ADD: added Sensor virtual PArent class

include/SimCore/Sensor.hpp

@@ -0,0 +1,76 @@
+#pragma once
+
+
+
+#include "SimCore/Messages/Track.hpp"
+#include <WHISPER/InternalUDPService.hpp>
+#include <SimCore/Identifier.hpp>
+
+#include <WHISPER/threadSafeQueue.hpp>
+#include <WHISPER/Messages/Message.hpp>
+#include <SimCore/SimCore.hpp>
+#include <SimCore/Identifier.hpp>
+#include <SimCore/Position.hpp>
+#include <memory>
+#include <thread>
+
+namespace SimCore {
+
+    class Sensor {
+        public: 
+            Sensor(SimCore::Identifier OwnID, SimCore::Identifier ParentID, SimCore::SensorKinds SensorKind,std::uint32_t GroundTruthPort, std::uint32_t ParentPort,std::string ParentIPAddress);
+            ~Sensor();
+            void start();
+            void stop();
+
+        protected:
+            std::shared_ptr<WHISPER::threadSafeQueue<SimCore::Track>> incommingTrackMessages = nullptr;
+
+
+            std::shared_ptr<WHISPER::threadSafeQueue<WHISPER::Message>> incommingGroundThruthMessages = nullptr;
+            std::shared_ptr<WHISPER::threadSafeQueue<WHISPER::Message>> outgoingGroundThruthMessages = nullptr;
+
+            std::shared_ptr<WHISPER::threadSafeQueue<WHISPER::Message>> incommingParentMessages = nullptr;
+            std::shared_ptr<WHISPER::threadSafeQueue<WHISPER::Message>> outgoingParentMessages = nullptr;
+
+            virtual void specificSensorCalculations() = 0;
+            virtual void specificReloadCharacteristicts() = 0;
+
+        private:
+
+            SimCore::Identifier OwnID_;
+            SimCore::Identifier ParentID_;
+            SimCore::SensorKinds SensorKind_;
+            std::uint32_t GroundTruthPort_;
+            std::uint32_t ParentPort_;
+            std::string ParentIPAddress_;
+
+            std::shared_ptr<WHISPER::InternalUDPService> GroundTruthUDPService_ = nullptr;    
+            std::shared_ptr<WHISPER::InternalUDPService> ParentUDPService_ = nullptr;    
+
+            void receivingData();
+            void sendingData();
+
+            void SensorCalculations();
+            void ReloadCharacteristicts();
+
+            std::atomic<bool> stopReceivingGroundThruth = false;
+            std::atomic<bool> ReceivingGroundThruthIsRunnung = false;
+
+            std::atomic<bool> stopsendCalculatedData = false;
+            std::atomic<bool> sendCalculatedDataIsRunnung = false;
+
+            std::atomic<bool> stopCalculationData = false;
+            std::atomic<bool> CalculationIsRunnung = false;
+
+
+            std::thread receiveGroundTruthThread;
+            std::thread sendCalculatedDataThread;
+            
+            std::thread sensorCalculationThread;
+
+            std::shared_ptr<Position> position_ = nullptr;
+
+
+    };
+}

include/SimCore/SimCore.hpp

@@ -37,4 +37,12 @@ enum ContactEnvironment : std::uint8_t{
 };
 
 
+enum SensorKinds : std::uint32_t {
+    RADAR = 1,
+    ELOKA,
+    SONAR,
+    VISUAL
+};
+
+
 }

include/SimCore/UtilFunctions.hpp

@@ -2,6 +2,7 @@
 #include <vector>
 #include <string>
 #include <sstream>
+#include <netdb.h>
 
 
 
@@ -12,9 +13,13 @@ namespace SimCore {
     {
         public:
             static std::vector<std::string> explode(std::string const & s, char delim);
+            static std::string implode(const std::vector<std::string> &v , char delim);
 
             static bool isNumber(const std::string& s);
-
+            static void check_host_name(int hostname);
+            static void check_host_entry(struct hostent * hostentry);
+            static void IP_formatter(char *IPbuffer);
+            static std::string getOwnIP();
 
     };