udpSend.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 "internal/Node/Node.hpp"
 
#include "NodeData/State/PosVelAtt.hpp"
#include <string>
 
namespace NAV
{
class UdpSend : public Node
{
  public:
    UdpSend();
    ~UdpSend() override;
    UdpSend(const UdpSend&) = delete;
    UdpSend(UdpSend&&) = delete;
    UdpSend& operator=(const UdpSend&) = delete;
    UdpSend& operator=(UdpSend&&) = 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 INPUT_PORT_INDEX_NODE_DATA = 0; 
 
    bool initialize() override;
 
    void deinitialize() override;
 
    void receivePosVelAtt(InputPin::NodeDataQueue& queue, size_t pinIdx);
 
    std::array<int, 4> _ip{};
 
    int _port = 4567;
 
    static constexpr std::array<int, 2> IP_LIMITS = { 0, 255 };
    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::resolver _resolver;
    boost::asio::ip::udp::resolver::results_type _endpoints;
};
} // namespace NAV