetEndpointInactivityTimeout(uint32_t timeout);
 
    uint32_t GetMemoryMaxTransferSize();
 
    void SetMemoryMaxTransferSize(uint32_t size);
 
  protected:
    RR_UNORDERED_MAP<uint32_t, RR_SHARED_PTR<Endpoint> > endpoints;
    std::map<uint32_t, boost::posix_time::ptime> recent_endpoints;
 
    RR_UNORDERED_MAP<uint32_t, RR_SHARED_PTR<Transport> > transports;
    boost::shared_mutex transports_lock;
 
    RR_SHARED_PTR<RobotRaconteur::DynamicServiceFactory> dynamic_factory;
    boost::mutex dynamic_factory_lock;
 
  public:
    const RR_SHARED_PTR<RobotRaconteur::DynamicServiceFactory> GetDynamicServiceFactory();
 
    void SetDynamicServiceFactory(const RR_SHARED_PTR<RobotRaconteur::DynamicServiceFactory>& f);
 
    RR_INTRUSIVE_PTR<Message> GenerateErrorReturnMessage(const RR_INTRUSIVE_PTR<Message>& m, MessageErrorType err,
                                                         boost::string_ref errname, boost::string_ref errdesc);
 
    RR_SHARED_PTR<ServerContext> RegisterService(
        boost::string_ref name, boost::string_ref servicetype, const RR_SHARED_PTR<RRObject>& obj,
        const RR_SHARED_PTR<ServiceSecurityPolicy>& securitypolicy = RR_SHARED_PTR<ServiceSecurityPolicy>());
 
    RR_SHARED_PTR<ServerContext> RegisterService(const RR_SHARED_PTR<ServerContext>& c);
 
    void CloseService(boost::string_ref sname);
 
    std::vector<std::string> GetRegisteredServiceNames();
 
    RR_SHARED_PTR<ServerContext> GetService(boost::string_ref name);
 
    RR_INTRUSIVE_PTR<Message> SpecialRequest(const RR_INTRUSIVE_PTR<Message>& m, uint32_t transportid,
                                             const RR_SHARED_PTR<ITransportConnection>& tc);
 
    RR_SHARED_PTR<RRObject> ConnectService(
        boost::string_ref url, boost::string_ref username = "",
        const RR_INTRUSIVE_PTR<RRMap<std::string, RRValue> >& credentials =
            (RR_INTRUSIVE_PTR<RRMap<std::string, RRValue> >()),
        boost::function<void(const RR_SHARED_PTR<ClientContext>&, ClientServiceListenerEventType,
                             const RR_SHARED_PTR<void>&)>
            listener = 0,
        boost::string_ref objecttype = "");
 
    void AsyncConnectService(
        boost::string_ref url, boost::string_ref username,
        const RR_INTRUSIVE_PTR<RRMap<std::string, RRValue> >& credentials,
        boost::function<void(const RR_SHARED_PTR<ClientContext>&, ClientServiceListenerEventType,
                             const RR_SHARED_PTR<void>&)>
            listener,
        boost::string_ref objecttype,
        boost::function<void(const RR_SHARED_PTR<RRObject>&, const RR_SHARED_PTR<RobotRaconteurException>&)> handler,
        int32_t timeout = RR_TIMEOUT_INFINITE);
 
    RR_SHARED_PTR<RRObject> ConnectService(
        const std::vector<std::string>& urls, boost::string_ref username = "",
        const RR_INTRUSIVE_PTR<RRMap<std::string, RRValue> >& credentials =
            (RR_INTRUSIVE_PTR<RRMap<std::string, RRValue> >()),
        boost::function<void(const RR_SHARED_PTR<ClientContext>&, ClientServiceListenerEventType,
                             const RR_SHARED_PTR<void>&)>
            listener = 0,
        boost::string_ref objecttype = "");
 
