driver_base.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 DriverBase20091214H
#define DriverBase20091214H

#include <boost/signals2.hpp>
#include <boost/thread.hpp>

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

namespace goby
{
namespace util
{
class FlexOstream;
}

namespace acomms
{
class ModemDriverBase
{
  public:


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

    virtual void update_cfg(const protobuf::DriverConfig& cfg);

    virtual void shutdown() = 0;

    virtual void do_work() = 0;



    virtual void handle_initiate_transmission(const protobuf::ModemTransmission& m) = 0;



    boost::signals2::signal<void(const protobuf::ModemTransmission& message)> signal_receive;

    boost::signals2::signal<void(const protobuf::ModemTransmission& message)>
        signal_transmit_result;

    boost::signals2::signal<void(protobuf::ModemTransmission* msg)> signal_data_request;

    boost::signals2::signal<void(protobuf::ModemTransmission* msg_request)>
        signal_modify_transmission;

    boost::signals2::signal<void(const protobuf::ModemRaw& msg)> signal_raw_incoming;

    boost::signals2::signal<void(const protobuf::ModemRaw& msg)> signal_raw_outgoing;

    virtual ~ModemDriverBase();

    int driver_order() { return order_; }

  protected:


    ModemDriverBase();




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

    bool modem_read(std::string* in);

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

    void modem_close();

    const std::string& glog_out_group() const { return glog_out_group_; }
    const std::string& glog_in_group() const { return glog_in_group_; }

    util::LineBasedInterface& modem() { return *modem_; }

  protected:
    static int count_;

  private:
    void write_raw(const protobuf::ModemRaw& msg, bool rx);

  private:
    // represents the line based communications interface to the modem
    boost::shared_ptr<util::LineBasedInterface> modem_;

    std::string glog_out_group_;
    std::string glog_in_group_;

    boost::shared_ptr<std::ofstream> raw_fs_;
    bool raw_fs_connections_made_;
    int order_;
};
} // namespace acomms
} // namespace goby
#endif