provides an API to the imaginary ABC modem (as an example how to write drivers) More...

#include <goby/acomms/modemdriver/janus_driver.h>

Inheritance diagram for goby::acomms::JanusDriver:

Public Member Functions
	JanusDriver ()

	~JanusDriver () override

void	startup (const protobuf::DriverConfig &cfg) override
	Starts the modem driver. Must be called before poll().

void	shutdown () override
	Shuts down the modem driver.

void	do_work () override
	Allows the modem driver to do its work.

void	handle_initiate_transmission (const protobuf::ModemTransmission &m) override
	Virtual initiate_transmission method. Typically connected to MACManager::signal_initiate_transmission() using bind().

void	handle_ack_transmission (const protobuf::ModemTransmission &m)

void	pad_message (std::vector< uint8_t > &vec)

void	send_janus_packet (const protobuf::ModemTransmission &msg, std::vector< std::uint8_t > payload, bool ack=false)

void	append_crc16 (std::vector< std::uint8_t > &vec)

void	to_modem_transmission (janus_rx_msg_pkt packet, protobuf::ModemTransmission &msg)

void	send_janus_packet_thread (const protobuf::ModemTransmission &msg, std::vector< std::uint8_t > payload, bool ack)

void	send_ack (unsigned int src, unsigned int dest, unsigned int frame_number)

void	DecodeGobyHeader (std::uint8_t header, protobuf::ModemTransmission &m)

std::uint8_t	get_goby_header (const protobuf::ModemTransmission &msg)

std::uint8_t	CreateGobyHeader (const protobuf::ModemTransmission &m)

janus_rx_msg_pkt	parse_janus_packet (const janus_packet_t pkt, bool verbosity)

unsigned int	get_frame_num (std::string cargo)

janus_simple_tx_t	init_janus_tx ()

janus_simple_rx_t	init_janus_rx ()

janus_parameters_t	get_janus_params (const janus::protobuf::Config &config)

Public Member Functions inherited from goby::acomms::ModemDriverBase
virtual void	update_cfg (const protobuf::DriverConfig &cfg)
	Update configuration while running (not required to be implemented)

virtual	~ModemDriverBase ()
	Public Destructor.

virtual void	report (protobuf::ModemReport *report)
	Returns report including modem availability and signal quality (if known)

int	driver_order ()
	Integer for the order in which this driver was started (first driver started is 1, second driver is 2, etc.)

Public Attributes
janus_parameters_t	params_tx

janus_parameters_t	params_rx

unsigned int	acomms_id

unsigned int	tx_application_type

unsigned int	rx_application_type

unsigned int	tx_class_id

unsigned int	rx_class_id

std::uint32_t	next_frame_ {0}

janus_simple_tx_t	simple_tx

janus_simple_rx_t	simple_rx

janus_packet_t	packet_rx = 0

janus_rx_state_t	state_rx = 0

unsigned	queried_detection_time

janus_carrier_sensing_t	carrier_sensing

protobuf::ModemTransmission	modem_msg

Public Attributes inherited from goby::acomms::ModemDriverBase
boost::signals2::signal< void(const protobuf::ModemTransmission &message)>	signal_receive
	Called when a binary data transmission is received from the modem.

boost::signals2::signal< void(const protobuf::ModemTransmission &message)>	signal_transmit_result
	Called when a transmission is completed.

boost::signals2::signal< void(protobuf::ModemTransmission *msg)>	signal_data_request
	Called when the modem or modem driver needs data to send. The returned data should be stored in ModemTransmission::frame.

boost::signals2::signal< void(protobuf::ModemTransmission *msg_request)>	signal_modify_transmission
	Called before the modem driver begins processing a transmission. This allows a third party to modify the parameters of the transmission (such as destination or rate) on the fly.

boost::signals2::signal< void(const protobuf::ModemRaw &msg)>	signal_raw_incoming
	Called after any message is received from the modem by the driver. Used by the MACManager for auto-discovery of vehicles. Also useful for higher level analysis and debugging of the transactions between the driver and the modem.

boost::signals2::signal< void(const protobuf::ModemRaw &msg)>	signal_raw_outgoing
	Called after any message is sent from the driver to the modem. Useful for higher level analysis and debugging of the transactions between the driver and the modem.

