mm_driver.h

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// Copyright 2009-2026:
//   GobySoft, LLC (2013-)
//   Massachusetts Institute of Technology (2007-2014)
//   Community contributors (see AUTHORS file)
// File authors:
//   Toby Schneider <toby@gobysoft.org>
//   Russ Webber <russ@rw.id.au>
//
//
// 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_MM_DRIVER_H
#define GOBY_ACOMMS_MODEMDRIVER_MM_DRIVER_H
 
#include <cstdint> // for uint32_t
#include <deque>    // for deque
#include <map>      // for map
#include <memory>   // for unique_ptr
#include <mutex>    // for mutex
#include <set>      // for set
#include <string>   // for string
 
#include "driver_base.h"                            // for ModemDriverBase
#include "goby/acomms/protobuf/driver_base.pb.h"    // for DriverConfig
#include "goby/acomms/protobuf/mm_driver.pb.h"      // for Config, MessageT...
#include "goby/acomms/protobuf/modem_message.pb.h"  // for ModemTransmission
#include "goby/time/system_clock.h"                 // for SystemClock, Sys...
#include "goby/util/linebasedcomms/nmea_sentence.h" // for NMEASentence
 
namespace dccl
{
class Codec;
} // namespace dccl
 
namespace goby
{
namespace acomms
{
class MMDriver : public ModemDriverBase
{
  public:
    MMDriver();
    ~MMDriver() override;
 
    void startup(const protobuf::DriverConfig& cfg) override;
 
    void update_cfg(const protobuf::DriverConfig& cfg) override;
 
    void shutdown() override;
 
    void do_work() override;
 
    void handle_initiate_transmission(const protobuf::ModemTransmission& m) override;
 
    int clk_mode() { return clk_mode_; }
 
    bool is_started() const { return startup_done_; }
 
    static unsigned packet_frame_count(int rate) { return PACKET_FRAME_COUNT[rate]; }
 
    static unsigned packet_size(int rate) { return PACKET_SIZE[rate]; }
 
    void set_silent(bool silent);
    void write_single_cfg(const std::string& s); // write a single NVRAM value
 
  private:
    enum SentenceIDs
    {
        SENTENCE_NOT_DEFINED = 0,
        ACK,
        DRQ,
        RXA,
        RXD,
        RXP,
        TXD,
        TXA,
        TXP,
        TXF,
        CYC,
        MPC,
        MPA,
        MPR,
        RSP,
        MSC,
        MSA,
        MSR,
        EXL,
        MEC,
        MEA,
        MER,
        MUC,
        MUA,
        MUR,
        PDT,
        PNT,
        TTA,
        MFD,
        CLK,
        CFG,
        AGC,
        BBD,
        CFR,
        CST,
        MSG,
        REV,
        DQF,
        SHF,
        SNR,
        DOP,
        DBG,
        FFL,
        FST,
        ERR,
        TOA,
        XST,
        RDP,
        TDP,
        TMS,
        TMQ,
        TMG,
        SWP,
        MSQ
    };
 
    // startup
    void initialize_talkers(); // insert strings into sentence_id_map_, etc for later use
    void set_clock();          // set the modem clock from the system (goby) clock
    void write_cfg();          // write the NVRAM configuration values to the modem
    void query_all_cfg();      // query the current NVRAM configuration of the modem
    void set_hydroid_gateway_prefix(int id); // if using the hydroid gateway, set its id number
 
    // output
 
    void cccyc(protobuf::ModemTransmission* msg);
    void ccmuc(protobuf::ModemTransmission* msg);
    void cctdp(protobuf::ModemTransmission* msg);
    void ccmpc(const protobuf::ModemTransmission& msg);
    void ccpdt(const protobuf::ModemTransmission& msg);
    void ccpnt(const protobuf::ModemTransmission& msg);
    void ccmec(const protobuf::ModemTransmission& msg);
    void ccpgt(const protobuf::ModemTransmission& msg);
    void ccswp(const protobuf::ModemTransmission& msg);
    void ccmsq(const protobuf::ModemTransmission& msg);
 
    void try_send(); // try to send another NMEA message to the modem
    void pop_out();  // pop the NMEA send deque upon successful NMEA acknowledgment
    void cache_outgoing_data(protobuf::ModemTransmission* msg); // cache data upon a CCCYC
    void append_to_write_queue(const util::NMEASentence& nmea); // add a message
    void mm_write(const util::NMEASentence&
                      nmea); // actually write a message (appends hydroid prefix if needed)
    void increment_present_fail();
    void present_fail_exceeds_retries();
 
