LiveData: Initial implementation

Add support for live data subscription via Device::subscribeLiveData() and
Device::unsubscribeLiveData(). The live data API can be used to subscribe to
individual "signals", a full list of which can be found in LiveDataValueType.

examples/CMakeLists.txt

@@ -5,6 +5,7 @@ option(LIBICSNEO_BUILD_CPP_SIMPLE_EXAMPLE "Build the simple C++ example." ON)
 option(LIBICSNEO_BUILD_CPP_INTERACTIVE_EXAMPLE "Build the command-line interactive C++ example." ON)
 option(LIBICSNEO_BUILD_CPP_A2B_EXAMPLE "Build the A2B example." ON)
 option(LIBICSNEO_BUILD_CPP_LIN_EXAMPLE "Build the LIN example." ON)
+option(LIBICSNEO_BUILD_CPP_LIVEDATA_EXAMPLE "Build the Live Data example." ON)
 option(LIBICSNEO_BUILD_CPP_COREMINI_EXAMPLE "Build the Coremini example." ON)
 option(LIBICSNEO_BUILD_CPP_MDIO_EXAMPLE "Build the MDIO example." ON)
 
@@ -40,6 +41,10 @@ if(LIBICSNEO_BUILD_CPP_LIN_EXAMPLE)
 	add_subdirectory(cpp/lin)
 endif()
 
+if(LIBICSNEO_BUILD_CPP_LIVEDATA_EXAMPLE)
+	add_subdirectory(cpp/livedata)
+endif()
+
 if(LIBICSNEO_BUILD_CPP_COREMINI_EXAMPLE)
 	add_subdirectory(cpp/coremini)
 endif()

examples/cpp/livedata/CMakeLists.txt

@@ -0,0 +1,27 @@
+cmake_minimum_required(VERSION 3.2)
+project(libicsneocpp-livedata VERSION 0.1.0)
+
+set(CMAKE_CXX_STANDARD_REQUIRED 11)
+
+include(GNUInstallDirs)
+
+# Add an include directory like so if desired
+#include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
+
+# Enable Warnings
+if(MSVC)
+	# Force to always compile with W4
+	if(CMAKE_CXX_FLAGS MATCHES "/W[0-4]")
+		string(REGEX REPLACE "/W[0-4]" "/W4" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
+	else()
+		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /W4")
+	endif()
+else() #if(CMAKE_COMPILER_IS_GNUCC OR CMAKE_COMPILER_IS_GNUCXX)
+	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wno-switch -Wno-unknown-pragmas")
+endif()
+
+# Add libicsneo, usually a git submodule within your project works well
+#add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../third-party/libicsneo ${CMAKE_CURRENT_BINARY_DIR}/third-party/libicsneo)
+
+add_executable(libicsneocpp-livedata src/LiveDataExample.cpp)
+target_link_libraries(libicsneocpp-livedata icsneocpp)