    void AsyncConnectService(
        const std::vector<std::string>& url, boost::string_ref username,
        const RR_INTRUSIVE_PTR<RRMap<std::string, RRValue> >& credentials,
        boost::function<void(const RR_SHARED_PTR<ClientContext>&, ClientServiceListenerEventType,
                             const RR_SHARED_PTR<void>&)>
            listener,
        boost::string_ref objecttype,
        boost::function<void(const RR_SHARED_PTR<RRObject>&, const RR_SHARED_PTR<RobotRaconteurException>&)> handler,
        int32_t timeout = RR_TIMEOUT_INFINITE);
 
    void DisconnectService(const RR_SHARED_PTR<RRObject>& obj);
 
    void AsyncDisconnectService(const RR_SHARED_PTR<RRObject>& obj, boost::function<void()> handler);
 
    std::map<std::string, RR_INTRUSIVE_PTR<RRValue> > GetServiceAttributes(const RR_SHARED_PTR<RRObject>& obj);
 
    RobotRaconteur::NodeID GetServiceNodeID(const RR_SHARED_PTR<RRObject>& obj);
 
    std::string GetServiceNodeName(const RR_SHARED_PTR<RRObject>& obj);
 
    std::string GetServiceName(const RR_SHARED_PTR<RRObject>& obj);
 
    std::string GetObjectServicePath(const RR_SHARED_PTR<RRObject>& obj);
 
    virtual std::string GetObjectType(const RR_SHARED_PTR<RRObject>& obj);
 
    uint32_t RegisterEndpoint(const RR_SHARED_PTR<Endpoint>& e);
 
    void DeleteEndpoint(const RR_SHARED_PTR<Endpoint>& e);
 
    void CheckConnection(uint32_t endpoint);
 
  private:
    uint32_t transport_count;
 
    boost::mutex endpoint_lock;
 
    static RobotRaconteurNode m_s;
    static RR_SHARED_PTR<RobotRaconteurNode> m_sp;
    static RR_WEAK_PTR<RobotRaconteurNode> m_weak_sp;
 
    RobotRaconteur::NodeID m_NodeID;
    std::string m_NodeName;
 
    bool NodeID_set;
    bool NodeName_set;
 
    RR_UNORDERED_MAP<std::string, RR_SHARED_PTR<ServiceFactory> > service_factories;
    boost::shared_mutex service_factories_lock;
    boost::mutex id_lock;
 
    RR_UNORDERED_MAP<std::string, RR_SHARED_PTR<ServerContext> > services;
    boost::shared_mutex services_lock;
 
    RR_SHARED_PTR<detail::Discovery> m_Discovery;
    boost::signals2::signal<void(const NodeDiscoveryInfo&, const std::vector<ServiceInfo2>&)>
        discovery_updated_listeners;
 
    boost::signals2::signal<void(const NodeDiscoveryInfo&)> discovery_lost_listeners;
 
    RR_WEAK_PTR<RobotRaconteurNode> weak_this;
 
  public:
    std::vector<NodeDiscoveryInfo> GetDetectedNodes();
 
    NodeInfo2 GetDetectedNodeCacheInfo(const RobotRaconteur::NodeID& nodeid);
 
    bool TryGetDetectedNodeCacheInfo(const RobotRaconteur::NodeID& nodeid, NodeInfo2& nodeinfo2);
 
    typedef boost::signals2::connection node_updated_listener_connection;
 
    template <typename Handler>
    node_updated_listener_connection AddNodeServicesDetectedListener(BOOST_ASIO_MOVE_ARG(Handler) h)
    {
        boost::shared_lock<boost::shared_mutex> l(thread_pool_lock);
        if (is_shutdown)
        {
            throw InvalidOperationException("Node has been shut down");
        }
 
        return discovery_updated_listeners.connect(h);
    }
 
    typedef boost::signals2::connection node_lost_listener_connection;
 
