diff --git a/components/common/cpp/include/ftl/configuration.hpp b/components/common/cpp/include/ftl/configuration.hpp
index 531852ca5fbdc7f7be0eceda9eb32e341842dd7c..046b58a07bf536a691a970b3a9d93bf4b5ab119b 100644
--- a/components/common/cpp/include/ftl/configuration.hpp
+++ b/components/common/cpp/include/ftl/configuration.hpp
@@ -119,7 +119,6 @@ T *ftl::config::create(ftl::Configurable *parent, const std::string &name, ARGS
if (entity.is_object()) {
if (!entity["$id"].is_string()) {
- // TODO(Nick) Check for # in URI
std::string id_str = *parent->get<std::string>("$id");
if (id_str.find('#') != std::string::npos) {
entity["$id"] = id_str + std::string("/") + name;
diff --git a/components/control/cpp/include/ftl/slave.hpp b/components/control/cpp/include/ftl/slave.hpp
index e61290d630c1f10bd38335b228d9657b17ab6de7..08e973339af0154efb089778c0f38d284b540cdb 100644
--- a/components/control/cpp/include/ftl/slave.hpp
+++ b/components/control/cpp/include/ftl/slave.hpp
@@ -11,6 +11,9 @@ class Slave {
public:
Slave(ftl::net::Universe *, ftl::Configurable *);
~Slave();
+
+ private:
+ ftl::net::Universe *net_;
};
}
diff --git a/components/control/cpp/src/master.cpp b/components/control/cpp/src/master.cpp
index 004d2f7cf79741ea95b18a612d28c216540984c5..33ea746b7d0364d56c8d1b410386a09c4f3b846a 100644
--- a/components/control/cpp/src/master.cpp
+++ b/components/control/cpp/src/master.cpp
@@ -19,7 +19,7 @@ Master::Master(Configurable *root, Universe *net)
}
Master::~Master() {
-
+ net_->unbind("log");
}
void Master::restart() {
diff --git a/components/control/cpp/src/slave.cpp b/components/control/cpp/src/slave.cpp
index 8485c825ef8f22acaa345803c8fdef6fbbbcaf35..076584230b9948eff6c6caaded14438bd718363a 100644
--- a/components/control/cpp/src/slave.cpp
+++ b/components/control/cpp/src/slave.cpp
@@ -10,7 +10,7 @@ static void netLog(void* user_data, const loguru::Message& message) {
//net->publish("log", message.preamble, message.message);
}
-Slave::Slave(Universe *net, ftl::Configurable *root) {
+Slave::Slave(Universe *net, ftl::Configurable *root) : net_(net) {
net->bind("restart", []() {
LOG(WARNING) << "Remote restart...";
//exit(1);
@@ -36,5 +36,8 @@ Slave::Slave(Universe *net, ftl::Configurable *root) {
}
Slave::~Slave() {
-
+ net_->unbind("restart");
+ net_->unbind("shutdown");
+ net_->unbind("update_cfg");
+ net_->unbind("get_cfg");
}
diff --git a/components/net/cpp/include/ftl/net/dispatcher.hpp b/components/net/cpp/include/ftl/net/dispatcher.hpp
index 7291adb43c0daa6a516c968254fa45f5f8dd9e6f..0b4d3b34dcb4e1662a43c834abe740319c1f56d2 100644
--- a/components/net/cpp/include/ftl/net/dispatcher.hpp
+++ b/components/net/cpp/include/ftl/net/dispatcher.hpp
@@ -119,6 +119,13 @@ class Dispatcher {
return std::make_unique<msgpack::object_handle>(result, std::move(z));
}));
}
+
+ void unbind(const std::string &name) {
+ auto i = funcs_.find(name);
+ if (i != funcs_.end()) {
+ funcs_.erase(i);
+ }
+ }
std::vector<std::string> getBindings() const;
diff --git a/components/net/cpp/include/ftl/net/universe.hpp b/components/net/cpp/include/ftl/net/universe.hpp
index 21a5da2eaa01fe48ec84f1e06aa6a9f67d1e77bd..0c02dbe4540d3f876ba709d7a2ee6b479e207c35 100644
--- a/components/net/cpp/include/ftl/net/universe.hpp
+++ b/components/net/cpp/include/ftl/net/universe.hpp
@@ -80,7 +80,9 @@ class Universe : public ftl::Configurable {
*/
template <typename F>
void bind(const std::string &name, F func);
-
+
+ void unbind(const std::string &name);
+
/**
* Subscribe a function to a resource. The subscribed function is
* triggered whenever that resource is published to. It is akin to
@@ -205,6 +207,7 @@ class Universe : public ftl::Configurable {
template <typename F>
void Universe::bind(const std::string &name, F func) {
+ // CHECK Need mutex?
