ArubaSensor.hpp

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// This file is part of INSTINCT, the INS Toolkit for Integrated
// Navigation Concepts and Training by the Institute of Navigation of
// the University of Stuttgart, Germany.
//
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0. If a copy of the MPL was not distributed with this
// file, You can obtain one at https://mozilla.org/MPL/2.0/.
 
/// @file ArubaSensor.hpp
/// @brief Aruba Sensor Class
/// @author R. Lintz (r-lintz@gmx.de) (master thesis)
/// @date 2024-01-08
 
#pragma once
 
#include "internal/Node/Node.hpp"
 
#include "Navigation/Constants.hpp"
#include "util/CallbackTimer.hpp"
#include <libssh/libssh.h>
 
namespace NAV
{
/// Aruba Sensor Class
class ArubaSensor : public Node
{
  public:
    /// @brief Default constructor
    ArubaSensor();
    /// @brief Destructor
    ~ArubaSensor() override;
    /// @brief Copy constructor
    ArubaSensor(const ArubaSensor&) = delete;
    /// @brief Move constructor
    ArubaSensor(ArubaSensor&&) = delete;
    /// @brief Copy assignment operator
    ArubaSensor& operator=(const ArubaSensor&) = delete;
    /// @brief Move assignment operator
    ArubaSensor& operator=(ArubaSensor&&) = delete;
 
    /// @brief String representation of the Class Type
    [[nodiscard]] static std::string typeStatic();
 
    /// @brief String representation of the Class Type
    [[nodiscard]] std::string type() const override;
 
    /// @brief String representation of the Class Category
    [[nodiscard]] static std::string category();
 
    /// @brief ImGui config window which is shown on double click
    /// @attention Don't forget to set _hasConfig to true in the constructor of the node
    void guiConfig() override;
 
    /// @brief Saves the node into a json object
    [[nodiscard]] json save() const override;
 
    /// @brief Restores the node from a json object
    /// @param[in] j Json object with the node state
    void restore(const json& j) override;
 
    /// @brief Resets the node. It is guaranteed that the node is initialized when this is called.
    bool resetNode() override;
 
  private:
    constexpr static size_t OUTPUT_PORT_INDEX_WIFI_OBS = 0; ///< @brief Flow (WiFiObs)
 
    /// @brief Initialize the node
    bool initialize() override;
 
    /// @brief Deinitialize the node
    void deinitialize() override;
 
    /// @brief Function which performs the async data reading
    /// @param[in] userData Pointer to the object
    static void readSensorDataThread(void* userData);
 
    /// @brief SSH channel
    ssh_channel _channel{};
    /// @brief SSH session
    ssh_session _session{};
 
    /// Timer object to handle async data requests
    CallbackTimer _timer;
 
    /// Ssh options
 
    /// @brief Host address
    std::string _sshHost{ "192.168.178.45" };
    /// @brief User name
    std::string _sshUser;
    /// @brief User credentials
    std::string _sshPassword;
    /// @brief SSH encryption
    std::string _sshHostkeys{ "ssh-rsa" };
    /// @brief Key exchange
    std::string _sshKeyExchange{ "ecdh-sha2-nistp256" };
    /// @brief Public key type
    std::string _sshPublickeyAcceptedTypes{ "ssh-rsa" };
 
    /// @brief Output interval in ms
    int _outputInterval{ 3000 };
};
 
} // namespace NAV