    template <typename Handler>
    node_lost_listener_connection AddNodeDetectionLostListener(BOOST_ASIO_MOVE_ARG(Handler) h)
    {
        boost::shared_lock<boost::shared_mutex> l(thread_pool_lock);
        if (is_shutdown)
        {
            throw InvalidOperationException("Node has been shut down");
        }
        return discovery_lost_listeners.connect(h);
    }
 
    void NodeAnnouncePacketReceived(boost::string_ref packet);
 
    void NodeDetected(const NodeDiscoveryInfo& info);
 
    void UpdateDetectedNodes(const std::vector<std::string>& schemes);
 
    void AsyncUpdateDetectedNodes(const std::vector<std::string>& schemes, boost::function<void()> handler,
                                  int32_t timeout = 5000);
 
    uint32_t GetNodeDiscoveryMaxCacheCount();
 
    void SetNodeDiscoveryMaxCacheCount(uint32_t count);
 
    RR_SHARED_PTR<ServiceInfo2Subscription> SubscribeServiceInfo2(
        const std::vector<std::string>& service_types,
        const RR_SHARED_PTR<ServiceSubscriptionFilter>& filter = RR_SHARED_PTR<ServiceSubscriptionFilter>());
 
    RR_SHARED_PTR<ServiceSubscription> SubscribeServiceByType(
        const std::vector<std::string>& service_types,
        const RR_SHARED_PTR<ServiceSubscriptionFilter>& filter = RR_SHARED_PTR<ServiceSubscriptionFilter>());
 
    RR_SHARED_PTR<ServiceSubscription> SubscribeService(
        const std::vector<std::string>& url, boost::string_ref username = "",
        const RR_INTRUSIVE_PTR<RRMap<std::string, RRValue> >& credentials =
            (RR_INTRUSIVE_PTR<RRMap<std::string, RRValue> >()),
        boost::string_ref objecttype = "");
 
    RR_SHARED_PTR<ServiceSubscription> SubscribeService(
        const std::string& url, boost::string_ref username = "",
        const RR_INTRUSIVE_PTR<RRMap<std::string, RRValue> >& credentials =
            (RR_INTRUSIVE_PTR<RRMap<std::string, RRValue> >()),
        boost::string_ref objecttype = "");
 
  protected:
    void CleanDiscoveredNodes();
 
    void FireNodeDetected(const RR_SHARED_PTR<NodeDiscoveryInfo>& node,
                          const RR_SHARED_PTR<std::vector<ServiceInfo2> >& services);
 
    void FireNodeLost(const RR_SHARED_PTR<NodeDiscoveryInfo>& node);
 
  public:
    static std::string SelectRemoteNodeURL(const std::vector<std::string>& urls);
 
    std::vector<ServiceInfo2> FindServiceByType(boost::string_ref servicetype,
                                                const std::vector<std::string>& transportschemes);
 
    void AsyncFindServiceByType(boost::string_ref servicetype, const std::vector<std::string>& transportschemes,
                                boost::function<void(const RR_SHARED_PTR<std::vector<ServiceInfo2> >&)> handler,
                                int32_t timeout = 5000);
 
    std::vector<NodeInfo2> FindNodeByID(const RobotRaconteur::NodeID& id,
                                        const std::vector<std::string>& transportschemes);
 
    void AsyncFindNodeByID(const RobotRaconteur::NodeID& id, const std::vector<std::string>& transportschemes,
                           boost::function<void(const RR_SHARED_PTR<std::vector<NodeInfo2> >&)> handler,
                           int32_t timeout = 5000);
 
    std::vector<NodeInfo2> FindNodeByName(boost::string_ref name, const std::vector<std::string>& transportschemes);
 
    void AsyncFindNodeByName(boost::string_ref name, const std::vector<std::string>& transportschemes,
                             boost::function<void(const RR_SHARED_PTR<std::vector<NodeInfo2> >&)> handler,
                             int32_t timeout = 5000);
 
    std::string RequestObjectLock(const RR_SHARED_PTR<RRObject>& obj, RobotRaconteurObjectLockFlags flags);
 