Static Public Attributes
static constexpr int	DEFAULT_MTU_BYTES {1024}

Additional Inherited Members
Static Public Member Functions inherited from goby::acomms::ModemDriverBase
static std::string	driver_name (const protobuf::DriverConfig &cfg)
	Unique driver name (e.g. UDP_MULTICAST::1 or my_driver_name::2)

Protected Member Functions inherited from goby::acomms::ModemDriverBase
	ModemDriverBase ()
	Constructor.

void	modem_write (const std::string &out)
	write a line to the serial port.

bool	modem_read (std::string *in)
	read a line from the serial port, including end-of-line character(s)

void	modem_start (const protobuf::DriverConfig &cfg, bool modem_connection_expected=true)
	start the physical connection to the modem (serial port, TCP, etc.). must be called before ModemDriverBase::modem_read() or ModemDriverBase::modem_write()

void	modem_close ()
	closes the serial port. Use modem_start to reopen the port.

const std::string &	glog_out_group () const

const std::string &	glog_in_group () const

util::LineBasedInterface &	modem ()
	use for direct access to the modem

Static Protected Attributes inherited from goby::acomms::ModemDriverBase
static std::atomic< int >	count_

Detailed Description

provides an API to the imaginary ABC modem (as an example how to write drivers)

Definition at line 75 of file janus_driver.h.

Constructor & Destructor Documentation

◆ JanusDriver()

goby::acomms::JanusDriver::JanusDriver ( )

◆ ~JanusDriver()

goby::acomms::JanusDriver::~JanusDriver ( )

override

Member Function Documentation

◆ append_crc16()

void goby::acomms::JanusDriver::append_crc16 ( std::vector< std::uint8_t > & vec )

◆ CreateGobyHeader()

std::uint8_t goby::acomms::JanusDriver::CreateGobyHeader ( const protobuf::ModemTransmission & m )

◆ DecodeGobyHeader()

void goby::acomms::JanusDriver::DecodeGobyHeader	(	std::uint8_t	header,
		protobuf::ModemTransmission &	m
	)

◆ do_work()

void goby::acomms::JanusDriver::do_work ( )

overridevirtual

Allows the modem driver to do its work.

Should be called regularly to perform the work of the driver as the driver does not run in its own thread. This allows us to guarantee that no signals are called except inside this method. Does not block.

Implements goby::acomms::ModemDriverBase.

◆ get_frame_num()

unsigned int goby::acomms::JanusDriver::get_frame_num ( std::string cargo )

◆ get_goby_header()

std::uint8_t goby::acomms::JanusDriver::get_goby_header ( const protobuf::ModemTransmission & msg )

◆ get_janus_params()

janus_parameters_t goby::acomms::JanusDriver::get_janus_params ( const janus::protobuf::Config & config )

◆ handle_ack_transmission()

void goby::acomms::JanusDriver::handle_ack_transmission ( const protobuf::ModemTransmission & m )

◆ handle_initiate_transmission()

void goby::acomms::JanusDriver::handle_initiate_transmission ( const protobuf::ModemTransmission & m )

overridevirtual

Virtual initiate_transmission method. Typically connected to MACManager::signal_initiate_transmission() using bind().

Parameters

m	ModemTransmission (defined in acomms_modem_message.proto) containing the details of the transmission to be started. This may contain data frames. If not, data will be requested when the driver calls the data request signal (ModemDriverBase::signal_data_request)

Implements goby::acomms::ModemDriverBase.

◆ init_janus_rx()

janus_simple_rx_t goby::acomms::JanusDriver::init_janus_rx ( )

◆ init_janus_tx()

janus_simple_tx_t goby::acomms::JanusDriver::init_janus_tx ( )

◆ pad_message()

void goby::acomms::JanusDriver::pad_message ( std::vector< uint8_t > & vec )

◆ parse_janus_packet()

janus_rx_msg_pkt goby::acomms::JanusDriver::parse_janus_packet	(	const janus_packet_t	pkt,
		bool	verbosity
	)

◆ send_ack()

void goby::acomms::JanusDriver::send_ack	(	unsigned int	src,
		unsigned int	dest,
		unsigned int	frame_number
	)

◆ send_janus_packet()

void goby::acomms::JanusDriver::send_janus_packet	(	const protobuf::ModemTransmission &	msg,
		std::vector< std::uint8_t >	payload,
		bool	ack = `false`
	)

◆ send_janus_packet_thread()

void goby::acomms::JanusDriver::send_janus_packet_thread	(	const protobuf::ModemTransmission &	msg,
		std::vector< std::uint8_t >	payload,
		bool	ack
	)

◆ shutdown()

void goby::acomms::JanusDriver::shutdown ( )

overridevirtual

Shuts down the modem driver.

