iridium_shore_driver.h

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// Copyright 2015-2026:
//   GobySoft, LLC (2013-)
//   Community contributors (see AUTHORS file)
// File authors:
//   Toby Schneider <toby@gobysoft.org>
//   Copilot <198982749+Copilot@users.noreply.github.com>
//
//
// 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 GOBY_ACOMMS_MODEMDRIVER_IRIDIUM_SHORE_DRIVER_H
#define GOBY_ACOMMS_MODEMDRIVER_IRIDIUM_SHORE_DRIVER_H
 
#include <cstdint> // for uint32_t
#include <map>     // for map
#include <memory>  // for shared_ptr
#include <string>  // for string
 
#include <boost/bimap.hpp>
#include <boost/circular_buffer.hpp> // for circular_b...
 
#include "goby/acomms/modemdriver/driver_base.h"          // for ModemDrive...
#include "goby/acomms/protobuf/driver_base.pb.h"          // for DriverConfig
#include "goby/acomms/protobuf/iridium_driver.pb.h"       // for MessageTyp...
#include "goby/acomms/protobuf/iridium_shore_driver.pb.h" // for ShoreConfig
#include "goby/acomms/protobuf/modem_message.pb.h"        // for ModemTrans...
#include "goby/util/asio_compat.h"
 
namespace goby
{
namespace acomms
{
class OnCallBase;
class RUDICSConnection;
class RUDICSServer;
namespace directip
{
class SBDServer;
} // namespace directip
namespace iridium
{
namespace protobuf
{
class DirectIPMOHeader;
class DirectIPMOPayload;
class DirectIPMOPreHeader;
} // namespace protobuf
} // namespace iridium
 
class IridiumShoreDriver : public ModemDriverBase
{
  public:
    IridiumShoreDriver();
    ~IridiumShoreDriver() override;
    void startup(const protobuf::DriverConfig& cfg) override;
 
    void modem_init();
 
    void shutdown() override;
    void do_work() override;
 
    void handle_initiate_transmission(const protobuf::ModemTransmission& m) override;
    void process_transmission(protobuf::ModemTransmission msg);
 
  private:
    typedef unsigned ModemId;
 
    void receive(const protobuf::ModemTransmission& msg);
    void send(const protobuf::ModemTransmission& msg);
 
    void decode_mo(iridium::protobuf::DirectIPMOPreHeader* pre_header,
                   iridium::protobuf::DirectIPMOHeader* header,
                   iridium::protobuf::DirectIPMOPayload* body, const std::string& data);
 
    void receive_sbd_mo();
    void receive_sbd_mo_data(const std::string& data, protobuf::ModemTransmission* modem_msg);
 
    void send_sbd_mt(const std::string& bytes, const std::string& imei);
 
    void rudics_send(const std::string& data, ModemId id);
    void rudics_disconnect(const std::shared_ptr<RUDICSConnection>& connection);
    void rudics_line(const std::string& line, const std::shared_ptr<RUDICSConnection>& connection);
    void rudics_connect(const std::shared_ptr<RUDICSConnection>& connection);
 
    const iridium::protobuf::Config& iridium_driver_cfg() const
    {
        return driver_cfg_.GetExtension(iridium::protobuf::config);
    }
 
    const iridium::protobuf::ShoreConfig& iridium_shore_driver_cfg() const
    {
        return driver_cfg_.GetExtension(iridium::protobuf::shore_config);
    }
 
    // in iridium_shore_driver_sbd_directip.cpp
    void startup_sbd_directip(const protobuf::DriverConfig& cfg);
    void receive_sbd_mo_directip();
    void send_sbd_mt_directip(const std::string& bytes, const std::string& imei);
 
    // in iridium_shore_driver_sbd_rockblock.cpp
    void startup_sbd_rockblock(const protobuf::DriverConfig& cfg);
    void receive_sbd_mo_rockblock();
    void send_sbd_mt_rockblock(const std::string& bytes, const std::string& imei);
 
  private:
    protobuf::DriverConfig driver_cfg_;
 
    protobuf::ModemTransmission rudics_mac_msg_;
 
    std::uint32_t next_frame_{0};
 
    struct RemoteNode
    {
        enum
        {
            DATA_BUFFER_CAPACITY = 30
        };
        RemoteNode() : data_out(DATA_BUFFER_CAPACITY) {}
 
        std::shared_ptr<OnCallBase> on_call;
        boost::circular_buffer<protobuf::ModemTransmission> data_out;
    };
 
    std::map<ModemId, RemoteNode> remote_;
 
    std::unique_ptr<boost::asio::io_context> rudics_io_;
    std::unique_ptr<RUDICSServer> rudics_server_;
    std::unique_ptr<boost::asio::io_context> sbd_io_;
    std::unique_ptr<directip::SBDServer> directip_mo_sbd_server_;
 
    // maps remote modem to connection
    boost::bimap<ModemId, std::shared_ptr<RUDICSConnection>> clients_;
 
    using IMEI = std::string;
    std::map<ModemId, IMEI> modem_id_to_imei_;
 
    struct RockblockHTTPMessage
    {
        enum class MessageState
        {
            HEADER,
            BODY,
            COMPLETE
        };
        MessageState state{MessageState::HEADER};
        std::map<std::string, std::string> header;
        std::string body;
    };
 
    std::unique_ptr<RockblockHTTPMessage> rb_msg_;
};
} // namespace acomms
} // namespace goby
#endif