UDPPacketMerger.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
 
// -- BEGIN LICENSE BLOCK ----------------------------------------------
 
// -- END LICENSE BLOCK ------------------------------------------------
 
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#ifndef SICK_SAFETYSCANNERS_DATA_PROCESSING_UDPPACKETMERGER_H
#define SICK_SAFETYSCANNERS_DATA_PROCESSING_UDPPACKETMERGER_H
 
#include <sick_safetyscanners/datastructure/PacketBuffer.h>
#include <sick_safetyscanners/datastructure/ParsedPacketBuffer.h>
 
#include <sick_safetyscanners/data_processing/ParseDatagramHeader.h>
 
#include <algorithm>
#include <map>
#include <mutex>
 
namespace sick {
namespace data_processing {
 
class UDPPacketMerger
{
public:
  UDPPacketMerger();
 
  bool isComplete() const;
 
  bool addUDPPacket(const sick::datastructure::PacketBuffer& buffer);
 
  sick::datastructure::PacketBuffer getDeployedPacketBuffer();
 
private:
  bool m_is_complete;
  sick::datastructure::PacketBuffer m_deployed_packet_buffer;
 
  std::map<uint32_t, sick::datastructure::ParsedPacketBuffer::ParsedPacketBufferVector>
    m_parsed_packet_buffer_map;
  std::mutex m_buffer_mutex;
 
  bool addToMap(const sick::datastructure::PacketBuffer& buffer,
                const sick::datastructure::DatagramHeader& header);
  bool deployPacketIfComplete(datastructure::DatagramHeader& header);
  bool checkIfComplete(sick::datastructure::DatagramHeader& header);
  uint32_t calcualteCurrentLengthOfParsedPacketBuffer(
    const sick::datastructure::ParsedPacketBuffer::ParsedPacketBufferVector& vec);
  sick::datastructure::ParsedPacketBuffer::ParsedPacketBufferVector
  getSortedParsedPacketBufferForIdentification(const sick::datastructure::DatagramHeader& header);
  std::vector<uint8_t> removeHeaderFromParsedPacketBuffer(
    const sick::datastructure::ParsedPacketBuffer::ParsedPacketBufferVector& vec);
};
 
} // namespace data_processing
} // namespace sick
 
#endif // SICK_SAFETYSCANNERS_DATA_PROCESSING_UDPPACKETMERGER_H