ArduPilotProtocol.h

#pragma once
 
#include "../network/websocket/WebSocketProtocol.h"
#include "../network/websocket/WebSocketServer.h"
#include "../world_interface/data.h"
 
#include <mutex>
 
#include <Eigen/Geometry>
 
namespace net {
namespace ardupilot {
 
/* @brief A protocol in order to handle messages from an ArduPilot enabled device */
class ArduPilotProtocol {
public:
    ArduPilotProtocol(net::websocket::SingleClientWSServer& websocketServer);
    ~ArduPilotProtocol();
    ArduPilotProtocol(const ArduPilotProtocol& other) = delete;
    ArduPilotProtocol& operator=(const ArduPilotProtocol& other) = delete;
 
    /* @brief Gets the last reported GPS position (lat, lon)
     *
     * @return Last reported GPS position
     */
    robot::types::DataPoint<navtypes::gpscoords_t> getGPS();
 
    /* @brief Gets the last reported orientation from the IMU
     *
     * @return Last reported orientation
     */
    robot::types::DataPoint<Eigen::Quaterniond> getIMU();
 
private:
    /* @brief Validates GPS request
     *
     * @param json message
     *
     * @return True if message is valid, false otherwise
     */
    static bool validateGPSRequest(const nlohmann::json& j);
 
    /* @brief Validates IMU request
     *
     * @param json message
     *
     * @return True if message is valid, false otherwise
     */
    static bool validateIMURequest(const nlohmann::json& j);
 
    /* @brief Destructures GPS json message and updates last reported GPS values
     *
     * @param json message
     */
    void handleGPSRequest(const nlohmann::json& j);
 
    /* @brief Destructures IMU json message and updates last reported GPS values
     *
     * @param json message
     */
    void handleIMURequest(const nlohmann::json& j);
 
    /* @brief Checks if the ArduPilotProtocol is connected
     *
     * @return True if connected, false if not connected
     */
    bool isArduPilotConnected();
 
    /* @brief Registers the protocol with the websocket server
     *
     * @param websocket server of which to add protocol
     */
    void initArduPilotServer(net::websocket::SingleClientWSServer& websocketServer);
 
    /* @brief Connection handler for websocket server */
    void clientConnected();
 
    /* @brief Disconnect handler for websocket server */
    void clientDisconnected();
 
    std::mutex _connectionMutex;
    bool _arduPilotProtocolConnected;
 
    std::mutex _lastGPSMutex;
    robot::types::DataPoint<navtypes::gpscoords_t> _lastGPS;
 
    std::mutex _lastOrientationMutex;
    robot::types::DataPoint<Eigen::Quaterniond> _lastOrientation;
};
 
} // namespace ardupilot
} // namespace net