CommandEntityLidarRelay.h

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#ifndef CommandEntityLidarRelay_h
#define CommandEntityLidarRelay_h
 
#include "CommandCommons.h"
 
namespace conscience_core::bridging::commands {
 
ENUM(EntityLidarRelayCompression, ENTITY_LIDAR_RELAY_COMPRESSION_LZ4, ENTITY_LIDAR_RELAY_COMPRESSION_NONE)
 
struct CSC_DLL_IMPORTEXPORT CommandEntityLidarRelayParams {
public:
    CommandEntityLidarRelayParams(
        const string &targetIpAddress, unsigned int targetPort,
        optional<double> periodMillis = {}, optional<EntityLidarRelayCompression> compression = {},
        const CscArea3d *zone = nullptr);
 
    string targetIpAddress;
    unsigned targetPort;
    double periodMillis;
    EntityLidarRelayCompression compression;
    const CscArea3d *zone = nullptr;
};
 
class CSC_DLL_IMPORTEXPORT CommandEntityLidarRelay : public CscCommand {
public:
    inline static const CommandTypeId COMMAND_ID = "ENTITY_LIDAR_RELAY";
 
    CommandEntityLidarRelay(ptr<CscEntityReflexion> entityReflexion, CommandEntityLidarRelayParams *params);
    ~CommandEntityLidarRelay() override;
 
protected:
    const CscCommandExecutionResultString *doExecute(CscEnvironmentSimulator &environmentSimulator) override;
 
    ptr<CscEntityReflexion> getEntityReflexion() const override;
 
    ptr<CscEntityReflexion> entityReflexion;
    CommandEntityLidarRelayParams *params = nullptr;
    std::unique_ptr<CscLogger> logger = CscLogger::getForCategory("CommandEntityLidarRelay");
};
 
class CSC_DLL_IMPORTEXPORT CommandEntityLidarRelayStop : public CscCommand {
public:
    inline static const CommandTypeId COMMAND_ID = "ENTITY_LIDAR_RELAY_STOP";
 
    CommandEntityLidarRelayStop(ptr<CscEntityReflexion> entityReflexion, const string &targetIpAddress, unsigned targetPort);
 
protected:
    const CscCommandExecutionResultString *doExecute(CscEnvironmentSimulator &environmentSimulator) override;
 
    ptr<CscEntityReflexion> getEntityReflexion() const override;
 
    ptr<CscEntityReflexion> entityReflexion;
    string targetIpAddress;
    unsigned targetPort;
    std::unique_ptr<CscLogger> logger = CscLogger::getForCategory("CommandEntityLidarRelayStop");
};
 
COMMAND_TYPE_BUILDER(CommandEntityLidarRelayStop, CscArea3d, double, double, double, double, double, double)
COMMAND_TYPE_BUILDER(CommandEntityLidarRelayStop, CommandEntityLidarRelayParams, const string &, unsigned int, optional<double>, optional<EntityLidarRelayCompression>, const CscArea3d *)
COMMAND_REGISTER(CommandEntityLidarRelay, ptr<CscEntityReflexion>, CommandEntityLidarRelayParams *)
COMMAND_REGISTER(CommandEntityLidarRelayStop, ptr<CscEntityReflexion>, const string &, unsigned int)
 
}
 
#endif