udp_driver.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 UDPModemDriver20120409H
#define UDPModemDriver20120409H

#include "goby/common/time.h"

#include "goby/acomms/modemdriver/driver_base.h"
#include "goby/acomms/protobuf/udp_driver.pb.h"

#include <boost/asio.hpp>
#include <boost/bind.hpp>

namespace goby
{
namespace acomms
{
class UDPDriver : public ModemDriverBase
{
  public:
    UDPDriver(boost::asio::io_service* io_service);
    ~UDPDriver();
    void startup(const protobuf::DriverConfig& cfg);
    void shutdown();
    void do_work();
    void handle_initiate_transmission(const protobuf::ModemTransmission& m);

  private:
    void start_send(const google::protobuf::Message& msg);
    void send_complete(const boost::system::error_code& error, std::size_t bytes_transferred);
    void start_receive();
    void receive_complete(const boost::system::error_code& error, std::size_t bytes_transferred);
    void receive_message(const protobuf::ModemTransmission& m);

  private:
    protobuf::DriverConfig driver_cfg_;
    boost::asio::io_service* io_service_;
    boost::asio::ip::udp::socket socket_;
    boost::asio::ip::udp::endpoint receiver_;
    boost::asio::ip::udp::endpoint sender_;
    std::vector<char> receive_buffer_;
    goby::uint32 next_frame_;
};
} // namespace acomms
} // namespace goby
#endif