moos_ufield_sim_driver.h

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// Copyright 2011-2021:
//   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_MOOS_MOOS_UFIELD_SIM_DRIVER_H
#define GOBY_MOOS_MOOS_UFIELD_SIM_DRIVER_H
 
#include <MOOS/libMOOS/Comms/MOOSCommClient.h> // for CMOOSCommClient
 
#include "goby/acomms/modemdriver/driver_base.h"     // for ModemDriverBase
#include "goby/acomms/protobuf/driver_base.pb.h"     // for DriverConfig
#include "goby/moos/modem_id_convert.h"              // for ModemIdConvert
#include "goby/moos/protobuf/ufield_sim_driver.pb.h" // for Config
 
namespace goby
{
namespace acomms
{
namespace protobuf
{
class ModemTransmission;
} // namespace protobuf
} // namespace acomms
 
namespace moos
{
class UFldDriver : public goby::acomms::ModemDriverBase
{
  public:
    UFldDriver();
    void startup(const goby::acomms::protobuf::DriverConfig& cfg) override;
    void shutdown() override;
    void do_work() override;
    void handle_initiate_transmission(const goby::acomms::protobuf::ModemTransmission& m) override;
 
  private:
    void send_message(const goby::acomms::protobuf::ModemTransmission& msg);
    void receive_message(const goby::acomms::protobuf::ModemTransmission& msg);
 
    // MicroModem special feature mimics
    void ccmpc(const goby::acomms::protobuf::ModemTransmission& msg);
 
  private:
    enum
    {
        DEFAULT_PACKET_SIZE = 64
    };
    enum
    {
        NOMINAL_SPEED_OF_SOUND = 1500
    };
    CMOOSCommClient moos_client_;
    goby::acomms::protobuf::DriverConfig driver_cfg_; // configuration given to you at launch
    goby::moos::ufld::protobuf::Config ufld_driver_cfg_;
 
    //boost::bimap<int, std::string> modem_id2name_;
    goby::moos::ModemIdConvert modem_lookup_;
 
    int last_ccmpc_dest_{-1};
};
} // namespace moos
} // namespace goby
 
#endif