    // input
    void process_receive(
        const util::NMEASentence& nmea); // parse a receive message and call proper method
 
    // data cycle
    void cacyc(const util::NMEASentence& nmea, protobuf::ModemTransmission* msg); // $CACYC
    void carxd(const util::NMEASentence& nmea, protobuf::ModemTransmission* msg); // $CARXD
    void camsg(const util::NMEASentence& nmea, protobuf::ModemTransmission* m);
 
    void caack(const util::NMEASentence& nmea, protobuf::ModemTransmission* msg); // $CAACK
    void handle_ack(std::uint32_t src, std::uint32_t dest, std::uint32_t frame,
                    protobuf::ModemTransmission* m);
 
    // mini packet
    void camua(const util::NMEASentence& nmea, protobuf::ModemTransmission* msg); // $CAMUA
 
    // flexible data protocol
    void cardp(const util::NMEASentence& nmea, protobuf::ModemTransmission* msg); // $CARDP
 
    // ranging (pings)
    void campr(const util::NMEASentence& nmea, protobuf::ModemTransmission* msg); // $CAMPR
    void campa(const util::NMEASentence& nmea, protobuf::ModemTransmission* msg); // $CAMPA
    void sntta(const util::NMEASentence& nmea, protobuf::ModemTransmission* msg); // $SNTTA
 
    // hardware control
    void camer(const util::NMEASentence& nmea, protobuf::ModemTransmission* msg); // $CAMER
 
    // local modem
    void caxst(const util::NMEASentence& nmea, protobuf::ModemTransmission* msg); // $CAXST
    void cacst(const util::NMEASentence& nmea, protobuf::ModemTransmission* msg); // $CACST
    void carev(const util::NMEASentence& nmea);                                   // $CAREV
    void caerr(const util::NMEASentence& nmea);                                   // $CAERR
    void cacfg(const util::NMEASentence& nmea);
    void receive_time(const util::NMEASentence& nmea, SentenceIDs sentence_id);       // $CACLK
    void catms(const util::NMEASentence& nmea);                                       // $CATMS
    void cadrq(const util::NMEASentence& nmea, const protobuf::ModemTransmission& m); // $CADRQ
 
    void validate_transmission_start(const protobuf::ModemTransmission& message);
 
    void signal_receive_and_clear(protobuf::ModemTransmission* message);
 
    // application acks
    void process_incoming_app_ack(protobuf::ModemTransmission* m);
    void process_outgoing_app_ack(protobuf::ModemTransmission* msg);
 
    // Serial port methods
    void set_rts(bool state);
 
    const micromodem::protobuf::Config& mm_driver_cfg() const
    {
        return driver_cfg_.GetExtension(micromodem::protobuf::config);
    }
 
    // doxygen
 
    // goby3_example_driver_simple
    // \example acomms/chat/chat.cpp
 
  private:
    // for the serial connection ($CCCFG,BR1,3)
    enum
    {
        DEFAULT_BAUD = 19200
    };
    // failures before closing port and throwing exception
    enum
    {
        MAX_FAILS_BEFORE_DEAD = 5
    };
    // how many retries on a given message
    enum
    {
        RETRIES = 3
    };
    enum
    {
        ROUGH_SPEED_OF_SOUND = 1500
    }; // m/s
 
    // time to wait for modem to respond
    static const goby::time::SystemClock::duration MODEM_WAIT;
    // time to wait for modem to respond
    static const goby::time::SystemClock::duration MULTI_REPLY_WAIT;
    // time to wait after modem reboot
    static const goby::time::SystemClock::duration WAIT_AFTER_REBOOT;
 
    static const std::string SERIAL_DELIMITER;
    // number of frames for a given packet type
    static const unsigned PACKET_FRAME_COUNT[];
    // size of packet (in bytes) for a given modem rate
    static const unsigned PACKET_SIZE[];
 
    // all startup configuration (DriverConfig defined in acomms_driver_base.proto and extended in acomms_mm_driver.proto)
    protobuf::DriverConfig driver_cfg_;
 
    // deque for outgoing messages to the modem, we queue them up and send
    // as the modem acknowledges them
    std::deque<util::NMEASentence> out_;
 
