OD4Session.hpp

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/*
 * Copyright (C) 2017-2018  Christian Berger
 *
 * This Source Code Form is subject to the terms of the Mozilla Public
 * License, v. 2.0. If a copy of the MPL was not distributed with this
 * file, You can obtain one at http://mozilla.org/MPL/2.0/.
 */

#ifndef CLUON_OD4SESSION_HPP
#define CLUON_OD4SESSION_HPP

#include "cluon/Time.hpp"
#include "cluon/ToProtoVisitor.hpp"
#include "cluon/UDPReceiver.hpp"
#include "cluon/UDPSender.hpp"
#include "cluon/cluon.hpp"
#include "cluon/cluonDataStructures.hpp"

#include <chrono>
#include <cstdint>
#include <functional>
#include <memory>
#include <mutex>
#include <string>
#include <unordered_map>
#include <utility>

namespace cluon {
class LIBCLUON_API OD4Session {
   private:
    OD4Session(const OD4Session &) = delete;
    OD4Session(OD4Session &&)      = delete;
    OD4Session &operator=(const OD4Session &) = delete;
    OD4Session &operator=(OD4Session &&) = delete;

   public:
    OD4Session(uint16_t CID, std::function<void(cluon::data::Envelope &&envelope)> delegate = nullptr) noexcept;

    void send(cluon::data::Envelope &&envelope) noexcept;

    bool dataTrigger(int32_t messageIdentifier, std::function<void(cluon::data::Envelope &&envelope)> delegate) noexcept;

    void timeTrigger(float freq, std::function<bool()> delegate) noexcept;

    template <typename T>
    void send(T &message, const cluon::data::TimeStamp &sampleTimeStamp = cluon::data::TimeStamp(), uint32_t senderStamp = 0) noexcept {
        try {
            std::lock_guard<std::mutex> lck(m_senderMutex);
            cluon::ToProtoVisitor protoEncoder;

            cluon::data::Envelope envelope;
            {
                envelope.dataType(static_cast<int32_t>(message.ID()));
                message.accept(protoEncoder);
                envelope.serializedData(protoEncoder.encodedData());
                envelope.sent(cluon::time::now());
                envelope.sampleTimeStamp((0 == (sampleTimeStamp.seconds() + sampleTimeStamp.microseconds())) ? envelope.sent() : sampleTimeStamp);
                envelope.senderStamp(senderStamp);
            }

            send(std::move(envelope));
        } catch (...) {} // LCOV_EXCL_LINE
    }

   public:
    bool isRunning() noexcept;

   private:
    void callback(std::string &&data, std::string &&from, std::chrono::system_clock::time_point &&timepoint) noexcept;
    void sendInternal(std::string &&dataToSend) noexcept;

   private:
    std::unique_ptr<cluon::UDPReceiver> m_receiver;
    cluon::UDPSender m_sender;

    std::mutex m_senderMutex{};

    std::function<void(cluon::data::Envelope &&envelope)> m_delegate{nullptr};

    std::mutex m_mapOfDataTriggeredDelegatesMutex{};
    std::unordered_map<int32_t, std::function<void(cluon::data::Envelope &&envelope)>, UseUInt32ValueAsHashKey> m_mapOfDataTriggeredDelegates{};
};

} // namespace cluon
#endif