iver_driver.h

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// Copyright 2013-2021:
//   GobySoft, LLC (2013-)
//   Massachusetts Institute of Technology (2007-2014)
//   Community contributors (see AUTHORS file)
// File authors:
//   Toby Schneider <toby@gobysoft.org>
//
//
// 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_MIDDLEWARE_FRONTSEAT_IVER_IVER_DRIVER_H
#define GOBY_MIDDLEWARE_FRONTSEAT_IVER_IVER_DRIVER_H
 
#include <iomanip>
#include <memory>
#include <ostream>
#include <string>
 
#include <boost/units/quantity.hpp>
#include <boost/units/systems/angle/degrees.hpp>
#include <boost/units/systems/si/time.hpp> // for time
#include <dccl/common.h>                   // for round
 
#include "goby/middleware/frontseat/interface.h"
#include "goby/middleware/frontseat/iver/iver_driver.pb.h"
#include "goby/middleware/frontseat/iver/iver_driver_config.pb.h"
#include "goby/middleware/protobuf/frontseat.pb.h"
#include "goby/middleware/protobuf/frontseat_data.pb.h"
#include "goby/time/system_clock.h"
#include "goby/util/linebasedcomms/serial_client.h"
 
namespace goby
{
namespace middleware
{
namespace frontseat
{
namespace protobuf
{
class Config;
} // namespace protobuf
 
class Iver : public InterfaceBase
{
  public:
    Iver(const protobuf::Config& cfg);
 
  private: // virtual methods from InterfaceBase
    void loop() override;
 
    void send_command_to_frontseat(const protobuf::CommandRequest& command) override;
    void send_data_to_frontseat(const protobuf::InterfaceData& data) override;
    void send_raw_to_frontseat(const protobuf::Raw& data) override;
    protobuf::FrontSeatState frontseat_state() const override;
    bool frontseat_providing_data() const override;
 
  private: // internal non-virtual methods
    void check_connection_state();
    void try_receive();
    void process_receive(const std::string& s);
    void write(const std::string& s);
 
    // given a time and date in "NMEA form", returns the value as seconds since the start of the epoch (1970-01-01 00:00:00Z)
    // NMEA form for time is HHMMSS where "H" is hours, "M" is minutes, "S" is seconds or fractional seconds
    // NMEA form for date is DDMMYY where "D" is day, "M" is month, "Y" is year
    boost::units::quantity<boost::units::si::time> nmea_time_to_seconds(double nmea_time,
                                                                        int nmea_date);
 
    // given a latitude or longitude in "NMEA form" and the hemisphere character ('N', 'S', 'E' or 'W'), returns the value as decimal degrees
    // NMEA form is DDDMM.MMMM or DDMM.MMMM where "D" is degrees, and "M" is minutes
    boost::units::quantity<boost::units::degree::plane_angle> nmea_geo_to_degrees(double nmea_geo,
                                                                                  char hemi);
 
    // remote helm manual shows input as tenths precision, so we will force that here
    std::string tenths_precision_str(double d)
    {
        std::stringstream ss;
        ss << std::fixed << std::setprecision(1) << dccl::round(d, 1);
        return ss.str();
    }
 
  private:
    const protobuf::IverConfig iver_config_;
    goby::util::SerialClient serial_;
 
    std::shared_ptr<goby::util::SerialClient> ntp_serial_;
 
    bool frontseat_providing_data_;
    goby::time::SystemClock::time_point last_frontseat_data_time_;
 
    protobuf::FrontSeatState frontseat_state_;
    protobuf::IverState::IverMissionMode reported_mission_mode_;
 
    protobuf::CommandRequest last_request_;
 
    protobuf::NodeStatus status_;
};
} // namespace frontseat
} // namespace middleware
} // namespace goby
 
#endif