    // time of the last message written. we timeout and resend after MODEM_WAIT seconds
    goby::time::SystemClock::time_point last_write_time_;
 
    // are we waiting for a command ack (CA) from the modem or can we send another output?
    bool waiting_for_modem_{false};
 
    // are we waiting for a multi-message reply
    bool waiting_for_multimsg_{false};
 
    // set after the startup routines finish once. we can't startup on instantiation because
    // the base class sets some of our references (from the MOOS file)
    bool startup_done_{false};
 
    // keeps track of number of failures and exits after reaching MAX_FAILS, assuming modem dead
    unsigned global_fail_count_{0};
 
    // keeps track of number of failures on the present talker and moves on to the next talker
    // if exceeded
    unsigned present_fail_count_{0};
 
    // keeps track of clock mode, necessary for synchronous navigation
    micromodem::protobuf::ClockMode clk_mode_;
 
    // has the clock been properly set. we must reset the clock after reboot ($CAREV,INIT)
    bool clock_set_{false};
 
    enum TalkerIDs
    {
        TALKER_NOT_DEFINED = 0,
        CA,
        CC,
        SN,
        GP
    };
 
    std::map<std::string, TalkerIDs> talker_id_map_;
    std::map<std::string, SentenceIDs> sentence_id_map_;
    std::map<std::string, std::string> description_map_;
    std::map<std::string, std::string> cfg_map_;
 
    //
    // stuff to deal with the non-standard Hydroid gateway buoy
    //
 
    // length of #G1 or #M1
    enum
    {
        HYDROID_GATEWAY_PREFIX_LENGTH = 3
    };
    // time between requests to the hydroid gateway buoy gps
    static const goby::time::SystemClock::duration HYDROID_GATEWAY_GPS_REQUEST_INTERVAL;
    goby::time::SystemClock::time_point last_hydroid_gateway_gps_request_;
    bool is_hydroid_gateway_{false};
    std::string hydroid_gateway_modem_prefix_;
    std::string hydroid_gateway_gps_request_;
 
    // NVRAM parameters like SRC, DTO, PTO, etc.
    std::map<std::string, int> nvram_cfg_;
 
    protobuf::ModemTransmission transmit_msg_;
    unsigned expected_remaining_caxst_{
        0}; // used to determine how many CAXST to aggregate (so that bost rate 0 transmissions [CYC and TXD] are provided as a single logical unit)
 
    protobuf::ModemTransmission receive_msg_;
    unsigned expected_remaining_cacst_{
        0}; // used to determine how many CACST to aggregate (so that rate 0 transmissions [CYC and RXD] are provided as a single logical unit)
 
    // keep track of which frames we've sent and are awaiting acks for. This
    // way we have a chance of intercepting unexpected behavior of the modem
    // relating to ACKs
    std::set<unsigned> frames_waiting_for_ack_;
 
    // keep track of where we sent the message to be acked to work around a bug in
    // the MM1 firmware that reports third-party acks with a destination of the local modem
    unsigned expected_ack_destination_{0};
 
    std::set<unsigned> frames_waiting_to_receive_;
 
    // true if we initiated the last cycle ($CCCYC) (and thereby cache data for it)?
    // false if a third party initiated the last cycle
    bool local_cccyc_{false};
 
    micromodem::protobuf::TransmissionType last_lbl_type_;
 
    goby::time::SystemClock::time_point last_keep_alive_time_;
 
    // time of the last multi-message reply received. we timeout and pop after MULTI_REPLY_WAIT seconds
    goby::time::SystemClock::time_point last_multimsg_rx_time_;
 
    struct MMRevision
    {
        MMRevision() = default;
        int mm_major{0};
        int mm_minor{0};
        int mm_patch{0};
    };
    MMRevision revision_;
 
    bool using_application_acks_{false};
    int application_ack_max_frames_{0};
 
    // ids we are providing acks for, normally just our modem_id()
    std::set<unsigned> application_ack_ids_;
 
    int next_frame_{0};
 
    // modem id to frames
    std::map<unsigned, std::set<unsigned> > frames_to_ack_;
 
    std::unique_ptr<dccl::Codec> dccl_;
    // DCCL requires full memory barrier...
    static std::mutex dccl_mutex_;
};
} // namespace acomms
} // namespace goby
#endif