communication_core.hpp

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#pragma once
 
// Boost includes
#include <boost/asio.hpp>
#include <boost/asio/serial_port.hpp>
// C++ library includes
#include <fstream>
#include <memory>
#include <sstream>
// ROSaic includes
#include <septentrio_gnss_driver/communication/async_manager.hpp>
#include <septentrio_gnss_driver/communication/telegram_handler.hpp>
 
namespace io {
 
    const static uint32_t BAUDRATES[] = {
        1200,    2400,    4800,    9600,    19200,   38400,   57600,
        115200,  230400,  460800,  500000,  576000,  921600,  1000000,
        1152000, 1500000, 2000000, 2500000, 3000000, 3500000, 4000000};
 
    class CommunicationCore
    {
    public:
        CommunicationCore(ROSaicNodeBase* node);
        ~CommunicationCore();
 
        void close();
 
        void connect();
 
        void configureRx();
 
        void sendVelocity(const std::string& velNmea);
 
    private:
        void resetSettings();
 
        [[nodiscard]] bool initializeIo();
 
        std::string resetMainConnection();
 
        void processTelegrams();
 
        void send(const std::string& cmd);
 
        ROSaicNodeBase* node_;
        const Settings* settings_;
        TelegramQueue telegramQueue_;
        TelegramHandler telegramHandler_;
        std::thread processingThread_;
        bool initializedIo_ = false;
        std::unique_ptr<AsyncManagerBase> manager_;
 
        std::unique_ptr<AsyncManager<TcpIo>> tcpClient_;
        std::unique_ptr<UdpClient> udpClient_;
 
        std::unique_ptr<AsyncManager<TcpIo>> tcpVsm_;
 
        bool nmeaActivated_ = false;
 
        std::atomic<bool> running_;
 
        std::string mainConnectionPort_;
        // Port for receiving data streams
        std::string streamPort_;
    };
} // namespace io