cm_grouprawpub.h

/*
 * Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
 * All rights reserved. Copyright (c) 2019 VECTIONEER.
 */
 
#ifndef MOTORCORTEX_CORE_CM_GROUPRAWPUB_H
#define MOTORCORTEX_CORE_CM_GROUPRAWPUB_H
 
#include "cm_basepub.h"
#include "cm_groupmanager.h"
#include "motorcortex.pb.h"
 
#include <nng/nng.h>
#include <nng/supplemental/tls/tls.h>
 
namespace mcx::comm {
 
class BaseRequestReply;
 
struct GroupContainer;
 
auto constexpr GP_ID_HEADER_SIZE_BYTES = 4;
 
class GroupRawPublisher : public BasePublisher {
public:
  explicit GroupRawPublisher(const BaseRequestReply& group_manager);
 
  GroupRawPublisher(const GroupRawPublisher& orig) = delete;
 
  ~GroupRawPublisher() override;
 
  bool connect(const ConnectionData& conn_data) override;
 
  void iterate() override;
 
  void publish(GroupContainer& group);
 
  void close() override;
 
private:
  static void pipeEvent(nng_pipe pipe, nng_pipe_ev pipe_ev, void* ptr);
 
  // needed for older g++ in yocto
  static void pipeEvent(nng_pipe pipe, int pipe_ev, void* ptr);
 
  virtual size_t encodeGroupParameterMsgWithId(GroupContainer& group, uint8_t* reply) = 0;
 
  nng_socket sock_{};
  union {
    nng_listener listener;
    nng_dialer dialer;
  } endpoint_;
  bool is_listener_{};
  nng_tls_config* tls_cfg_{nullptr};
  //
  long group_update_counter_;
  // const ref. to the group manager
  const GroupManager& group_manager_;
  // a copy on change, obtained from the group manager
  GroupMap groups_;
 
  struct {
    void* buffer;
    uint32_t size;
  } output_;
};
 
} // namespace mcx::comm
 
#endif // MOTORCORTEX_CORE_CM_GROUPRAWPUB_H