    void AsyncRequestObjectLock(
        const RR_SHARED_PTR<RRObject>& obj, RobotRaconteurObjectLockFlags flags,
        boost::function<void(const RR_SHARED_PTR<std::string>&, const RR_SHARED_PTR<RobotRaconteurException>&)> handler,
        int32_t timeout = RR_TIMEOUT_INFINITE);
 
    std::string ReleaseObjectLock(const RR_SHARED_PTR<RRObject>& obj);
 
    void AsyncReleaseObjectLock(
        const RR_SHARED_PTR<RRObject>& obj,
        boost::function<void(const RR_SHARED_PTR<std::string>&, const RR_SHARED_PTR<RobotRaconteurException>&)> handler,
        int32_t timeout = RR_TIMEOUT_INFINITE);
 
    void MonitorEnter(const RR_SHARED_PTR<RRObject>& obj, int32_t timeout = RR_TIMEOUT_INFINITE);
 
    void MonitorExit(const RR_SHARED_PTR<RRObject>& obj);
 
    class ROBOTRACONTEUR_CORE_API ScopedMonitorLock
    {
        bool locked;
        RR_SHARED_PTR<RRObject> obj;
        RR_WEAK_PTR<RobotRaconteurNode> node;
 
      public:
        RR_SHARED_PTR<RobotRaconteurNode> GetNode();
 
        ScopedMonitorLock(const RR_SHARED_PTR<RRObject>& obj, int32_t timeout = -1);
 
        void lock(int32_t timeout = -1);
 
        void unlock();
 
        void release();
 
        ~ScopedMonitorLock();
    };
 
  private:
    RR_SHARED_PTR<Timer> PeriodicCleanupTask_timer;
    boost::shared_mutex PeriodicCleanupTask_timer_lock;
 
    static void StartPeriodicCleanupTask(const RR_SHARED_PTR<RobotRaconteurNode>& node);
 
    void PeriodicCleanupTask(const TimerEvent& err);
    bool PeriodicCleanupTask_timerstarted;
 
    std::list<RR_SHARED_PTR<IPeriodicCleanupTask> > cleanupobjs;
 
    boost::mutex cleanupobjs_lock;
 
    boost::mutex cleanup_thread_lock;
 
  public:
    void AddPeriodicCleanupTask(const RR_SHARED_PTR<IPeriodicCleanupTask>& task);
 
    void RemovePeriodicCleanupTask(const RR_SHARED_PTR<IPeriodicCleanupTask>& task);
 
    RR_SHARED_PTR<RRObject> FindObjRefTyped(const RR_SHARED_PTR<RRObject>& obj, boost::string_ref objref,
                                            boost::string_ref objecttype);
 
    RR_SHARED_PTR<RRObject> FindObjRefTyped(const RR_SHARED_PTR<RRObject>& obj, boost::string_ref objref,
                                            boost::string_ref index, boost::string_ref objecttype);
 
    void AsyncFindObjRefTyped(
        const RR_SHARED_PTR<RRObject>& obj, boost::string_ref objref, boost::string_ref objecttype,
        boost::function<void(const RR_SHARED_PTR<RRObject>&, const RR_SHARED_PTR<RobotRaconteurException>&)> handler,
        int32_t timeout = RR_TIMEOUT_INFINITE);
 
    void AsyncFindObjRefTyped(
        const RR_SHARED_PTR<RRObject>& obj, boost::string_ref objref, boost::string_ref index,
        boost::string_ref objecttype,
        boost::function<void(const RR_SHARED_PTR<RRObject>&, const RR_SHARED_PTR<RobotRaconteurException>&)> handler,
        int32_t timeout = RR_TIMEOUT_INFINITE);
 
    std::string FindObjectType(const RR_SHARED_PTR<RRObject>& obj, boost::string_ref objref);
 
    std::string FindObjectType(const RR_SHARED_PTR<RRObject>& obj, boost::string_ref objref, boost::string_ref index);
 
