udpRecv.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 udpRecv.hpp
/// @brief Asynchronous data link - receiver node
/// @author M. Maier (marcel.maier@ins.uni-stuttgart.de)
/// @date 2023-07-26
 
#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 "internal/Node/Node.hpp"
 
#include "NodeData/State/PosVelAtt.hpp"
#include <string>
 
namespace NAV
{
/// UDP Client
class UdpRecv : public Node
{
  public:
    /// @brief Default constructor
    UdpRecv();
    /// @brief Destructor
    ~UdpRecv() override;
    /// @brief Copy constructor
    UdpRecv(const UdpRecv&) = delete;
    /// @brief Move constructor
    UdpRecv(UdpRecv&&) = delete;
    /// @brief Copy assignment operator
    UdpRecv& operator=(const UdpRecv&) = delete;
    /// @brief Move assignment operator
    UdpRecv& operator=(UdpRecv&&) = 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. Moves the read cursor to the start
    bool resetNode() override;
 
  private:
    constexpr static size_t OUTPUT_PORT_INDEX_NODE_DATA = 0; ///< @brief Object (NodeData)
 
    /// @brief Initialize the node
    bool initialize() override;
 
    /// @brief Deinitialize the node
    void deinitialize() override;
 
    /// @brief Polls the next data
    void asyncReceive();
 
    /// UDP port number
    int _port = 4567;
 
    /// Range a port can be in [0, 2^16-1]
    static constexpr std::array<int, 2> PORT_LIMITS = { 0, 65535 };
 
    /// Asynchronous receive fct
    boost::asio::io_context _io_context;
    /// Boost udp socket
    boost::asio::ip::udp::socket _socket;
    /// Boost udp endpoint
    boost::asio::ip::udp::endpoint _sender_endpoint;
 
    /// Receiver thread
    std::thread _recvThread;
 
    /// Flag that indicates the running data link
    bool _running = false;
    /// Startup handler: used in 'initialize()' to differentiate between startup and re-initialization
    bool _isStartup = true;
 
    /// Time point where the first package has been received
    std::chrono::steady_clock::time_point _startPoint;
 
    /// Network data stream maximum buffer size in [bytes]
    constexpr static unsigned int _maxBytes = 104;
 
    /// Network data stream array
    std::array<double, 13> _data{};
};
class UdpRecv : public Node {…};
} // namespace NAV