path_finder.hpp

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#ifndef _PATH_FINDER_HPP
#define _PATH_FINDER_HPP
 
#include <netinet/in.h>
 
#include <memory>
#include <string>
 
#include "dvl_driver/pd0_parser.hpp"
#include "dvl_driver/pd0_types.hpp"
#include "dvl_driver/pd5_parser.hpp"
#include "dvl_driver/pd5_types.hpp"
 
namespace driver::dvl_driver::path_finder
{
 
class Listener
{
private:
  const char * address;
  const int port;
  const int timeout_ms;
 
  int sockfd;
  struct sockaddr_in server;
 
  static const size_t BUFFER_SIZE = 65536;
  unsigned char buffer[BUFFER_SIZE];
 
  // Parsers
  pd0::Pd0Parser parser0;
  pd5::Pd5Parser parser5;
 
  // Data Storage
  pd0::Pd0Ensemble pd0_data;
  pd5::Pd5Ensemble pd5_data;
 
  // 0 = PD0, 5 = PD5, -1 = None
  int last_data_type = -1;
 
public:
  explicit Listener(const char * _address, const int _port, const int _timeout_ms = 1000);
 
  ~Listener();
 
  bool listen();
 
  ssize_t read(unsigned char * buffer, size_t size);
 
  bool has_pd0_data() const;
 
  bool has_pd5_data() const;
 
  std::shared_ptr<pd0::Pd0Ensemble> get_pd0_data();
 
  std::shared_ptr<pd5::Pd5Ensemble> get_pd5_data();
};
 
class Sender
{
  const char * address;
  const int port;
  const int timeout_ms;
 
  int sockfd;
  struct sockaddr_in server;
 
  const std::string CRCF = "\r\n";
  const std::string ping_cmd = "CS";
  const std::string break_cmd = "===";
 
public:
  explicit Sender(const char * _address, const int _port, const int _timeout_ms = 1000);
 
  ~Sender();
 
  ssize_t read(unsigned char * buffer, size_t size);
 
  void flush_buffer();
 
  bool send_cmd(const std::string & cmd, const uint & wait_time = 0, bool newline = true);
 
  bool send_break_cmd();
 
  bool send_ping_cmd();
};
 
}  // namespace driver::dvl_driver::path_finder
 
#endif  // _PATH_FINDER_HPP