Program Listing for File client.h

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#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