disp_.bind(name, func,
typename ftl::internal::func_kind_info<F>::result_kind(),
typename ftl::internal::func_kind_info<F>::args_kind());
diff --git a/components/net/cpp/src/dispatcher.cpp b/components/net/cpp/src/dispatcher.cpp
index 7bfd7352c27010b80ac13005ffb63c4a1a2add80..719ae2b65fe9b0cdd682c95cf03f33ca688c1768 100644
--- a/components/net/cpp/src/dispatcher.cpp
+++ b/components/net/cpp/src/dispatcher.cpp
@@ -155,7 +155,7 @@ void ftl::net::Dispatcher::enforce_arg_count(std::string const &func, std::size_
void ftl::net::Dispatcher::enforce_unique_name(std::string const &func) {
auto pos = funcs_.find(func);
if (pos != end(funcs_)) {
- LOG(ERROR) << "RPC non unique binding for " << func;
+ LOG(FATAL) << "RPC non unique binding for '" << func << "'";
throw -1;
}
}
diff --git a/components/net/cpp/src/universe.cpp b/components/net/cpp/src/universe.cpp
index 04404e8da0030f8e267adbe0bd485c1eb1da9aab..750258c3600f9b51ca39cd1ed08ad6d6a9bb6be8 100644
--- a/components/net/cpp/src/universe.cpp
+++ b/components/net/cpp/src/universe.cpp
@@ -96,6 +96,11 @@ Peer *Universe::connect(const string &addr) {
return p;
}
+void Universe::unbind(const std::string &name) {
+ unique_lock<mutex> lk(net_mutex_);
+ disp_.unbind(name);
+}
+
int Universe::waitConnections() {
int count = 0;
for (auto p : peers_) {
diff --git a/components/rgbd-sources/src/net_source.cpp b/components/rgbd-sources/src/net_source.cpp
index 7a9d3cbe21835daed8a704204f238639c15c0203..cc2e8461af7c61effa56fafc20d19e2cc840d39b 100644
--- a/components/rgbd-sources/src/net_source.cpp
+++ b/components/rgbd-sources/src/net_source.cpp
@@ -68,7 +68,12 @@ NetSource::NetSource(nlohmann::json &config, ftl::net::Universe *net)
}
NetSource::~NetSource() {
- // TODO Unsubscribe
+ auto uri = get<string>("uri");
+
+ // TODO(Nick) If URI changes then must unbind + rebind.
+ if (uri) {
+ net_->unbind(*uri);
+ }
}
void NetSource::_recv(const vector<unsigned char> &jpg, const vector<unsigned char> &d) {
diff --git a/components/rgbd-sources/src/rgbd_streamer.cpp b/components/rgbd-sources/src/rgbd_streamer.cpp
index 6aefb9725441562f7dc079d8191fb102315fb5db..a5b9804b4f50202830de0d00fd5dafdbba4a8e1b 100644
--- a/components/rgbd-sources/src/rgbd_streamer.cpp
+++ b/components/rgbd-sources/src/rgbd_streamer.cpp
@@ -69,7 +69,12 @@ Streamer::Streamer(nlohmann::json &config, Universe *net)
}
Streamer::~Streamer() {
- // TODO Unbind everything from net....
+ net_->unbind("find_stream");
+ net_->unbind("list_streams");
+ net_->unbind("source_calibration");
+ net_->unbind("get_stream");
+ net_->unbind("sync_streams");
+ net_->unbind("ping_streamer");
pool_.stop();
}