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Goby Underwater Autonomy Project
Series: 1.1, revision: 163, released on 2013-02-06 14:23:27 -0500
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Goby Underwater Autonomy Project
Series: 1.1, revision: 163, released on 2013-02-06 14:23:27 -0500
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provides an abstract base class for acoustic modem drivers. This is subclassed by the various drivers for different manufacturers' modems. More...
#include <goby/acomms/modem_driver.h>
Inherited by goby::acomms::ABCDriver, and goby::acomms::MMDriver.
Public Member Functions | |
| virtual | ~ModemDriverBase () |
| Public Destructor. | |
Control | |
| virtual void | startup (const protobuf::DriverConfig &cfg)=0 |
| Starts the modem driver. Must be called before do_work(). | |
| virtual void | shutdown ()=0 |
| Shuts down the modem driver. | |
| virtual void | do_work ()=0 |
| Allows the modem driver to do its work. | |
MAC Slots | |
| virtual void | handle_initiate_transmission (protobuf::ModemMsgBase *m)=0 |
| Virtual initiate_transmission method. Typically connected to MACManager::signal_initiate_transmission() using bind(). | |
| virtual void | handle_initiate_ranging (protobuf::ModemRangingRequest *m) |
| Virtual initiate_ranging method. Typically connected to MACManager::signal_initiate_ranging() using bind(). | |
Static Public Member Functions | |
Static helpers | |
| static void | add_flex_groups (util::FlexOstream *tout) |
| Set the output groups for the modem driver if using the util::FlexOstream class for human readable debugging out. Setting groups allows the util::FlexOstream class to differentiate between different types of debugging messages. | |
Public Attributes | |
MAC / Queue Signals | |
| boost::signal< void(const protobuf::ModemDataTransmission &message)> | signal_receive |
| Called when a binary data transmission is received from the modem. | |
| boost::signal< void(const protobuf::ModemDataRequest &msg_request, protobuf::ModemDataTransmission *msg_data) | signal_data_request ) |
| Called when the modem or modem driver needs data to send. msg_request contains details on the data request, and the returned data should be stored in msg_data. | |
| boost::signal< void(const protobuf::ModemRangingReply &message)> | signal_range_reply |
| Called when the modem receives ranging information (time of flight to another vehicle or LBL ranging beacons) | |
| boost::signal< void(const protobuf::ModemDataAck &message)> | signal_ack |
| Called when the modem receives an acknowledgment of proper receipt of a prior data transmission. The frame number of the acknowledgment must match the frame number of the original message. The modem driver is only responsible for the base (source, destination, timestamp) and acknowledged frame number in ModemDataAck. | |
| boost::signal< void(const protobuf::ModemMsgBase &msg_data)> | signal_all_incoming |
| Called after any message is received from the modem by the driver. Used by the MACManager for auto-discovery of vehicles. Also useful for higher level analysis and debugging of the transactions between the driver and the modem. | |
| boost::signal< void(const protobuf::ModemMsgBase &msg_data)> | signal_all_outgoing |
| Called after any message is sent from the driver to the modem. Useful for higher level analysis and debugging of the transactions between the driver and the modem. | |
Protected Member Functions | |
Constructors/Destructor | |
| ModemDriverBase (std::ostream *log=0) | |
| Constructor. | |
Write/read from the line-based interface to the modem | |
| void | modem_write (const std::string &out) |
| write a line to the serial port. | |
| bool | modem_read (std::string *in) |
| read a line from the serial port, including end-of-line character(s) | |
| void | modem_start (const protobuf::DriverConfig &cfg) |
| start the physical connection to the modem (serial port, TCP, etc.). must be called before ModemDriverBase::modem_read() or ModemDriverBase::modem_write() | |
| void | modem_close () |
| closes the serial port. Use modem_start to reopen the port. | |
provides an abstract base class for acoustic modem drivers. This is subclassed by the various drivers for different manufacturers' modems.
Definition at line 42 of file driver_base.h.
| goby::acomms::ModemDriverBase::ModemDriverBase | ( | std::ostream * | log = 0 | ) | [protected] |
Constructor.
| log | pointer to std::ostream to log human readable debugging and runtime information |
Definition at line 27 of file driver_base.cpp.
| void goby::acomms::ModemDriverBase::add_flex_groups | ( | util::FlexOstream * | tout | ) | [static] |
Set the output groups for the modem driver if using the util::FlexOstream class for human readable debugging out. Setting groups allows the util::FlexOstream class to differentiate between different types of debugging messages.
| tout | pointer to util::FlexOstream stream object to add groups to. |
Definition at line 110 of file driver_base.cpp.
| virtual void goby::acomms::ModemDriverBase::do_work | ( | ) | [pure virtual] |
Allows the modem driver to do its work.
Should be called regularly to perform the work of the driver as the driver *does not* run in its own thread. This allows us to guarantee that no signals are called except inside this do_work method.
Implemented in goby::acomms::MMDriver, and goby::acomms::ABCDriver.
| virtual void goby::acomms::ModemDriverBase::handle_initiate_ranging | ( | protobuf::ModemRangingRequest * | m | ) | [inline, virtual] |
Virtual initiate_ranging method. Typically connected to MACManager::signal_initiate_ranging() using bind().
| m | ModemRangingRequest (defined in modem_message.proto) containing the details of the ranging request to be started: source, destination, type, etc. |
Reimplemented in goby::acomms::MMDriver.
