108 lines
2.6 KiB
C++
108 lines
2.6 KiB
C++
#ifndef __SIMCONTROL__
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#define __SIMCONTROL__
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#include "DirectCommunicationClient.hpp"
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#include "DirectCommunicationServer.hpp"
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#include "SimControl/Tracklist.hpp"
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#include "SimCore/Identifier.hpp"
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#include "SimCore/Position.hpp"
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#include "WHISPER/InternalUDPListener.hpp"
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#include "crossguid/guid.hpp"
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#include "ixwebsocket/IXConnectionState.h"
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#include "ixwebsocket/IXWebSocketMessage.h"
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#include "ixwebsocket/IXWebSocketServer.h"
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#include "kubecontrol/PodController.hpp"
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#include <iostream>
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#include <ixwebsocket/IXWebSocket.h>
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#include <atomic>
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#include <cstdint>
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#include <memory>
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#include <string>
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#include <sys/types.h>
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#include <thread>
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#include <mutex>
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#include <queue>
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namespace SimControl {
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class SimControl{
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public:
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SimControl(bool online, std::string CommandPort,std::string GroundTruthAddr = "239.0.0.1", ushort GroundTruthPort = 10000, std::string Namespace = "simulator");
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~SimControl();
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void stop();
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private:
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bool online_;
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const SimCore::Identifier ID_;
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std::string CommandPort_;
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std::string GroundTruthAddr_;
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ushort GroundTruthPort_;
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std::string Namespace_;
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void MainFunction_();
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void HandleMessage(std::string msg);
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void HandleTCPMessage(std::string msg);
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void startShip(std::string name);
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void startNewShip(std::string Name, std::string lat, std::string lon, std::string height , std::string course, std::string speed);
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void updateShip(nlohmann::json request);
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void deleteShip(nlohmann::json request);
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void saveScenario();
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void loadScenario(std::string ID);
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void deleteScenario(std::string ID);
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void generateSampleScneario();
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void startWebApp();
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void startWebsocketServer();
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void HandleWebsocketMessages(std::shared_ptr<ix::ConnectionState> connectionState, ix::WebSocket &websocket, const ix::WebSocketMessagePtr &msg);
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void HandleBroadcastMessage(std::string msg);
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std::unique_ptr<kubecontrol::PodController> PodController_;
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std::unique_ptr<TrackList> Tracklist_;
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std::thread MainThread_;
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std::atomic<bool> stopMainThread_ = false;
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std::shared_ptr<DirectCommunication::DirectCommunicationClient> TCPClient_ = nullptr;
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std::shared_ptr<DirectCommunication::DirectCommunicationServer> ExternalTCPServer_ = nullptr;
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std::thread WebsocketThreadThread_;
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std::atomic<bool> stopWebsocketThreadThread_ = false;
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int port = 9999;
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std::string host = "0.0.0.0";
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std::shared_ptr<ix::WebSocketServer> WebsocketServer_ = nullptr;
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std::shared_ptr<WHISPER::InternalUDPListener> BroadcastListener_;
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};
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}
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#endif |