    void AsyncFindObjectType(
        const RR_SHARED_PTR<RRObject>& obj, boost::string_ref objref,
        boost::function<void(const RR_SHARED_PTR<std::string>&, const RR_SHARED_PTR<RobotRaconteurException>&)> handler,
        int32_t timeout = RR_TIMEOUT_INFINITE);
 
    void AsyncFindObjectType(
        const RR_SHARED_PTR<RRObject>& obj, boost::string_ref objref, boost::string_ref index,
        boost::function<void(const RR_SHARED_PTR<std::string>&, const RR_SHARED_PTR<RobotRaconteurException>&)> handler,
        int32_t timeout = RR_TIMEOUT_INFINITE);
 
  private:
    RR_SHARED_PTR<ThreadPool> thread_pool;
    boost::shared_mutex thread_pool_lock;
    RR_SHARED_PTR<ThreadPoolFactory> thread_pool_factory;
    boost::mutex thread_pool_factory_lock;
 
  public:
    RR_SHARED_PTR<ThreadPool> GetThreadPool();
 
    bool TryGetThreadPool(RR_SHARED_PTR<ThreadPool>& pool);
 
    void SetThreadPool(const RR_SHARED_PTR<ThreadPool>& pool);
 
    RR_SHARED_PTR<ThreadPoolFactory> GetThreadPoolFactory();
 
    void SetThreadPoolFactory(const RR_SHARED_PTR<ThreadPoolFactory>& factory);
 
    int32_t GetThreadPoolCount();
 
    void SetThreadPoolCount(int32_t count);
 
    template <typename HandlerType>
    static bool TryPostToThreadPool(RR_WEAK_PTR<RobotRaconteurNode> node, BOOST_ASIO_MOVE_ARG(HandlerType) h,
                                    bool shutdown_op = false)
    {
        RR_SHARED_PTR<RobotRaconteurNode> node1 = node.lock();
        if (!node1)
            return false;
        {
            boost::shared_lock<boost::shared_mutex> l(node1->thread_pool_lock);
            if (!shutdown_op && node1->is_shutdown)
                return false;
        }
        RR_SHARED_PTR<ThreadPool> t;
        if (!node1->TryGetThreadPool(t))
            return false;
        return t->TryPost(h);
    }
 
    void ReleaseThreadPool();
 
  protected:
    bool InitThreadPool(int32_t thread_count);
 
  public:
    std::vector<std::string> GetPulledServiceTypes(const RR_SHARED_PTR<RRObject>& obj);
 
    RR_SHARED_PTR<ServiceFactory> GetPulledServiceType(const RR_SHARED_PTR<RRObject>& obj, boost::string_ref type);
 
    void SetExceptionHandler(boost::function<void(const std::exception*)> handler);
 
    boost::function<void(const std::exception*)> GetExceptionHandler();
 
    void HandleException(const std::exception* exp);
 
    static bool TryHandleException(RR_WEAK_PTR<RobotRaconteurNode> node, const std::exception* exp);
 
  protected:
    boost::function<void(const std::exception*)> exception_handler;
    boost::mutex exception_handler_lock;
 
    boost::mutex random_generator_lock;
    RR_SHARED_PTR<boost::random::random_device> random_generator;
 
  public:
    virtual boost::posix_time::ptime NowUTC();
 
    virtual TimeSpec NowTimeSpec();
 
    virtual boost::posix_time::ptime NowNodeTime();
 
    virtual boost::posix_time::ptime NodeSyncTimeUTC();
 
    virtual TimeSpec NodeSyncTimeSpec();
 
  protected:
    RR_WEAK_PTR<ITransportTimeProvider> time_provider;
    boost::shared_mutex time_provider_lock;
 
    boost::posix_time::ptime node_sync_time;
    TimeSpec node_sync_timespec;
    boost::chrono::steady_clock::time_point node_internal_start_time;
 
  public:
    virtual RR_SHARED_PTR<Timer> CreateTimer(const boost::posix_time::time_duration& period,
                                             boost::function<void(const TimerEvent&)> handler, bool oneshot = false);
 
    virtual RR_SHARED_PTR<Rate> CreateRate(double frequency);
 
    virtual void Sleep(const boost::posix_time::time_duration& duration);
 
    virtual RR_SHARED_PTR<AutoResetEvent> CreateAutoResetEvent();
 
    void DownCastAndThrowException(RobotRaconteurException& exp);
 
