SkydelNetworkStream.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
 
#ifdef _WIN32
    // Set the proper SDK version before including boost/Asio
    #include <SDKDDKVer.h>
    // Note boost/ASIO includes Windows.h.
    #include <boost/asio.hpp>
#else // _WIN32
    #include <boost/asio.hpp>
#endif //_WIN32
 
#include "Nodes/DataProvider/IMU/Imu.hpp"
 
#include <cstdlib>
#include <thread>
#include <string>
#include <vector>
 
#include "Navigation/Time/InsTime.hpp"
 
namespace NAV::experimental
{
class SkydelNetworkStream : public Imu
{
  public:
    SkydelNetworkStream();
    ~SkydelNetworkStream() override;
    SkydelNetworkStream(const SkydelNetworkStream&) = delete;
    SkydelNetworkStream(SkydelNetworkStream&&) = delete;
    SkydelNetworkStream& operator=(const SkydelNetworkStream&) = delete;
    SkydelNetworkStream& operator=(SkydelNetworkStream&&) = delete;
 
    [[nodiscard]] static std::string typeStatic();
 
    [[nodiscard]] std::string type() const override;
 
    [[nodiscard]] static std::string category();
 
    void guiConfig() override;
 
    bool resetNode() override;
 
  private:
    constexpr static size_t OUTPUT_PORT_INDEX_IMU_OBS = 0;  
    constexpr static size_t OUTPUT_PORT_INDEX_GNSS_OBS = 1; 
 
    bool initialize() override;
 
    void deinitialize() override;
 
    boost::asio::io_context _ioservice;
 
    void do_receive();
 
    std::thread _testThread;
 
    constexpr static unsigned int _maxLength = 1024;
 
    std::array<char, _maxLength> _data{};
 
    boost::asio::ip::udp::endpoint _senderEndpoint;
    boost::asio::ip::udp::socket _socket;
 
    bool _stop = false;
    bool _isStartup = true;
 
    std::chrono::steady_clock::time_point _startPoint;
 
    uint64_t _lastMessageTime{};
 
    int _packageCount = 0;
 
    int _packagesNumber = 2;
 
    double _dataRate = 0.0;
 
    int _startCounter = 0;
 
    int _startNow = 20;
};
 
} // namespace NAV::experimental