.. _program_listing_file_include_nao_lola_connection.hpp:

Program Listing for File connection.hpp
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_nao_lola_connection.hpp>` (``include/nao_lola/connection.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 Kenji Brameld
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef NAO_LOLA__CONNECTION_HPP_
   #define NAO_LOLA__CONNECTION_HPP_
   
   #include <string>
   #include "boost/asio.hpp"
   #include "rclcpp/logger.hpp"
   #include "rclcpp/rclcpp.hpp"
   
   #define MSGPACK_READ_LENGTH 896
   
   class Connection
   {
   public:
     Connection();
     std::array<char, MSGPACK_READ_LENGTH> receive();
     void send(std::string data);
   
   private:
     boost::asio::io_service io_service;
     boost::asio::local::stream_protocol::socket socket;
     rclcpp::Logger logger;
   };
   
   #endif  // NAO_LOLA__CONNECTION_HPP_