communication_core.hpp

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#ifndef COMMUNICATION_CORE_HPP // This block is called a conditional group. The
                               // controlled text will get included in the
                               // preprocessor output iff the macroname is not
                               // defined.
#define COMMUNICATION_CORE_HPP // Include guards help to avoid the double inclusion
                               // of header files, by defining a token = macro.

// Boost includes
#include <boost/asio.hpp>
#include <boost/asio/serial_port.hpp>
#include <boost/bind.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/exception/diagnostic_information.hpp> // dealing with bad file descriptor error
#include <boost/function.hpp>
// C++ library includes
#include <fstream>
#include <memory>
#include <sstream>
#include <unistd.h> // for usleep()
// ROSaic includes
#include <septentrio_gnss_driver/communication/async_manager.hpp>
#include <septentrio_gnss_driver/communication/callback_handlers.hpp>

namespace io_comm_rx {

    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 Comm_IO
    {
    public:
        Comm_IO(ROSaicNodeBase* node, Settings* settings);
        ~Comm_IO();

        void initializeIO();

        void configureRx();

        void defineMessages();

        void sendVelocity(const std::string& velNmea);

    private:
        void resetMainPort();

        void prepareSBFFileReading(std::string file_name);

        void preparePCAPFileReading(std::string file_name);

        void reconnect();

        void connect();

        bool initializeSerial(std::string port, uint32_t baudrate = 115200,
                              std::string flowcontrol = "None");

        bool initializeTCP(std::string host, std::string port);

        void initializeSBFFileReading(std::string file_name);

        void initializePCAPFileReading(std::string file_name);

        void setManager(const boost::shared_ptr<Manager>& manager);

        void send(const std::string&);

        ROSaicNodeBase* node_;
        CallbackHandlers handlers_;
        Settings* settings_;
        bool connected_ = false;
        boost::mutex connection_mutex_;
        boost::condition_variable connection_condition_;
        std::string tcp_host_;
        std::string tcp_port_;
        bool serial_;
        std::string serial_port_;
        boost::shared_ptr<Manager> manager_;
        uint32_t baudrate_;

        bool nmeaActivated_ = false;

        std::unique_ptr<boost::thread> connectionThread_;
        std::atomic<bool> stopping_;

        friend class CallbackHandlers;
        friend class RxMessage;

        std::string mainPort_;

        std::string host_;
        std::string port_;
        const static unsigned int SET_BAUDRATE_SLEEP_ = 500000;
    };
} // namespace io_comm_rx

#endif // for COMMUNICATION_CORE_HPP