.. _program_listing_file__tmp_ws_src_opensw_include_opensw_client.h:

Program Listing for File client.h
=================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_opensw_include_opensw_client.h>` (``/tmp/ws/src/opensw/include/opensw/client.h``)

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

.. code-block:: cpp

   
   #pragma once
   
   #include <optional>
   #include <random>
   #include <string>
   #include <system_error>
   
   #include <asio.hpp>
   #include <Eigen/Core>
   #include <Eigen/Geometry>
   #include <opensw/protocol.h>
   #include <opensw/types.h>
   
   namespace opensw {
   
   class Client {
     public:
       Client();
       ~Client() = default;
   
       bool connect(const std::string& host, int port, int timeout_ms);
   
       bool connected() const;
   
       void disconnect();
   
       std::optional<int> getBatteryPercentage();
   
       Bitmap::Ptr getBitmapData(float x, float y, float width, float height, MapKind kind);
   
       std::optional<int> getBoardTemperature();
   
       std::optional<int> getDcInConnected();
   
       std::optional<HealthStatus> getHealthStatus();
   
       std::optional<ImuData> getImuData();
   
       std::optional<int> getIsCharging();
   
       std::optional<cv::Rect_<float>> getKnownArea(MapType type, MapKind kind);
   
       LaserScan::Ptr getLaserScan();
   
       std::optional<Eigen::Vector3d> getLocation();
   
       std::optional<int> getOnDock();
   
       std::optional<Eigen::Isometry3d> getPose();
   
       std::optional<ImuData> getRawImuData();
   
       std::optional<std::string> getSdpVersion();
   
     private:
       void handleConnect(const std::error_code& err);
       void checkDeadline(const std::error_code& err);
       std::optional<std::string> sendAndReceive(const std::string& msg);
   
       const size_t max_buffer_size_ = 10000000;
       asio::io_context io_context_;
       asio::io_context::work work_;
       asio::deadline_timer deadline_;
       asio::ip::tcp::socket socket_;
       asio::streambuf stream_buffer_;
       std::mt19937 rng_;
       std::uniform_int_distribution<std::mt19937::result_type> id_dist_;
       int timeout_ms_ = 500;
       bool connection_failed_ = false;
   };
   
   }  // namespace opensw