161 lines
5.0 KiB
C++
161 lines
5.0 KiB
C++
#pragma once
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#include "DirectCommunicationServer.hpp"
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#include "Entities/SensorControl.hpp"
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#include "Entities/Tracklist/Trackfusion.hpp"
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#include "SimCore/Identifier.hpp"
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#include "SimCore/Messages/SensorTracklistUpdate.hpp"
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#include "SimCore/Messages/SimTrack.hpp"
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#include "SimCore/Messages/TracklistUpdate.hpp"
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#include "SimCore/SimCore.hpp"
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#include "kubecontrol/PodController.hpp"
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#include <cstddef>
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#include <loguru.hpp>
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#include <map>
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#include <memory>
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#include <string>
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#include <sys/types.h>
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namespace Entities
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{
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class SensorManager
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{
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public:
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SensorManager(std::shared_ptr<SimCore::SimTrack> OwnShipTrack,std::shared_ptr<kubecontrol::PodController> PodController, ushort sensorPort = 5557);
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/**
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* @brief stops the sensor manager
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*/
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void stop();
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/**
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*@brief starts a Sensor based on a KubePod Object
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*@param KubePod - a KubePod Item ready to start
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*@param SensorKind - numeric value of the SensorKind from SimCore
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*/
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void startSensor(std::shared_ptr<kubecontrol::KubePod> pod, SimCore::SensorKinds SensorKind);
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/**
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*@brief stops a Sensor based on a uuid ( the sensors just stops to operate)
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*@param string uuid sensor
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*/
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void stopSenser(std::string uuid);
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/**
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* @brief stopps all sensors
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*
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*/
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void stopAllSensors();
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/**
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*@brief deletes a sensor pod based on the uuid
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*@param string uuid sensor
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*/
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void deleteSensor(std::string uuid);
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/**
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* @brief deletes all sensors
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*
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*/
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void deleteAllSensor();
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/**
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* @brief Get the Sensor By UUID
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*
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* @param uuid
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* @return std::shared_ptr<Sensor::SensorControl>
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*/
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std::shared_ptr<Sensor::SensorControl> getSensorByUUID(std::string uuid);
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/**
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*@brief get the Tracklist as JSON formatted string where you can see the tracks every sensor detects
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*@return string - JSON formatted string
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*/
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std::string getTracklistStringBySensor();
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/**
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*@brief get the Tracklist as JSON formatted string where the tracks are fusiond with a list for each track which sensor has detected that track
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*@return string - JSON formatted string
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*/
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std::string getTracklistStringFusioned();
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/**
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*@brief Updates the Tracklist for the Specific Sensor
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*@param string uuid for the Sensor
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*@param SimTrack updated Track
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*/
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void updateTracklistForSensor(std::string uuidSensor, std::shared_ptr<SimCore::SensorTrack> track);
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/**
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* @brief sends a message to a specific sensor if uuid is passed else it sends to everyone
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*
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* @param message - string of the message
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* @param uuid - uuid as string
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*/
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void sendMessageToSensor(std::string message, std::string uuid = "");
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/**
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* @brief adds a Sensorcontroll unique pointer to sensor store without starting a pod. it is just local
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* @param sensor
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*
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*/
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void addSensorLocal(std::shared_ptr<Sensor::SensorControl> sensor);
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/**
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* @brief Get the number of sensors
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*
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* @return size_t
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*/
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size_t getSensorCount();
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/**
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* @brief Get the Track List Update object
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*
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* @return std::unique_ptr<SimCore::TracklistUpdate>
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*/
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std::unique_ptr<SimCore::TracklistUpdate> getTrackListUpdateFusioned();
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/**
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* @brief Get the Track List Update Raw
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*
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* in this list every sensor has its own tracks without a sensorfusion over all sensors
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*
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* @return std::unique_ptr<SimCore::SensorTracklistUpdate>
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*/
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std::unique_ptr<SimCore::SensorTracklistUpdate> getTrackListUpdateRaw();
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/**
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* @brief send the ownShipTrack to all connected Sensors
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*/
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void sendOwnShipTrackToSensors();
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private:
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const SimCore::Identifier OwnId_;
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std::shared_ptr<SimCore::SimTrack> OwnShiptrack_;
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ushort SensorPort_ = 5557;
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std::map<std::string, std::shared_ptr<Sensor::SensorControl>> SensorStore;
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std::shared_ptr<kubecontrol::PodController> PodController_;
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TrackList::Trackfusion Trackfusion_;
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std::thread sensorUpdater_;
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std::atomic_bool stopUpdater_;
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std::shared_ptr<DirectCommunication::DirectCommunicationServer> SensorServer_ = nullptr;
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void handlSensorMessages(std::string Message);
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};
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} |