    RR_SHARED_PTR<RobotRaconteurException> DownCastException(const RR_SHARED_PTR<RobotRaconteurException>& exp);
 
    bool IsEndpointLargeTransferAuthorized(uint32_t endpoint);
 
    std::string GetRobotRaconteurVersion();
 
    template <typename T>
    T GetRandomInt(T min, T max)
    {
        boost::mutex::scoped_lock lock(random_generator_lock);
        boost::random::uniform_int_distribution<T> d(min, max);
        return d(*random_generator);
    }
 
    template <typename T>
    std::vector<T> GetRandomInts(size_t count, T min, T max)
    {
        std::vector<T> o;
        o.resize(count);
        boost::mutex::scoped_lock lock(random_generator_lock);
        for (size_t i = 0; i < count; i++)
        {
            boost::random::uniform_int_distribution<T> d(min, max);
            o[i] = d(*random_generator);
        }
        return o;
    }
 
    std::string GetRandomString(size_t count);
 
  protected:
    std::string service_state_nonce;
    boost::mutex service_state_nonce_lock;
 
  public:
    std::string GetServiceStateNonce();
 
    void UpdateServiceStateNonce();
 
  protected:
    RR_SHARED_PTR<LogRecordHandler> log_handler;
    boost::shared_mutex log_handler_mutex;
    RobotRaconteur_LogLevel log_level;
    boost::shared_mutex log_level_mutex;
 
  public:
    bool CompareLogLevel(RobotRaconteur_LogLevel log_level);
 
    void LogMessage(RobotRaconteur_LogLevel level, const std::string& message);
 
    void LogRecord(const RRLogRecord& record);
 
    RobotRaconteur_LogLevel GetLogLevel();
 
    void SetLogLevel(RobotRaconteur_LogLevel level);
 
    RobotRaconteur_LogLevel SetLogLevelFromString(boost::string_ref level);
 
    RobotRaconteur_LogLevel SetLogLevelFromEnvVariable(
        const std::string& env_variable_name = "ROBOTRACONTEUR_LOG_LEVEL");
 
    RR_SHARED_PTR<LogRecordHandler> GetLogRecordHandler();
 
    void SetLogRecordHandler(const RR_SHARED_PTR<LogRecordHandler>& handler);
 
  protected:
    boost::shared_mutex tap_lock;
    RR_SHARED_PTR<MessageTap> tap;
 
  public:
    RR_SHARED_PTR<MessageTap> GetMessageTap();
 
    void SetMessageTap(const RR_SHARED_PTR<MessageTap>& message_tap);
 
  protected:
    boost::shared_mutex node_directories_lock;
    RR_SHARED_PTR<NodeDirectories> node_directories;
 
  public:
    NodeDirectories GetNodeDirectories();
 
    void SetNodeDirectories(const NodeDirectories& dir);
 
  protected:
    template <typename F>
    class asio_async_wait1
    {
      public:
        asio_async_wait1(F f) : f_(BOOST_ASIO_MOVE_CAST(F)(f)) {}
 
        void do_complete(const boost::system::error_code& err) { f_(err); }
 
      protected:
        F f_;
    };
 
  public:
    template <typename T, typename F>
    static bool asio_async_wait(RR_WEAK_PTR<RobotRaconteurNode> node, const RR_SHARED_PTR<T>& t,
                                BOOST_ASIO_MOVE_ARG(F) f)
    {
        RR_SHARED_PTR<RobotRaconteurNode> node1 = node.lock();
        if (!node1)
            return false;
        boost::shared_lock<boost::shared_mutex> l(node1->thread_pool_lock);
        if (node1->is_shutdown)
        {
            l.unlock();
            RR_SHARED_PTR<ThreadPool> t;
            if (!node1->TryGetThreadPool(t))
                return false;
            return t->TryPost(boost::bind(f, boost::asio::error::operation_aborted));
        }
 
