acomms/libmodemdriver/driver_base.h

// 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/>.

#ifndef DriverBase20091214H
#define DriverBase20091214H

#include <boost/thread.hpp>
#include <boost/signal.hpp>

#include "goby/acomms/acomms_constants.h"
#include "goby/protobuf/modem_message.pb.h"
#include "goby/protobuf/driver_base.pb.h"
#include "goby/util/linebasedcomms.h"
#include "goby/protobuf/acomms_proto_helpers.h"

namespace goby
{
    namespace util { class FlexOstream; }    

    namespace acomms
    {
        class ModemDriverBase
        {
          public:


            virtual void startup(const protobuf::DriverConfig& cfg) = 0;

            virtual void shutdown() = 0;

            virtual void do_work() = 0;





            virtual void handle_initiate_transmission(protobuf::ModemMsgBase* m) = 0;            
            virtual void handle_initiate_ranging(protobuf::ModemRangingRequest* m) {};
            



            boost::signal<void (const protobuf::ModemDataTransmission& message)>
                signal_receive;

            boost::signal<void (const protobuf::ModemDataRequest& msg_request, protobuf::ModemDataTransmission* msg_data)>
                signal_data_request;
            
            boost::signal<void (const protobuf::ModemRangingReply& message)>
                signal_range_reply;

            boost::signal<void (const protobuf::ModemDataAck& message)>
                signal_ack;

            boost::signal<void (const protobuf::ModemMsgBase& msg_data)>
                signal_all_incoming;
            
            boost::signal<void (const protobuf::ModemMsgBase& msg_data)>
                signal_all_outgoing;





            static void add_flex_groups(util::FlexOstream* tout);

            virtual ~ModemDriverBase();
            
          protected:

            
            ModemDriverBase(std::ostream* log = 0);


            

            
            void modem_write(const std::string& out);

        
            bool modem_read(std::string* in);

            void modem_start(const protobuf::DriverConfig& cfg);

            void modem_close();

            

          private:
            std::ostream* log_;

            // represents the line based communications interface to the modem
            util::LineBasedInterface* modem_;
        };
    }
}
#endif