Implements goby::acomms::ModemDriverBase.

◆ startup()

void goby::acomms::JanusDriver::startup ( const protobuf::DriverConfig & cfg )

overridevirtual

Starts the modem driver. Must be called before poll().

Parameters

cfg	Startup configuration for the driver and modem. DriverConfig is defined in acomms_driver_base.proto. Derived classes can define extensions (see https://developers.google.com/protocol-buffers/docs/proto) to DriverConfig to handle modem specific configuration.

Implements goby::acomms::ModemDriverBase.

◆ to_modem_transmission()

void goby::acomms::JanusDriver::to_modem_transmission	(	janus_rx_msg_pkt	packet,
		protobuf::ModemTransmission &	msg
	)

Member Data Documentation

◆ acomms_id

unsigned int goby::acomms::JanusDriver::acomms_id

Definition at line 102 of file janus_driver.h.

◆ carrier_sensing

janus_carrier_sensing_t goby::acomms::JanusDriver::carrier_sensing

Definition at line 114 of file janus_driver.h.

◆ DEFAULT_MTU_BYTES

constexpr int goby::acomms::JanusDriver::DEFAULT_MTU_BYTES {1024}

staticconstexpr

Definition at line 108 of file janus_driver.h.

◆ modem_msg

protobuf::ModemTransmission goby::acomms::JanusDriver::modem_msg

Definition at line 115 of file janus_driver.h.

◆ next_frame_

std::uint32_t goby::acomms::JanusDriver::next_frame_ {0}

Definition at line 107 of file janus_driver.h.

◆ packet_rx

janus_packet_t goby::acomms::JanusDriver::packet_rx = 0

Definition at line 111 of file janus_driver.h.

◆ params_rx

janus_parameters_t goby::acomms::JanusDriver::params_rx

Definition at line 101 of file janus_driver.h.

◆ params_tx

janus_parameters_t goby::acomms::JanusDriver::params_tx

Definition at line 100 of file janus_driver.h.

◆ queried_detection_time

unsigned goby::acomms::JanusDriver::queried_detection_time

Definition at line 113 of file janus_driver.h.

◆ rx_application_type

unsigned int goby::acomms::JanusDriver::rx_application_type

Definition at line 104 of file janus_driver.h.

◆ rx_class_id

unsigned int goby::acomms::JanusDriver::rx_class_id

Definition at line 106 of file janus_driver.h.

◆ simple_rx

janus_simple_rx_t goby::acomms::JanusDriver::simple_rx

Definition at line 110 of file janus_driver.h.

◆ simple_tx

janus_simple_tx_t goby::acomms::JanusDriver::simple_tx

Definition at line 109 of file janus_driver.h.

◆ state_rx

janus_rx_state_t goby::acomms::JanusDriver::state_rx = 0

Definition at line 112 of file janus_driver.h.

◆ tx_application_type

unsigned int goby::acomms::JanusDriver::tx_application_type

Definition at line 103 of file janus_driver.h.

◆ tx_class_id

unsigned int goby::acomms::JanusDriver::tx_class_id

Definition at line 105 of file janus_driver.h.

The documentation for this class was generated from the following file:

goby/acomms/modemdriver/janus_driver.h

Public Member Functions

Public Attributes

Static Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ JanusDriver()

◆ ~JanusDriver()

Member Function Documentation

◆ append_crc16()

◆ CreateGobyHeader()

◆ DecodeGobyHeader()

◆ do_work()

◆ get_frame_num()

◆ get_goby_header()

◆ get_janus_params()

◆ handle_ack_transmission()

◆ handle_initiate_transmission()

◆ init_janus_rx()

◆ init_janus_tx()

◆ pad_message()

◆ parse_janus_packet()

◆ send_ack()

◆ send_janus_packet()

◆ send_janus_packet_thread()

◆ shutdown()

◆ startup()

◆ to_modem_transmission()

Member Data Documentation

◆ acomms_id

◆ carrier_sensing

◆ DEFAULT_MTU_BYTES

◆ modem_msg

◆ next_frame_

◆ packet_rx

◆ params_rx

◆ params_tx

◆ queried_detection_time

◆ rx_application_type

◆ rx_class_id

◆ simple_rx

◆ simple_tx

◆ state_rx

◆ tx_application_type

◆ tx_class_id