examples/cpp/livedata/src/LiveDataExample.cpp

@@ -0,0 +1,91 @@
+#include <iostream>
+#include <iomanip>
+#include <thread>
+#include <chrono>
+
+#include "icsneo/icsneocpp.h"
+#include "icsneo/communication/message/livedatamessage.h"
+#include "icsneo/communication/livedata.h"
+
+int main() {
+	// Print version
+	std::cout << "Running libicsneo " << icsneo::GetVersion() << std::endl;
+	std::cout << "\nFinding devices... " << std::flush;
+	auto devices = icsneo::FindAllDevices(); // This is type std::vector<std::shared_ptr<icsneo::Device>>
+	std::cout << "OK, " << devices.size() << " device" << (devices.size() == 1 ? "" : "s") << " found" << std::endl;
+
+	// List off the devices
+	for(auto& device : devices)
+		std::cout << '\t' << device->describe() << " @ Handle " << device->getNeoDevice().handle << std::endl;
+	std::cout << std::endl;
+
+	for(auto& device : devices) {
+		std::cout << "Connecting to " << device->describe() << "... ";
+		bool ret = device->open();
+		if(!ret) { // Failed to open
+			std::cout << "FAIL" << std::endl;
+			std::cout << icsneo::GetLastError() << std::endl << std::endl;
+			continue;
+		}
+		std::cout << "OK" << std::endl;
+
+		// Create a subscription message for the GPS signals
+		std::cout << "\tSending a live data subscribe command... ";
+		auto msg = std::make_shared<icsneo::LiveDataCommandMessage>();
+		msg->appendSignalArg(icsneo::LiveDataValueType::GPS_LATITUDE);
+		msg->appendSignalArg(icsneo::LiveDataValueType::GPS_LONGITUDE);
+		msg->appendSignalArg(icsneo::LiveDataValueType::GPS_ACCURACY);
+		msg->cmd = icsneo::LiveDataCommand::SUBSCRIBE;
+		msg->handle = icsneo::LiveDataUtil::getNewHandle();
+		msg->updatePeriod = std::chrono::milliseconds(100);
+		msg->expirationTime = std::chrono::milliseconds(0);
+		// Transmit the subscription message
+		ret = device->subscribeLiveData(msg);
+		std::cout << (ret ? "OK" : "FAIL") << std::endl;
+
+		// Register a handler that uses the data after it arrives every ~100ms
+		std::cout << "\tStreaming messages for 3 seconds... " << std::endl << std::endl;
+		auto filter = std::make_shared<icsneo::MessageFilter>(icsneo::Message::Type::LiveData);
+		auto handler = device->addMessageCallback(std::make_shared<icsneo::MessageCallback>(filter, [&msg](std::shared_ptr<icsneo::Message> message) {
+			auto ldMsg = std::dynamic_pointer_cast<icsneo::LiveDataMessage>(message);
+			switch(ldMsg->cmd) {
+				case icsneo::LiveDataCommand::STATUS: {
+					auto msg2 = std::dynamic_pointer_cast<icsneo::LiveDataStatusMessage>(message);
+					std::cout << "[Handle] " << ldMsg->handle << std::endl;
+					std::cout << "[Requested Command] " << msg2->requestedCommand << std::endl;
+					std::cout << "[Status] " << msg2->status << std::endl << std::endl;
+					break;
+				}
+				case icsneo::LiveDataCommand::RESPONSE: {
+					auto valueMsg = std::dynamic_pointer_cast<icsneo::LiveDataValueMessage>(message);
+					if((valueMsg->handle == msg->handle) && (valueMsg->values.size() == msg->args.size()))
+					{
+						std::cout << "[Handle] " << msg->handle << std::endl;
+						std::cout << "[Values] " << valueMsg->numArgs << std::endl;
+						for(uint32_t i = 0; i < valueMsg->numArgs; ++i) {
+							std::cout << "[" << msg->args[i]->valueType << "] ";
+							auto scaledValue = icsneo::LiveDataUtil::liveDataValueToDouble(*valueMsg->values[i]);
+							std::cout << scaledValue << std::endl;
+						}
+						std::cout << std::endl;
+					}
+					break;
+				}
+				default: // Ignoring other commands
+					break;
+			}
+		}));
+		// Run handler for three seconds to observe the signal data
+		std::this_thread::sleep_for(std::chrono::seconds(3));
+		// Unsubscribe from the GPS signals and run handler for one more second
+		// Unsubscription only requires a valid in-use handle, in this case from our previous subscription
+		ret = device->unsubscribeLiveData(msg->handle);
+		// The handler should no longer print values
+		std::this_thread::sleep_for(std::chrono::seconds(1));
+		device->removeMessageCallback(handler);
+		std::cout << "\tDisconnecting... ";
+		ret = device->close();
+		std::cout << (ret ? "OK\n" : "FAIL\n") << std::endl;
+	}
+	return 0;
+}