scan_data_receiver.h

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// Copyright (c) 2014, Pepperl+Fuchs GmbH, Mannheim
// Copyright (c) 2014, Denis Dillenberger
// All rights reserved.
//
// Use, modification, and distribution is subject to the
// 3-clause BSD license ("Revised BSD License",
// "New BSD License", or "Modified BSD License")
// You should have received a copy of this license
// in a file named COPYING or LICENSE.

#ifndef SCAN_DATA_RECEIVER_H
#define SCAN_DATA_RECEIVER_H

#define BOOST_CB_DISABLE_DEBUG
#include <string>
#include <iostream>
#include <mutex>
#include <condition_variable>
#include <deque>
#include <array>
#include <boost/bind.hpp>
#include <boost/asio.hpp>
#include <boost/thread.hpp>
#include <boost/circular_buffer.hpp>
#include <pepperl_fuchs_r2000/packet_structure.h>

namespace pepperl_fuchs {

class ScanDataReceiver
{
public:
    ScanDataReceiver(const std::string hostname, const int tcp_port);

    ScanDataReceiver();

    ~ScanDataReceiver();

    int getUDPPort() const { return udp_port_; }

    bool isConnected() const { return is_connected_; }

    void disconnect();

    ScanData getScan();

    ScanData getFullScan();

    std::size_t getScansAvailable() const { return scan_data_.size(); }

    std::size_t getFullScansAvailable() const;

private:
    void handleSocketRead(const boost::system::error_code& error);

    void handleSocketRead(const boost::system::error_code& error, std::size_t bytes_transferred);

    bool handleNextPacket();

    int findPacketStart();

    bool retrievePacket( std::size_t start, PacketTypeC* p );

    bool checkConnection();

    void readBufferFront(char* dst, std::size_t numbytes );

    void writeBufferBack(char* src, std::size_t numbytes );

    int udp_port_;

    bool is_connected_;

    boost::thread io_service_thread_;
    boost::asio::io_service io_service_;

    boost::asio::streambuf inbuf_;

    std::istream instream_;

    boost::asio::ip::tcp::socket* tcp_socket_;

    boost::asio::ip::udp::socket* udp_socket_;

    boost::asio::ip::udp::endpoint udp_endpoint_;

    std::array< char, 65536 > udp_buffer_;

    boost::circular_buffer<char> ring_buffer_;

    std::mutex data_mutex_;

    std::condition_variable data_notifier_;

    std::deque<ScanData> scan_data_;

    double last_data_time_;
};

}
#endif // SCAN_DATA_RECEIVER_H