acomms/libmodemdriver/driver_base.cpp

// copyright 2009-2011 t. schneider tes@mit.edu
// 
// this file is part of the goby-acomms acoustic modem driver.
// goby-acomms is a collection of libraries 
// for acoustic underwater networking
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This software is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this software.  If not, see <http://www.gnu.org/licenses/>.

#include <boost/thread/mutex.hpp>

#include "goby/util/logger.h"

#include "driver_base.h"
#include "driver_exception.h"

goby::acomms::ModemDriverBase::ModemDriverBase(std::ostream* log /* = 0 */)
    : log_(log),
      modem_(0)
{ }

goby::acomms::ModemDriverBase::~ModemDriverBase()
{
    if(modem_) delete modem_;
}

void goby::acomms::ModemDriverBase::modem_write(const std::string& out)
{
    while(!modem_->active())
    {
        if(log_) *log_ << group("modem_out") << warn << "modem is closed! (check physical connection)" << std::endl;
        sleep(1);
    }
    
    
    modem_->write(out);
}

bool goby::acomms::ModemDriverBase::modem_read(std::string* in)
{
    while(!modem_->active())
    {
        if(log_) *log_ << group("modem_in") << warn << "modem is closed! (check physical connection)" << std::endl;
        sleep(1);
    }

    return modem_->readline(in);
}

void goby::acomms::ModemDriverBase::modem_close()
{
    modem_->close();    
}



void goby::acomms::ModemDriverBase::modem_start(const protobuf::DriverConfig& cfg)
{        
    if(!cfg.has_modem_id())
        throw(driver_exception("missing modem_id in configuration"));
    
    switch(cfg.connection_type())
    {
        case protobuf::DriverConfig::CONNECTION_SERIAL:
            if(log_) *log_ << group("modem_out") << "opening serial port " << cfg.serial_port() << " @ " << cfg.serial_baud() << std::endl;

            if(!cfg.has_serial_port())
                throw(driver_exception("missing serial port in configuration"));
            if(!cfg.has_serial_baud())
                throw(driver_exception("missing serial baud in configuration"));
            
            modem_ = new util::SerialClient(cfg.serial_port(), cfg.serial_baud(), cfg.line_delimiter());
            break;
            
        case protobuf::DriverConfig::CONNECTION_TCP_AS_CLIENT:
            if(log_) *log_ << group("modem_out") << "opening tcp client: " << cfg.tcp_server() << ":" << cfg.tcp_port() << std::endl;
            if(!cfg.has_tcp_server())
                throw(driver_exception("missing tcp server address in configuration"));
            if(!cfg.has_tcp_port())
                throw(driver_exception("missing tcp port in configuration"));

            modem_ = new util::TCPClient(cfg.tcp_server(), cfg.tcp_port(), cfg.line_delimiter());
            break;
            
        case protobuf::DriverConfig::CONNECTION_TCP_AS_SERVER:
            if(log_) *log_ << group("modem_out") << "opening tcp server on port" << cfg.tcp_port() << std::endl;

            if(!cfg.has_tcp_port())
                throw(driver_exception("missing tcp port in configuration"));

            modem_ = new util::TCPServer(cfg.tcp_port(), cfg.line_delimiter());

        case protobuf::DriverConfig::CONNECTION_DUAL_UDP_BROADCAST:
            throw(driver_exception("unimplemented connection type"));
    }    

    modem_->start();
}

void goby::acomms::ModemDriverBase::add_flex_groups(util::FlexOstream* tout)
{
    tout->add_group("modem_out", util::Colors::lt_magenta, "outgoing micromodem messages (goby_modemdriver)");
    tout->add_group("modem_in", util::Colors::lt_blue, "incoming micromodem messages (goby_modemdriver)");
}