ZMQReceiver.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2026 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <atomic>
#include <mutex>
#include <thread>
 
#include "open3d/utility/Logging.h"
 
namespace zmq {
class message_t;
class socket_t;
class context_t;
}  // namespace zmq
 
namespace open3d {
namespace io {
namespace rpc {
 
class MessageProcessorBase;
 
namespace messages {
struct Request;
struct SetMeshData;
struct GetMeshData;
struct SetCameraData;
struct SetProperties;
struct SetActiveCamera;
struct SetTime;
}  // namespace messages
 
class ZMQReceiver {
public:
    ZMQReceiver(const std::string& address = "tcp://127.0.0.1:51454",
                int timeout = 10000);
 
    ZMQReceiver(const ZMQReceiver&) = delete;
    ZMQReceiver& operator=(const ZMQReceiver&) = delete;
 
    virtual ~ZMQReceiver();
 
    void Start();
 
    void Stop();
 
    std::runtime_error GetLastError();
 
    std::string GetLastEndpoint() const;
 
    void SetMessageProcessor(std::shared_ptr<MessageProcessorBase> processor);
 
private:
    void Mainloop();
 
    const std::string address_;
    const int timeout_;
    std::shared_ptr<zmq::context_t> context_;
    std::unique_ptr<zmq::socket_t> socket_;
    std::thread thread_;
    std::mutex mutex_;
    bool keep_running_;
    std::atomic<bool> loop_running_;
    std::atomic<int> mainloop_error_code_;
    std::runtime_error mainloop_exception_;
    std::shared_ptr<MessageProcessorBase> processor_;
};
 
}  // namespace rpc
}  // namespace io
}  // namespace open3d