.. _program_listing_file__tmp_ws_src_locator_ros_bridge_bosch_locator_bridge_include_bosch_locator_bridge_receiving_interface.hpp:

Program Listing for File receiving_interface.hpp
================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_locator_ros_bridge_bosch_locator_bridge_include_bosch_locator_bridge_receiving_interface.hpp>` (``/tmp/ws/src/locator_ros_bridge/bosch_locator_bridge/include/bosch_locator_bridge/receiving_interface.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright (c) 2021 - for information on the respective copyright owner
   // see the NOTICE file and/or the repository https://github.com/boschglobal/locator_ros_bridge.
   //
   // 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 BOSCH_LOCATOR_BRIDGE__RECEIVING_INTERFACE_HPP_
   #define BOSCH_LOCATOR_BRIDGE__RECEIVING_INTERFACE_HPP_
   
   #include <Poco/Net/NetException.h>
   #include <Poco/Net/SocketNotification.h>
   #include <Poco/Net/SocketReactor.h>
   #include <Poco/Net/StreamSocket.h>
   
   #include <string>
   #include <vector>
   
   #include "geometry_msgs/msg/pose_array.hpp"
   #include "geometry_msgs/msg/pose_stamped.hpp"
   #include "geometry_msgs/msg/pose_with_covariance_stamped.hpp"
   #include "rclcpp/rclcpp.hpp"
   #include "sensor_msgs/msg/point_cloud2.hpp"
   
   #include "bosch_locator_bridge/msg/client_control_mode.hpp"
   #include "bosch_locator_bridge/msg/client_global_align_visualization.hpp"
   #include "bosch_locator_bridge/msg/client_localization_pose.hpp"
   #include "bosch_locator_bridge/msg/client_localization_visualization.hpp"
   #include "bosch_locator_bridge/msg/client_map_visualization.hpp"
   #include "bosch_locator_bridge/msg/client_recording_visualization.hpp"
   
   class ReceivingInterface : public Poco::Runnable
   {
   public:
     ReceivingInterface(
       const Poco::Net::IPAddress & hostadress, Poco::UInt16 port,
       rclcpp::Node::SharedPtr node);
   
     virtual ~ReceivingInterface();
   
     virtual void onReadEvent(const Poco::AutoPtr<Poco::Net::ReadableNotification> & notification);
   
     void run();
   
   protected:
     virtual size_t tryToParseData(
       const std::vector<char> & datagram_buffer,
       rclcpp::Node::SharedPtr node) = 0;
   
     rclcpp::Node::SharedPtr node_;
   
     // port definitions for the different interfaces. See Locator API documentation section 12.8
     static constexpr Poco::UInt16 BINARY_CLIENT_CONTROL_MODE_PORT {9004};
     static constexpr Poco::UInt16 BINARY_CLIENT_MAP_MAP_PORT {9005};
     static constexpr Poco::UInt16 BINARY_CLIENT_MAP_VISUALIZATION_PORT {9006};
     static constexpr Poco::UInt16 BINARY_CLIENT_RECORDING_MAP_PORT {9007};
     static constexpr Poco::UInt16 BINARY_CLIENT_RECORDING_VISUALIZATION_PORT {9008};
     static constexpr Poco::UInt16 BINARY_CLIENT_LOCALIZATION_MAP_PORT {9009};
     static constexpr Poco::UInt16 BINARY_CLIENT_LOCALIZATION_VISUALIZATION_PORT {9010};
     static constexpr Poco::UInt16 BINARY_CLIENT_LOCALIZATION_POSE_PORT {9011};
     static constexpr Poco::UInt16 BINARY_CLIENT_GLOBAL_ALIGN_VISUALIZATION_PORT {9012};
   
   private:
     Poco::Net::StreamSocket ccm_socket_;
     Poco::Net::SocketReactor reactor_;
     // TODO(): use a better suited data structure (a deque?)
     std::vector<char> datagram_buffer_;
   };
   
   class ClientControlModeInterface : public ReceivingInterface
   {
   public:
     ClientControlModeInterface(const Poco::Net::IPAddress & hostadress, rclcpp::Node::SharedPtr node);
     size_t tryToParseData(
       const std::vector<char> & datagram,
       rclcpp::Node::SharedPtr node) override;
   
   private:
     rclcpp::Publisher<bosch_locator_bridge::msg::ClientControlMode>
     ::SharedPtr client_control_mode_pub_;
   };
   
   class ClientMapMapInterface : public ReceivingInterface
   {
   public:
     ClientMapMapInterface(const Poco::Net::IPAddress & hostadress, rclcpp::Node::SharedPtr node);
     size_t tryToParseData(
       const std::vector<char> & datagram,
       rclcpp::Node::SharedPtr node) override;
   
   private:
     rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr client_map_map_pub_;
   };
   
   class ClientMapVisualizationInterface : public ReceivingInterface
   {
   public:
     ClientMapVisualizationInterface(
       const Poco::Net::IPAddress & hostadress,
       rclcpp::Node::SharedPtr node);
     size_t tryToParseData(
       const std::vector<char> & datagram,
       rclcpp::Node::SharedPtr node) override;
   
