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/.
 
 
#pragma once
 
#include "internal/Node/Node.hpp"
 
#include "Navigation/Constants.hpp"
#include "util/CallbackTimer.hpp"
#include <libssh/libssh.h>
 
namespace NAV
{
class ArubaSensor : public Node
{
  public:
    ArubaSensor();
    ~ArubaSensor() override;
    ArubaSensor(const ArubaSensor&) = delete;
    ArubaSensor(ArubaSensor&&) = delete;
    ArubaSensor& operator=(const ArubaSensor&) = delete;
    ArubaSensor& operator=(ArubaSensor&&) = delete;
 
    [[nodiscard]] static std::string typeStatic();
 
    [[nodiscard]] std::string type() const override;
 
    [[nodiscard]] static std::string category();
 
    void guiConfig() override;
 
    [[nodiscard]] json save() const override;
 
    void restore(const json& j) override;
 
    bool resetNode() override;
 
  private:
    constexpr static size_t OUTPUT_PORT_INDEX_WIFI_OBS = 0; 
 
    bool initialize() override;
 
    void deinitialize() override;
 
    static void readSensorDataThread(void* userData);
 
    ssh_channel _channel{};
    ssh_session _session{};
 
    CallbackTimer _timer;
 
 
    std::string _sshHost{ "192.168.178.45" };
    std::string _sshUser;
    std::string _sshPassword;
    std::string _sshHostkeys{ "ssh-rsa" };
    std::string _sshKeyExchange{ "ecdh-sha2-nistp256" };
    std::string _sshPublickeyAcceptedTypes{ "ssh-rsa" };
 
    int _outputInterval{ 3000 };
};
 
} // namespace NAV