Program Listing for File 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 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&);

        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_;

        bool nmeaActivated_ = false;

        std::atomic<bool> running_;

        std::string mainConnectionPort_;
        // Port for receiving data streams
        std::string streamPort_;
    };
} // namespace io