TCP.h

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#ifndef __TCP_H__
#define __TCP_H__
 
// Head file of Sockpp library -> https://github.com/fpagliughi/sockpp.git
#include "sockpp/tcp_connector.h"
#include "sockpp/version.h"
#include "CppThread.hpp"
#include "MahonyFilter.h"
#include "BMP180.h"
 
using namespace std;
using namespace std::chrono;
 
class TCP {
 
public:
 
    TCP(string host, in_port_t port);
 
    bool write(string message_sent);
 
    bool read();
 
    void readDataFromFilter(float roll, float pitch, float yaw, float rate[3]);
 
    void readDataFromBMP180(float altitude);
 
    void readDataFromMotor(float Motor[4]);
 
    // Merge all the data and flags into a string.
    string mergeData();
 
protected:
 
    void connect(seconds timeout);
 
    void waitForConnection(seconds timeout);
 
private:
 
    // TCP basic variables.
    string s, sret;
 
    string host;
    in_port_t port;
 
    sockpp::tcp_connector conn;
 
    size_t receiveStringLength;
 
    // Flags.
    bool isMannedMode;
    bool isInTheAir;
 
    // Get from other classes.
    // Eular angles data.
    float roll;
    float pitch; 
    float yaw;
 
    // Throttle data.
    float thro;
 
    // Gyroscope rate date.
    float rate[3];
 
    // Altitude data.
    float alt;
 
    // Motor data
    float Motor[4];
 
    // IR distance.
    float IRDistance[3];
 
    // Ultrasound distance.
    float USDistance;
 
    // Battery status.
    float vol;
    float cur;
 
 
};
 
class TCPThread : public CppThread {
 
public:
 
    TCPThread(MahonyFilter& MahonyFilterIns_, TCP& TCPIns_, BMP180& BMP180Ins_) : 
    MahonyFilterIns(MahonyFilterIns_),
    TCPIns(TCPIns_),
    BMP180Ins(BMP180Ins_) {};
 
protected:
 
    void run() override;
 
private:
 
    MahonyFilter& MahonyFilterIns;
    TCP& TCPIns;
    BMP180& BMP180Ins;
 
};
 
 
#endif