liaison_acomms.h

// Copyright 2009-2018 Toby Schneider (http://gobysoft.org/index.wt/people/toby)
//                     GobySoft, LLC (2013-)
//                     Massachusetts Institute of Technology (2007-2014)
//                     Community contributors (see AUTHORS file)
//
//
// This file is part of the Goby Underwater Autonomy Project Libraries
// ("The Goby Libraries").
//
// The Goby Libraries are free software: you can redistribute them and/or modify
// them under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 2.1 of the License, or
// (at your option) any later version.
//
// The Goby Libraries are distributed in the hope that they will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with Goby.  If not, see <http://www.gnu.org/licenses/>.

#ifndef LIAISONACOMMS20140626H
#define LIAISONACOMMS20140626H

#include <Wt/Chart/WCartesianChart>
#include <Wt/WCssDecorationStyle>
#include <Wt/WPanel>
#include <Wt/WProgressBar>
#include <Wt/WTimer>

#include <dccl.h>

#include "goby/common/liaison_container.h"
#include "goby/moos/moos_node.h"
#include "goby/moos/protobuf/liaison_config.pb.h"
#include "goby/moos/protobuf/pAcommsHandler_config.pb.h"

namespace goby
{
namespace common
{
class QueueBar : public Wt::WProgressBar
{
  public:
    QueueBar(Wt::WContainerWidget* parent = 0) : Wt::WProgressBar(parent) {}
    Wt::WString text() const;
};

class MACBar : public Wt::WProgressBar
{
  public:
    MACBar(Wt::WContainerWidget* parent = 0) : Wt::WProgressBar(parent) {}
    Wt::WString text() const;
};

class LiaisonAcomms : public LiaisonContainer, public goby::moos::MOOSNode
{
  public:
    LiaisonAcomms(ZeroMQService* zeromq_service, const protobuf::LiaisonConfig& cfg,
                  Wt::WContainerWidget* parent = 0);

  private:
    void process_acomms_config();

    void loop();
    void moos_inbox(CMOOSMsg& msg);

    void dccl_analyze(const Wt::WMouseEvent& event);
    void dccl_select(Wt::WString msg);
    void dccl_message(const Wt::WMouseEvent& event);

    void queue_info(const Wt::WMouseEvent& event, int id);
    void queue_flush(const Wt::WMouseEvent& event, int id);

    void mac_info(const Wt::WMouseEvent& event, int id);

    class DriverStats;
    void update_driver_stats(int now, DriverStats* driver_stats);
    void handle_modem_message(DriverStats* driver_stats, bool good,
                              goby::acomms::protobuf::ModemTransmission& msg);

    void driver_info(const Wt::WMouseEvent& event, DriverStats* driver_stats);
    void mm_check(int axis, int column, bool checked);
    void mm_range(double range);

    void focus() { timer_.start(); }

    void unfocus() { timer_.stop(); }

    std::string format_seconds(int sec);

  private:
    boost::mutex dccl_mutex_;
    dccl::Codec dccl_;

    Wt::WPushButton* dccl_analyze_;
    Wt::WPushButton* dccl_message_;
    Wt::WText* dccl_analyze_text_;
    Wt::WText* dccl_message_text_;
    Wt::WComboBox* dccl_combo_;
    Wt::WTable* queue_table_;

    Wt::WContainerWidget* amac_box_;

    std::map<dccl::int32, QueueBar*> queue_bars_;

    // maps dccl id onto QueuedMessageEntry index
    std::map<dccl::int32, int> queue_cfg_;

    // maps index of MAC cycle to container
    std::map<int, Wt::WContainerWidget*> mac_slots_;
    std::map<int, MACBar*> mac_bars_;
    MACBar* mac_cycle_bar_;
    Wt::WCssDecorationStyle mac_slot_style_;

    struct QueueStats
    {
        QueueStats() : last_rx_time(-1) {}

        int last_rx_time;
        Wt::WText* last_rx_time_text;
    };
    std::map<dccl::int32, QueueStats> queue_stats_;

    ZeroMQService* zeromq_service_;
    const protobuf::AcommsConfig& cfg_;
    pAcommsHandlerConfig acomms_config_;
    bool have_acomms_config_;

    Wt::WPanel* driver_panel_;
    WContainerWidget* driver_box_;

    enum Direction
    {
        RX,
        TX
    };

    struct DriverStats
    {
        DriverStats(Direction d) : direction(d), last_time(-1) {}

        Direction direction;
        int last_time;
        Wt::WText* last_time_text;
        goby::acomms::protobuf::ModemTransmission last_msg_;
        Wt::WGroupBox* box;
    };

    DriverStats driver_rx_;
    DriverStats driver_tx_;

    Wt::WGroupBox* mm_rx_stats_box_;
    Wt::WStandardItemModel* mm_rx_stats_model_;
    Wt::Chart::WCartesianChart* mm_rx_stats_graph_;

    enum
    {
        TIME_COLUMN = 0,
        ELAPSED_COLUMN = 1,
        MSE_COLUMN = 2,
        SNR_IN_COLUMN = 3,
        SNR_OUT_COLUMN = 4,
        DOPPLER_COLUMN = 5,
        PERCENT_BAD_FRAMES_COLUMN = 6,
        MAX_COLUMN = 6
    };

    int mm_rx_stats_range_;

    // column -> axis -> Checkbox
    std::map<int, std::map<int, Wt::WCheckBox*> > mm_rx_chks_;

    Wt::WTimer timer_;

    goby::acomms::protobuf::ModemTransmission last_slot_;
};

} // namespace common
} // namespace goby

#endif