File plugin.hpp

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#pragma once

#include "illixr/data_format/imu.hpp"
#include "illixr/data_format/poses/head_pose.hpp"
#include "illixr/network/tcpsocket.hpp"
#include "illixr/phonebook.hpp"
#include "illixr/switchboard.hpp"
#include "illixr/threadloop.hpp"
// if the header exists, we are good; if not generate a stub class for IDEs to reduce on-screen errors
#if __has_include("vio_output.pb.h")
#    include "vio_output.pb.h"
#else
#    include "../proto/output_stub.hpp"
#endif

namespace ILLIXR {
class offload_reader : public threadloop {
public:
    [[maybe_unused]] offload_reader(const std::string& name, phonebook* pb);
    skip_option _p_should_skip() override;
    void        _p_one_iteration() override;

private:
    void receive_vio_output(const vio_output_proto::VIOOutput& vio_output);

    const std::shared_ptr<switchboard>                                    switchboard_;
    const std::shared_ptr<relative_clock>                                 clock_;
    switchboard::buffered_reader<switchboard::event_wrapper<std::string>> vio_pose_reader_;
    switchboard::writer<data_format::pose::head_pose_type>                pose_;
    switchboard::writer<data_format::imu_integrator_input>                imu_integrator_input_;

    network::TCPSocket socket_;
    std::string        server_ip_;

    std::string delimiter = "END!";
};
} // namespace ILLIXR