VisionaryDataStream.h

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//
// Copyright (c) 2023 SICK AG, Waldkirch
//
// SPDX-License-Identifier: Unlicense
 
#pragma once
 
#include "TcpSocket.h"
#include "VisionaryData.h"
#include <memory>
 
namespace visionary {
 
class VisionaryDataStream
{
public:
  using ByteBuffer = std::vector<std::uint8_t>;
 
  VisionaryDataStream(std::shared_ptr<VisionaryData> dataHandler);
  ~VisionaryDataStream();
 
  bool open(const std::string& hostname, std::uint16_t port, std::uint32_t timeoutMs = 5000u);
 
  bool open(std::unique_ptr<ITransport>& pTransport);
 
  void close();
 
  bool syncCoLa() const;
 
  //-----------------------------------------------
  // Receive a single blob from the connected device and store it in buffer.
  // Returns true when valid frame completely received.
  bool getNextFrame();
 
  bool isConnected() const;
 
  void setDataHandler(std::shared_ptr<VisionaryData> dataHandler);
 
  std::shared_ptr<VisionaryData> getDataHandler();
 
private:
  std::shared_ptr<VisionaryData> m_dataHandler;
  std::unique_ptr<ITransport>    m_pTransport;
 
  // Parse the Segment-Binary-Data (Blob data without protocol version and packet type).
  // Returns true when parsing was successful.
  bool parseSegmentBinaryData(const ByteBuffer::iterator itBuf, std::size_t bufferSize);
};
 
} // namespace visionary