78 lines
2.6 KiB
C++
78 lines
2.6 KiB
C++
#pragma once
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#include "SimCore/Messages/GroundThruthTrack.hpp"
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#include "SimCore/Messages/Track.hpp"
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#include <WHISPER/InternalUDPService.hpp>
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#include <SimCore/Identifier.hpp>
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#include <WHISPER/threadSafeQueue.hpp>
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#include <WHISPER/Messages/Message.hpp>
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#include <SimCore/SimCore.hpp>
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#include <SimCore/Identifier.hpp>
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#include <SimCore/Position.hpp>
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#include <memory>
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#include <thread>
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namespace Entities {
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class Sensor {
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public:
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Sensor(SimCore::Identifier OwnID, SimCore::Identifier ParentID, SimCore::SensorKinds SensorKind,std::uint32_t GroundTruthPort, std::uint32_t ParentPort,std::string ParentIPAddress);
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~Sensor();
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void start();
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void stop();
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protected:
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std::shared_ptr<WHISPER::threadSafeQueue<std::shared_ptr<SimCore::GroundTruthTrack>>> incommingTrackMessages = nullptr;
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std::shared_ptr<WHISPER::threadSafeQueue<WHISPER::Message>> incommingGroundThruthMessages = nullptr;
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std::shared_ptr<WHISPER::threadSafeQueue<WHISPER::Message>> outgoingGroundThruthMessages = nullptr;
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std::shared_ptr<WHISPER::threadSafeQueue<WHISPER::Message>> incommingParentMessages = nullptr;
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std::shared_ptr<WHISPER::threadSafeQueue<WHISPER::Message>> outgoingParentMessages = nullptr;
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virtual void specificSensorCalculations() = 0;
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virtual void specificReloadCharacteristicts() = 0;
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std::shared_ptr<SimCore::Position> ownShipPosition_ = nullptr;
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SimCore::Identifier OwnID_;
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private:
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SimCore::Identifier ParentID_;
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SimCore::SensorKinds SensorKind_;
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std::uint32_t GroundTruthPort_;
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std::uint32_t ParentPort_;
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std::string ParentIPAddress_;
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std::shared_ptr<WHISPER::InternalUDPService> GroundTruthUDPService_ = nullptr;
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std::shared_ptr<WHISPER::InternalUDPService> ParentUDPService_ = nullptr;
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void groundThruthData();
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void parentData();
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void SensorCalculations();
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void ReloadCharacteristicts();
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std::atomic<bool> stopReceivingGroundThruth = false;
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std::atomic<bool> ReceivingGroundThruthIsRunnung = false;
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std::atomic<bool> stopsendCalculatedData = false;
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std::atomic<bool> sendCalculatedDataIsRunnung = false;
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std::atomic<bool> stopCalculationData = false;
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std::atomic<bool> CalculationIsRunnung = false;
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std::thread receiveGroundTruthThread;
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std::thread sendCalculatedDataThread;
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std::thread sensorCalculationThread;
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};
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} |