Platform/Aperios1.3.2/GTCamTimeSyncHandler.h

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/** 
* @file  Platform/Aperios1.3.2/GTCamTimeSyncHandler.h
* @author Matthias Meyer
*/

#ifndef _GTCamTimeSyncHandler_h
#define _GTCamTimeSyncHandler_h

#include "UDPEndpoint.h"
#include "Tools/Player.h"
#include <Tools/debugging/debugging.h>
#include "Representations/Cognition/GTCamWorldState.h"
#include "NetConfig.h"
#include "Tools/TRingBufferWithSum.h"
#include "Representations/Perception/Image.h"
#include <stdio.h>
#include <iostream.h>

class GTCamTimeSyncHandler: public UDPEndpoint
{
public:
  GTCamTimeSyncHandler();
  ~GTCamTimeSyncHandler() {} ;
  void initGTCamTimeSyncHandler(GTCamWorldState* myState, Image* image);  // Init the TimeSync Handler (bind, etc.)
  virtual void onReceive(void* data, int size);             // Receive data from network
  void startTimeSync();                                     // Trigger the TimeSyncing
  void calculateOffset();                                   // calculate the TimeOffset

  long offset;
  long frameOffset;
  bool inSync;                                              // Flag: Are we in Sync
  IPAddress timeServer;                                     // IP of the TimeSync Server
Image* image;

private:
  TRingBufferWithSum<double,25> buffer; // Buffer of the last 50 offsets
  TRingBufferWithSum<long,25> frameNumberBuffer;
  GTCamWorldState* state;               // The Worldstate
                            // Image to get the actual framenumber from.
  long robotTimeRequestWasSent;         // timestamps
  long robotTimeRequestWasReceived;
  long serverTimeInResponse;
  long frameNumberTimeRequestWasSent;
  long frameNumberTimeRequestWasReceived;
  bool received2Packages;               // Flag: Did we receive 2 packages ?
};

#endif 

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