        RR_SHARED_PTR<asio_async_wait1<F> > f1(new asio_async_wait1<F>(f));
        t->async_wait(boost::bind(&asio_async_wait1<F>::do_complete, f1, boost::asio::placeholders::error));
 
        node1->shutdown_listeners.connect(
            boost::signals2::signal<void()>::slot_type(boost::bind(&T::cancel, t.get())).track(t).track(f1));
        return true;
    }
 
    template <typename T, typename B, typename F>
    static bool asio_async_read_some(RR_WEAK_PTR<RobotRaconteurNode> node, const RR_SHARED_PTR<T>& t, B& b,
                                     BOOST_ASIO_MOVE_ARG(F) f)
    {
        RR_SHARED_PTR<RobotRaconteurNode> node1 = node.lock();
        if (!node1)
            return false;
        boost::shared_lock<boost::shared_mutex> l(node1->thread_pool_lock);
        if (node1->is_shutdown)
        {
            l.unlock();
            RR_SHARED_PTR<ThreadPool> t;
            if (!node1->TryGetThreadPool(t))
                return false;
            return t->TryPost(boost::bind(f, boost::asio::error::operation_aborted, 0));
        }
 
        t->async_read_some(b, f);
        return true;
    }
 
    template <typename T, typename B, typename F>
    static bool asio_async_write_some(RR_WEAK_PTR<RobotRaconteurNode> node, const RR_SHARED_PTR<T>& t, B& b,
                                      BOOST_ASIO_MOVE_ARG(F) f)
    {
        RR_SHARED_PTR<RobotRaconteurNode> node1 = node.lock();
        if (!node1)
            return false;
        boost::shared_lock<boost::shared_mutex> l(node1->thread_pool_lock);
        if (!node1->thread_pool)
            return false;
        t->async_write_some(b, f);
        return true;
    }
 
    template <typename T, typename B, typename F>
    static bool asio_async_connect(RR_WEAK_PTR<RobotRaconteurNode> node, const RR_SHARED_PTR<T>& t, const B& b,
                                   BOOST_ASIO_MOVE_ARG(F) f)
    {
        RR_SHARED_PTR<RobotRaconteurNode> node1 = node.lock();
        if (!node1)
            return false;
        boost::shared_lock<boost::shared_mutex> l(node1->thread_pool_lock);
        if (!node1->thread_pool)
            return false;
        t->async_connect(b, f);
        return true;
    }
 
    template <typename T, typename B, typename C, typename F>
    static bool asio_async_connect(RR_WEAK_PTR<RobotRaconteurNode> node, const RR_SHARED_PTR<T>& t, const B& b,
                                   const C& c, BOOST_ASIO_MOVE_ARG(F) f)
    {
        RR_SHARED_PTR<RobotRaconteurNode> node1 = node.lock();
        if (!node1)
            return false;
        boost::shared_lock<boost::shared_mutex> l(node1->thread_pool_lock);
        if (!node1->thread_pool)
            return false;
        t->async_connect(b, c, f);
        return true;
    }
 
