Program Listing for File telegram_handler.hpp
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#pragma once
// C++ includes
#include <condition_variable>
// ROSaic includes
#include <septentrio_gnss_driver/abstraction/typedefs.hpp>
#include <septentrio_gnss_driver/communication/message_handler.hpp>
#include <septentrio_gnss_driver/communication/telegram.hpp>
namespace io {
class Semaphore
{
public:
Semaphore() : block_(true) {}
void notify()
{
std::unique_lock<std::mutex> lock(mtx_);
block_ = false;
cv_.notify_one();
}
void wait()
{
std::unique_lock<std::mutex> lock(mtx_);
while (block_)
{
cv_.wait(lock);
}
block_ = true;
}
private:
std::mutex mtx_;
std::condition_variable cv_;
bool block_;
};
class TelegramHandler
{
public:
TelegramHandler(ROSaicNodeBase* node) : node_(node), messageHandler_(node) {}
~TelegramHandler()
{
cdSemaphore_.notify();
responseSemaphore_.notify();
}
void clearSemaphores()
{
cdSemaphore_.notify();
responseSemaphore_.notify();
}
void handleTelegram(const std::shared_ptr<Telegram>& telegram);
void resetWaitforMainCd() { mainConnectionDescriptor_ = std::string(); }
[[nodiscard]] std::string getMainCd()
{
cdSemaphore_.wait();
return mainConnectionDescriptor_;
}
void waitForResponse() { responseSemaphore_.wait(); }
void waitForCapabilities() { capabilitiesSemaphore_.wait(); }
private:
void handleSbf(const std::shared_ptr<Telegram>& telegram);
void handleNmea(const std::shared_ptr<Telegram>& telegram);
void handleResponse(const std::shared_ptr<Telegram>& telegram);
void handleError(const std::shared_ptr<Telegram>& telegram);
void handleCd(const std::shared_ptr<Telegram>& telegram);
ROSaicNodeBase* node_;
MessageHandler messageHandler_;
Semaphore cdSemaphore_;
Semaphore responseSemaphore_;
Semaphore capabilitiesSemaphore_;
std::string mainConnectionDescriptor_ = std::string();
};
} // namespace io