Owns the receive thread: reads datagrams from the injected socket, decodes them, and dispatches to the registered callbacks on that thread. More...

#include <waterlinkedsonar/receiver.hpp>

Public Member Functions
	Receiver (std::unique_ptr< UdpSocket > socket, ReceiverOptions options={})
	Takes ownership of an open socket; nothing is read until start().

	~Receiver ()
	Stops the receive thread if it is running.

	Receiver (const Receiver &)=delete

Receiver &	operator= (const Receiver &)=delete

void	on_range_image (std::function< void(const RangeImageView &)> cb)
	Registers a callback for decoded RangeImage messages.

void	on_bitmap_image (std::function< void(const BitmapImageView &)> cb)
	Registers a callback for decoded BitmapImage messages.

void	on_imu_batch (std::function< void(const ImuBatchView &)> cb)
	Registers a callback for decoded ImuBatch messages.

void	on_decode_error (std::function< void(rip::DecodeStatus)> cb)
	Registers a callback for datagrams that fail to decode.

void	on_socket_error (std::function< void(const std::error_code &)> cb)
	Registers a callback for the unrecoverable socket error that ends the receive loop.

void	start ()
	Starts the receive thread.

void	stop ()
	Stops the receive thread.

bool	running () const
	False before start, after stop, and after a socket error ends the receive loop on its own.

ReceiverStats	stats () const
	Counter snapshot; callable from any thread.

Detailed Description

Owns the receive thread: reads datagrams from the injected socket, decodes them, and dispatches to the registered callbacks on that thread.

Callbacks run sequentially on the receive thread. The views they receive are valid for the duration of the callback: decode and dispatch share the one thread, so the storage behind a view is not reused until the callback returns. Copy any data kept beyond the callback.

Constructor & Destructor Documentation

◆ Receiver() [1/2]

waterlinked::sonar::Receiver::Receiver	(	std::unique_ptr< UdpSocket >	socket,
		ReceiverOptions	options = `{}`
	)

explicit

Takes ownership of an open socket; nothing is read until start().

Exceptions

std::invalid_argument when socket is null.

◆ ~Receiver()

waterlinked::sonar::Receiver::~Receiver ( )

Stops the receive thread if it is running.

◆ Receiver() [2/2]

waterlinked::sonar::Receiver::Receiver ( const Receiver & )

delete

Member Function Documentation

◆ on_bitmap_image()

void waterlinked::sonar::Receiver::on_bitmap_image ( std::function< void(const BitmapImageView &)> cb )

Registers a callback for decoded BitmapImage messages.

Same registration and execution rules as on_range_image().

◆ on_decode_error()

void waterlinked::sonar::Receiver::on_decode_error ( std::function< void(rip::DecodeStatus)> cb )

Registers a callback for datagrams that fail to decode.

Same registration and execution rules as on_range_image(). UNKNOWN_TYPE packets are counted, not reported here.

◆ on_imu_batch()

void waterlinked::sonar::Receiver::on_imu_batch ( std::function< void(const ImuBatchView &)> cb )

Registers a callback for decoded ImuBatch messages.

Same registration and execution rules as on_range_image().

◆ on_range_image()

void waterlinked::sonar::Receiver::on_range_image ( std::function< void(const RangeImageView &)> cb )

Registers a callback for decoded RangeImage messages.

Registration for any callback type is only valid before start() and throws std::logic_error afterwards; registering twice calls both. Callbacks run sequentially on the receive thread and must not block for long or throw.

◆ on_socket_error()

void waterlinked::sonar::Receiver::on_socket_error ( std::function< void(const std::error_code &)> cb )

Registers a callback for the unrecoverable socket error that ends the receive loop.

Same registration and execution rules as on_range_image(). Invoked at most once, from the receive thread, just before running() becomes false.

◆ operator=()

Receiver & waterlinked::sonar::Receiver::operator= ( const Receiver & )

delete

◆ running()

bool waterlinked::sonar::Receiver::running ( ) const

False before start, after stop, and after a socket error ends the receive loop on its own.

◆ start()

void waterlinked::sonar::Receiver::start ( )

Starts the receive thread.

One start()/stop() cycle per instance; construct a new Receiver with a fresh socket to restart.

Exceptions

std::logic_error on a second start().

◆ stats()

ReceiverStats waterlinked::sonar::Receiver::stats ( ) const

Counter snapshot; callable from any thread.

◆ stop()

void waterlinked::sonar::Receiver::stop ( )

Stops the receive thread.

Idempotent.

Joins the thread, except when called from a callback on that thread; the loop then exits once the callback returns.

The documentation for this class was generated from the following file:

waterlinkedsonar/receiver.hpp

Public Member Functions