udpRecv.hpp

Go to the documentation of this file.

// 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 "NodeData/State/PosVelAtt.hpp"
#include <boost/asio.hpp>
#include <string>
 
namespace NAV
{
class UdpRecv : public Node
{
  public:
    UdpRecv();
    ~UdpRecv() override;
    UdpRecv(const UdpRecv&) = delete;
    UdpRecv(UdpRecv&&) = delete;
    UdpRecv& operator=(const UdpRecv&) = delete;
    UdpRecv& operator=(UdpRecv&&) = 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_NODE_DATA = 0; 
 
    bool initialize() override;
 
    void deinitialize() override;
 
    void asyncReceive();
 
    int _port = 4567;
 
    static constexpr std::array<int, 2> PORT_LIMITS = { 0, 65535 };
 
    boost::asio::io_context _io_context;
    boost::asio::ip::udp::socket _socket;
    boost::asio::ip::udp::endpoint _sender_endpoint;
 
    std::thread _recvThread;
 
    bool _running = false;
    bool _isStartup = true;
 
    std::chrono::steady_clock::time_point _startPoint;
 
    constexpr static unsigned int _maxBytes = 104;
 
    std::array<double, 13> _data{};
};
} // namespace NAV