Definition at line 71 of file driver_base.h.
| virtual void goby::acomms::ModemDriverBase::handle_initiate_transmission | ( | protobuf::ModemMsgBase * | m | ) | [pure virtual] |
Virtual initiate_transmission method. Typically connected to MACManager::signal_initiate_transmission() using bind().
| m | ModemMsgBase (defined in modem_message.proto) containing the details of the transmission to be started. This does *not* contain data, which will be requested when the driver calls the data request signal (ModemDriverBase::signal_data_request) |
Implemented in goby::acomms::MMDriver, and goby::acomms::ABCDriver.
| bool goby::acomms::ModemDriverBase::modem_read | ( | std::string * | in | ) | [protected] |
read a line from the serial port, including end-of-line character(s)
| in | pointer to string to store line |
Definition at line 49 of file driver_base.cpp.
| void goby::acomms::ModemDriverBase::modem_start | ( | const protobuf::DriverConfig & | cfg | ) | [protected] |
start the physical connection to the modem (serial port, TCP, etc.). must be called before ModemDriverBase::modem_read() or ModemDriverBase::modem_write()
| cfg | Configuration including the parameters for the physical connection. (protobuf::DriverConfig is defined in driver_base.proto). |
| driver_exception | Problem opening the physical connection. |
Definition at line 67 of file driver_base.cpp.
| void goby::acomms::ModemDriverBase::modem_write | ( | const std::string & | out | ) | [protected] |
write a line to the serial port.
| out | reference to string to write. Must already include any end-of-line character(s). |
Definition at line 37 of file driver_base.cpp.
| virtual void goby::acomms::ModemDriverBase::startup | ( | const protobuf::DriverConfig & | cfg | ) | [pure virtual] |
Starts the modem driver. Must be called before do_work().
| cfg | Startup configuration for the driver and modem. DriverConfig is defined in driver_base.proto. Derived classes can define extensions (see http://code.google.com/apis/protocolbuffers/docs/proto.html#extensions) to DriverConfig to handle modem specific configuration. |
Implemented in goby::acomms::MMDriver, and goby::acomms::ABCDriver.
| boost::signal<void (const protobuf::ModemDataAck& message)> goby::acomms::ModemDriverBase::signal_ack |
Called when the modem receives an acknowledgment of proper receipt of a prior data transmission. The frame number of the acknowledgment must match the frame number of the original message. The modem driver is only responsible for the base (source, destination, timestamp) and acknowledged frame number in ModemDataAck.
You should connect one or more slots (a function or member function) to this signal to handle acknowledgments. Use the goby::acomms::connect family of functions to do this. This signal will only be called during a call to do_work. ModemDataAck is defined in modem_message.proto.
Definition at line 100 of file driver_base.h.
| boost::signal<void (const protobuf::ModemMsgBase& msg_data)> goby::acomms::ModemDriverBase::signal_all_incoming |
Called after any message is received from the modem by the driver. Used by the MACManager for auto-discovery of vehicles. Also useful for higher level analysis and debugging of the transactions between the driver and the modem.
If desired, you should connect one or more slots (a function or member function) to this signal to listen on incoming transactions. Use the goby::acomms::connect family of functions to do this. This signal will only be called during a call to do_work. ModemMsgBase is defined in modem_message.proto.
Definition at line 106 of file driver_base.h.
| boost::signal<void (const protobuf::ModemMsgBase& msg_data)> goby::acomms::ModemDriverBase::signal_all_outgoing |
Called after any message is sent from the driver to the modem. Useful for higher level analysis and debugging of the transactions between the driver and the modem.
If desired, you should connect one or more slots (a function or member function) to this signal to listen on outgoing transactions. Use the goby::acomms::connect family of functions to do this. This signal will only be called during a call to do_work. ModemMsgBase is defined in modem_message.proto.
Definition at line 112 of file driver_base.h.
| boost::signal<void (const protobuf::ModemDataRequest& msg_request, protobuf::ModemDataTransmission* msg_data) goby::acomms::ModemDriverBase::signal_data_request) |
Called when the modem or modem driver needs data to send. msg_request contains details on the data request, and the returned data should be stored in msg_data.
You should connect one or more slots (a function or member function) to this signal to handle data requests. Use the goby::acomms::connect family of functions to do this. This signal will only be called during a call to do_work. ModemDataRequest and ModemDataTransmission are defined in modem_message.proto.
Definition at line 88 of file driver_base.h.
| boost::signal<void (const protobuf::ModemRangingReply& message)> goby::acomms::ModemDriverBase::signal_range_reply |
Called when the modem receives ranging information (time of flight to another vehicle or LBL ranging beacons)
You should connect one or more slots (a function or member function) to this signal to handle ranging replies. Use the goby::acomms::connect family of functions to do this. This signal will only be called during a call to do_work. ModemRangingReply is defined in modem_message.proto.
Definition at line 94 of file driver_base.h.
| boost::signal<void (const protobuf::ModemDataTransmission& message)> goby::acomms::ModemDriverBase::signal_receive |
Called when a binary data transmission is received from the modem.
You should connect one or more slots (a function or member function) to this signal to receive incoming messages. Use the goby::acomms::connect family of functions to do this. This signal will only be called during a call to do_work. ModemDataTransmission is defined in modem_message.proto.
Definition at line 82 of file driver_base.h.
1.7.6.1
