network_sink.h

#pragma once
#include <fstream>
#include <g3log/logmessage.hpp>
#include <iostream>
 
#include "proto/robot_log_msg.pb.h"
#include "proto/visualization.pb.h"
#include "software/logger/log_merger.h"
#include "software/networking/udp/threaded_proto_udp_sender.hpp"
 
 
class NetworkSink
{
   public:
    NetworkSink(int robot_id, bool enable_log_merging);
 
    void replaceUdpSender(
        std::shared_ptr<ThreadedProtoUdpSender<TbotsProto::RobotLog>> new_sender);
 
    void sendToNetwork(g3::LogMessageMover log_entry);
 
    void sendOneLogToNetwork(const g3::LogMessage& log);
 
   private:
    int robot_id;
    LogMerger log_merger;
 
    std::mutex robot_log_sender_mutex;
    std::optional<std::shared_ptr<ThreadedProtoUdpSender<TbotsProto::RobotLog>>>
        robot_log_sender;
};