Note: Goby version 1 (shown here) is now considered obsolete. Please use version 2 for new projects, and consider upgrading old projects.

Goby Underwater Autonomy Project  Series: 1.1, revision: 163, released on 2013-02-06 14:23:27 -0500
acomms/libmodemdriver/abc_driver.h
00001 // copyright 2011 t. schneider tes@mit.edu
00002 //
00003 //
00004 // This program is free software: you can redistribute it and/or modify
00005 // it under the terms of the GNU General Public License as published by
00006 // the Free Software Foundation, either version 3 of the License, or
00007 // (at your option) any later version.
00008 //
00009 // This software is distributed in the hope that it will be useful,
00010 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00011 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00012 // GNU General Public License for more details.
00013 //
00014 // You should have received a copy of the GNU General Public License
00015 // along with this software.  If not, see <http://www.gnu.org/licenses/>.
00016 
00017 #ifndef Modem20110225H
00018 #define Modem20110225H
00019 
00020 #include "goby/util/time.h"
00021 
00022 #include "driver_base.h"
00023 #include "goby/protobuf/abc_driver.pb.h"
00024 #include "goby/acomms/acomms_helpers.h"
00025 
00026 namespace goby
00027 {
00028     namespace acomms
00029     {
00033         class ABCDriver : public ModemDriverBase
00034         {
00035           public:
00037             ABCDriver(std::ostream* log = 0);
00038             void startup(const protobuf::DriverConfig& cfg);
00039             void shutdown();            
00040             void do_work();
00041             void handle_initiate_transmission(protobuf::ModemMsgBase* m);
00042 
00043           private:
00044             void parse_in(const std::string& in,
00045                           std::map<std::string, std::string>* out);
00046             void signal_and_write(const std::string& raw,
00047                                   protobuf::ModemMsgBase* base_msg = 0);
00048             
00049           private:
00050             enum { DEFAULT_BAUD = 4800 };
00051             
00052             
00053             protobuf::DriverConfig driver_cfg_; // configuration given to you at launch
00054             std::ostream* log_; // place to log all human readable debugging messages
00055             // rest is up to you!
00056         };
00057     }
00058 }
00059 #endif
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