Program Listing for File connection.hpp
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// Copyright 2021 Kenji Brameld
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef NAO_LOLA__CONNECTION_HPP_
#define NAO_LOLA__CONNECTION_HPP_
#include <string>
#include "boost/asio.hpp"
#include "rclcpp/logger.hpp"
#include "rclcpp/rclcpp.hpp"
#define MSGPACK_READ_LENGTH 896
class Connection
{
public:
Connection();
std::array<char, MSGPACK_READ_LENGTH> receive();
void send(std::string data);
private:
boost::asio::io_service io_service;
boost::asio::local::stream_protocol::socket socket;
rclcpp::Logger logger;
};
#endif // NAO_LOLA__CONNECTION_HPP_