callback_handlers.hpp

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#ifndef CALLBACK_HANDLERS_HPP
#define CALLBACK_HANDLERS_HPP

// Boost includes
#include <boost/foreach.hpp>
// In C++, writing a loop that iterates over a sequence is tedious -->
// BOOST_FOREACH(char ch, "Hello World")
#include <boost/function.hpp>
// E.g. boost::function<int(const char*)> f = std::atoi;defines a pointer f that can
// point to functions that expect a parameter of type const char* and return a value
// of type int Generally, any place in which a function pointer would be used to
// defer a call or make a callback, Boost.Function can be used instead to allow the
// user greater flexibility in the implementation of the target.
#include <boost/thread.hpp>
// Boost's thread enables the use of multiple threads of execution with shared data
// in portable C++ code. It provides classes and functions for managing the threads
// themselves, along with others for synchronizing data between the threads or
// providing separate copies of data specific to individual threads.
#include <boost/thread/condition.hpp>
#include <boost/tokenizer.hpp>
// The tokenizer class provides a container view of a series of tokens contained in a
// sequence, e.g. if you are not interested in non-words...
#include <boost/algorithm/string/join.hpp>
// Join algorithm is a counterpart to split algorithms. It joins strings from a
// 'list' by adding user defined separator.
#include <boost/date_time/posix_time/posix_time.hpp>
// The class boost::posix_time::ptime that we will use defines a location-independent
// time. It uses the type boost::gregorian::date, yet also stores a time.
#include <boost/asio.hpp>
// Boost.Asio may be used to perform both synchronous and asynchronous operations on
// I/O objects such as sockets.
#include <boost/asio/serial_port.hpp>
#include <boost/bind.hpp>
#include <boost/format.hpp>
#include <boost/thread/mutex.hpp>

// ROSaic and C++ includes
#include <algorithm>
#include <septentrio_gnss_driver/communication/rx_message.hpp>

extern bool g_response_received;
extern boost::mutex g_response_mutex;
extern boost::condition_variable g_response_condition;
extern bool g_cd_received;
extern boost::mutex g_cd_mutex;
extern boost::condition_variable g_cd_condition;
extern uint32_t g_cd_count;
extern std::string g_rx_tcp_port;

namespace io_comm_rx {
    class AbstractCallbackHandler
    {
    public:
        virtual void handle(RxMessage& rx_message, std::string message_key) = 0;

        bool Wait(const boost::posix_time::time_duration& timeout)
        {
            boost::mutex::scoped_lock lock(mutex_);
            return condition_.timed_wait(lock, timeout);
        }

    protected:
        boost::mutex mutex_;
        boost::condition_variable condition_;
    };

    template <typename T>
    class CallbackHandler : public AbstractCallbackHandler
    {
    public:
        virtual const T& Get() { return message_; }

        void handle(RxMessage& rx_message, std::string message_key)
        {
            boost::mutex::scoped_lock lock(mutex_);
            try
            {
                if (!rx_message.read(message_key))
                {
                    std::ostringstream ss;
                    ss << "Rx decoder error for message with ID (empty field if non-determinable)"
                       << rx_message.messageID() << ". Reason unknown.";
                    throw std::runtime_error(ss.str());
                    return;
                }
            } catch (std::runtime_error& e)
            {
                std::ostringstream ss;
                ss << "Rx decoder error for message with ID "
                   << rx_message.messageID() << ".\n"
                   << e.what();
                throw std::runtime_error(ss.str());
                return;
            }

            condition_.notify_all();
        }

    private:
        T message_;
    };

    class CallbackHandlers
    {

    public:
        typedef std::multimap<std::string,
                              boost::shared_ptr<AbstractCallbackHandler>>
            CallbackMap;

        CallbackHandlers(ROSaicNodeBase* node, Settings* settings) : 
            node_(node),
            rx_message_(node, settings),
            settings_(settings)
        {}

        template <typename T>
        CallbackMap insert(std::string message_key)
        {
            boost::mutex::scoped_lock lock(callback_mutex_);
            // Adding typename might be cleaner, but is optional again
            CallbackHandler<T>* handler = new CallbackHandler<T>();
            callbackmap_.insert(std::make_pair(
                message_key, boost::shared_ptr<AbstractCallbackHandler>(handler)));
            CallbackMap::key_type key = message_key;
            node_->log(LogLevel::DEBUG, "Key " +  message_key + " successfully inserted into multimap: " +
                                        (((unsigned int)callbackmap_.count(key)) ? "true" : "false"));
            return callbackmap_;
        }

        void handle();

        void readCallback(Timestamp recvTimestamp, const uint8_t* data, std::size_t& size);

        CallbackMap callbackmap_;

    private:
        ROSaicNodeBase* node_;

        RxMessage rx_message_;

        Settings* settings_;

        static boost::mutex callback_mutex_;

        static std::string do_gpsfix_;

        static std::string do_insgpsfix_;

        static std::string do_navsatfix_;

        static std::string do_insnavsatfix_;

        static std::string do_pose_;

        static std::string do_inspose_;

        static std::string do_diagnostics_;

        static std::string do_imu_;

        static std::string do_inslocalization_;

        typedef std::unordered_map<std::string, uint32_t> GPSFixMap;

        static GPSFixMap gpsfix_map;

        typedef std::unordered_map<std::string, uint32_t> NavSatFixMap;

        static NavSatFixMap navsatfix_map;

        typedef std::unordered_map<std::string, uint32_t> PoseWithCovarianceStampedMap;

        static PoseWithCovarianceStampedMap pose_map;

        typedef std::unordered_map<std::string, uint32_t> DiagnosticArrayMap;

        static DiagnosticArrayMap diagnosticarray_map;

        typedef std::unordered_map<std::string, uint32_t> ImuMap;

        static ImuMap imu_map;

        typedef std::unordered_map<std::string, uint32_t> LocalizationMap;

        static LocalizationMap localization_map;
    };

} // namespace io_comm_rx

#endif