iridium_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 IridiumModemDriver20130823H
#define IridiumModemDriver20130823H

#include "goby/common/time.h"

#include "goby/util/linebasedcomms/tcp_client.h"

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

#include "iridium_driver_fsm.h"

namespace goby
{
namespace acomms
{
class IridiumDriver : public ModemDriverBase
{
  public:
    IridiumDriver();
    ~IridiumDriver();
    void startup(const protobuf::DriverConfig& cfg);

    void modem_init();

    void shutdown();
    void do_work();

    void handle_initiate_transmission(const protobuf::ModemTransmission& m);
    void process_transmission(protobuf::ModemTransmission msg, bool dial);

  private:
    void receive(const protobuf::ModemTransmission& msg);
    void send(const protobuf::ModemTransmission& msg);

    void try_serial_tx();
    void display_state_cfg(std::ostream* os);

    void hangup();
    void set_dtr(bool state);
    bool query_dtr();

  private:
    fsm::IridiumDriverFSM fsm_;
    protobuf::DriverConfig driver_cfg_;

    boost::shared_ptr<goby::util::TCPClient> debug_client_;

    double last_triple_plus_time_;
    enum
    {
        TRIPLE_PLUS_WAIT = 2
    };

    protobuf::ModemTransmission rudics_mac_msg_;

    int serial_fd_;

    goby::uint32 next_frame_;
};
} // namespace acomms
} // namespace goby
#endif