   private:
     rclcpp::Publisher<bosch_locator_bridge::msg::ClientMapVisualization>
     ::SharedPtr client_map_visualization_pub_;
     rclcpp::Publisher<geometry_msgs::msg::PoseStamped>
     ::SharedPtr client_map_visualization_pose_pub_;
     rclcpp::Publisher<sensor_msgs::msg::PointCloud2>
     ::SharedPtr client_map_visualization_scan_pub_;
     rclcpp::Publisher<geometry_msgs::msg::PoseArray>
     ::SharedPtr client_map_visualization_path_poses_pub_;
   };
   
   class ClientRecordingMapInterface : public ReceivingInterface
   {
   public:
     ClientRecordingMapInterface(
       const Poco::Net::IPAddress & hostadress,
       rclcpp::Node::SharedPtr node);
     size_t tryToParseData(
       const std::vector<char> & datagram,
       rclcpp::Node::SharedPtr node) override;
   
   private:
     rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr client_recording_map_pub_;
   };
   
   class ClientRecordingVisualizationInterface : public ReceivingInterface
   {
   public:
     ClientRecordingVisualizationInterface(
       const Poco::Net::IPAddress & hostadress,
       rclcpp::Node::SharedPtr node);
     size_t tryToParseData(
       const std::vector<char> & datagram,
       rclcpp::Node::SharedPtr node) override;
   
   private:
     rclcpp::Publisher<bosch_locator_bridge::msg::ClientRecordingVisualization>
     ::SharedPtr client_recording_visualization_pub_;
     rclcpp::Publisher<geometry_msgs::msg::PoseStamped>
     ::SharedPtr client_recording_visualization_pose_pub_;
     rclcpp::Publisher<sensor_msgs::msg::PointCloud2>
     ::SharedPtr client_recording_visualization_scan_pub_;
     rclcpp::Publisher<geometry_msgs::msg::PoseArray>
     ::SharedPtr client_recording_visualization_path_poses_pub_;
   };
   
   class ClientLocalizationMapInterface : public ReceivingInterface
   {
   public:
     ClientLocalizationMapInterface(
       const Poco::Net::IPAddress & hostadress,
       rclcpp::Node::SharedPtr node);
     size_t tryToParseData(
       const std::vector<char> & datagram,
       rclcpp::Node::SharedPtr node) override;
   
   private:
     rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr client_localization_map_pub_;
   };
   
   class ClientLocalizationVisualizationInterface : public ReceivingInterface
   {
   public:
     ClientLocalizationVisualizationInterface(
       const Poco::Net::IPAddress & hostadress,
       rclcpp::Node::SharedPtr node);
     size_t tryToParseData(
       const std::vector<char> & datagram,
       rclcpp::Node::SharedPtr node) override;
   
   private:
     rclcpp::Publisher<bosch_locator_bridge::msg::ClientLocalizationVisualization>
     ::SharedPtr client_localization_visualization_pub_;
     rclcpp::Publisher<geometry_msgs::msg::PoseStamped>
     ::SharedPtr client_localization_visualization_pose_pub_;
     rclcpp::Publisher<sensor_msgs::msg::PointCloud2>
     ::SharedPtr client_localization_visualization_scan_pub_;
   };
   
   class ClientLocalizationPoseInterface : public ReceivingInterface
   {
   public:
     ClientLocalizationPoseInterface(
       const Poco::Net::IPAddress & hostadress,
       rclcpp::Node::SharedPtr node);
     size_t tryToParseData(
       const std::vector<char> & datagram,
       rclcpp::Node::SharedPtr node) override;
   
   private:
     rclcpp::Publisher<bosch_locator_bridge::msg::ClientLocalizationPose>
     ::SharedPtr client_localization_pose_pub_;
     rclcpp::Publisher<geometry_msgs::msg::PoseWithCovarianceStamped>
     ::SharedPtr client_localization_pose_pose_pub_;
     rclcpp::Publisher<geometry_msgs::msg::PoseStamped>
     ::SharedPtr client_localization_pose_lidar_odo_pose_pub_;
   };
   
   class ClientGlobalAlignVisualizationInterface : public ReceivingInterface
   {
   public:
     ClientGlobalAlignVisualizationInterface(
       const Poco::Net::IPAddress & hostadress,
       rclcpp::Node::SharedPtr node);
     size_t tryToParseData(
       const std::vector<char> & datagram,
       rclcpp::Node::SharedPtr node) override;
   
   private:
     rclcpp::Publisher<bosch_locator_bridge::msg::ClientGlobalAlignVisualization>
     ::SharedPtr client_global_align_visualization_pub_;
     rclcpp::Publisher<geometry_msgs::msg::PoseArray>
     ::SharedPtr client_global_align_visualization_poses_pub_;
     rclcpp::Publisher<geometry_msgs::msg::PoseArray>
     ::SharedPtr client_global_align_visualization_landmarks_poses_pub_;
   };
   
   #endif  // BOSCH_LOCATOR_BRIDGE__RECEIVING_INTERFACE_HPP_