#if BOOST_ASIO_VERSION < 101200
    template <typename T, typename B, typename F>
    static bool asio_async_resolve(RR_WEAK_PTR<RobotRaconteurNode> node, const RR_SHARED_PTR<T>& t, const B& b,
                                   BOOST_ASIO_MOVE_ARG(F) f)
    {
        RR_SHARED_PTR<RobotRaconteurNode> node1 = node.lock();
        if (!node1)
            return false;
        boost::shared_lock<boost::shared_mutex> l(node1->thread_pool_lock);
        if (node1->is_shutdown)
        {
            l.unlock();
            RR_SHARED_PTR<ThreadPool> t;
            if (!node1->TryGetThreadPool(t))
                return false;
            typename T::iterator iter;
            return t->TryPost(boost::bind(f, boost::asio::error::operation_aborted, iter));
        }
 
        t->async_resolve(b, f);
        return true;
    }
#else
    template <typename T, typename B, typename C, typename F>
    static bool asio_async_resolve(RR_WEAK_PTR<RobotRaconteurNode> node, const RR_SHARED_PTR<T>& t, const B& b,
                                   const C& c, BOOST_ASIO_MOVE_ARG(F) f)
    {
        RR_SHARED_PTR<RobotRaconteurNode> node1 = node.lock();
        if (!node1)
            return false;
        boost::shared_lock<boost::shared_mutex> l(node1->thread_pool_lock);
        if (node1->is_shutdown)
        {
            l.unlock();
            RR_SHARED_PTR<ThreadPool> t;
            if (!node1->TryGetThreadPool(t))
                return false;
            typename T::results_type results;
            return t->TryPost(boost::bind(f, boost::asio::error::operation_aborted, results));
        }
 
        t->async_resolve(b, c, f);
        return true;
    }
#endif
 
    template <typename T, typename F>
    static bool asio_async_handshake(RR_WEAK_PTR<RobotRaconteurNode> node, const RR_SHARED_PTR<T>& t,
                                     BOOST_ASIO_MOVE_ARG(F) f)
    {
        RR_SHARED_PTR<RobotRaconteurNode> node1 = node.lock();
        if (!node1)
            return false;
        boost::shared_lock<boost::shared_mutex> l(node1->thread_pool_lock);
        if (node1->is_shutdown)
        {
            l.unlock();
            RR_SHARED_PTR<ThreadPool> t;
            if (!node1->TryGetThreadPool(t))
                return false;
            return t->TryPost(boost::bind(f, boost::asio::error::operation_aborted));
        }
 
        t->async_handshake(f);
        return true;
    }
 
    template <typename T, typename U, typename F>
    static bool asio_async_handshake(RR_WEAK_PTR<RobotRaconteurNode> node, const RR_SHARED_PTR<T>& t, const U& u,
                                     BOOST_ASIO_MOVE_ARG(F) f)
    {
        RR_SHARED_PTR<RobotRaconteurNode> node1 = node.lock();
        if (!node1)
            return false;
        boost::shared_lock<boost::shared_mutex> l(node1->thread_pool_lock);
        if (node1->is_shutdown)
        {
            l.unlock();
            RR_SHARED_PTR<ThreadPool> t;
            if (!node1->TryGetThreadPool(t))
                return false;
            return t->TryPost(boost::bind(f, boost::asio::error::operation_aborted));
        }
 
        t->async_handshake(u, f);
        return true;
    }
 
    template <typename T, typename F>
    static bool asio_async_shutdown(RR_WEAK_PTR<RobotRaconteurNode> node, const RR_SHARED_PTR<T>& t,
                                    BOOST_ASIO_MOVE_ARG(F) f)
    {
        RR_SHARED_PTR<RobotRaconteurNode> node1 = node.lock();
        if (!node1)
            return false;
        boost::shared_lock<boost::shared_mutex> l(node1->thread_pool_lock);
        if (node1->is_shutdown)
        {
            l.unlock();
            RR_SHARED_PTR<ThreadPool> t;
            if (!node1->TryGetThreadPool(t))
                return false;
            return t->TryPost(boost::bind(f, boost::asio::error::operation_aborted));
        }
 
        t->async_shutdown(f);
        return true;
    }
};
 
#ifndef ROBOTRACONTEUR_NO_CXX11_TEMPLATE_ALIASES
using RobotRaconteurNodePtr = RR_SHARED_PTR<RobotRaconteurNode>;
#endif
 
} // namespace RobotRaconteur