mudpiProcessor.hpp

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#ifndef RTCTK_REUSABLECOMPONENT_TELREPUB_MUDPIPROCESSOR_HPP_
#define RTCTK_REUSABLECOMPONENT_TELREPUB_MUDPIPROCESSOR_HPP_
 
#include <atomic>
#include <boost/asio.hpp>
#include <thread>
 
#include <rtctk/componentFramework/componentMetricsIf.hpp>
 
#include "mudpi.h"
#include "mudpiProcessingError.hpp"
 
#include "ddsPubThread.hpp"
 
namespace rtctk::telRepub {
 
uint32_t const MAX_TOPIC_SIZE = 2560000;  //  Large increase for Pixel topics  
 
class MudpiProcessor {
    uint32_t m_statistic_msg_update_rate;
    uint32_t m_statistic_msg_counter = 0;
 
    bool m_in_synch = true;
    
    PubThreadBase<>& m_pub;
 
    RepubBuf<rtctk::componentFramework::AgnosticTopic>* m_repub_buf;
    rtctk::componentFramework::AgnosticTopic* m_dds_topic;
 
    componentFramework::ComponentMetricsIf& m_metrics;
 
    // @note: OLDB does not support uint64_t which we really want, so we have to use signed 64.
    perfc::CounterI64 m_pc_recvd;
    perfc::ScopedRegistration m_pc_recvd_reg;
    perfc::CounterI64 m_pc_frame_errors;
    perfc::ScopedRegistration m_pc_frame_errors_reg;
    perfc::CounterI64 m_pc_sample_errors;
    perfc::ScopedRegistration m_pc_sample_errors_reg;
    perfc::CounterDouble m_pc_frequency_estimate;
    perfc::ScopedRegistration m_pc_frequency_estimate_reg;
 
    uint32_t m_total_buf_len;  
 
    mudpi::uint32_t m_last_sample_id = -1;  // TBC!!!
    mudpi::uint32_t m_freq_est_samples = 0;
    mudpi::timestamp_t m_last_timestamp = 0.0;
 
    mudpi::uint16_t m_last_frame_id = 0;
    mudpi::uint16_t m_num_frames = -1;  // TBC !!!
 
    std::chrono::steady_clock::time_point m_start_time;
    std::chrono::steady_clock::time_point m_now_time;
    std::chrono::duration<double, std::ratio<1>> m_elapsed_time;
 
    mudpi::uint16_t m_topic_id = 0;
    mudpi::uint32_t m_sample_id = 0;
    mudpi::uint16_t m_frame_id = 0;
 
 
    log4cplus::Logger m_logger;
 
public:
    explicit MudpiProcessor(mudpi::uint16_t mudpi_topic_id, PubThreadBase<>& pub, 
                        componentFramework::ComponentMetricsIf& metrics,
                        uint32_t statistic_msg_update_rate = 60);
 
    MudpiProcessor(MudpiProcessor const& rhs) = delete;
 
    MudpiProcessor& operator=(MudpiProcessor const& rhs) = delete;
 
    virtual ~MudpiProcessor();
 
    std::error_code ProcessMudpi(mudpi::mudpiHeader* packet);
 
    void Statistics();
};  // MudpiProcessor
 
}  // namespace rtctk::telRepub
 
#endif  // RTCTK_REUSABLECOMPONENT_TELREPUB_MUDPIPROCESSOR_HPP_