Goby3 3.2.3
2025.05.13
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udp_driver.h
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1// Copyright 2011-2023:
2// GobySoft, LLC (2013-)
3// Massachusetts Institute of Technology (2007-2014)
4// Community contributors (see AUTHORS file)
5// File authors:
6// Toby Schneider <toby@gobysoft.org>
7//
8//
9// This file is part of the Goby Underwater Autonomy Project Libraries
10// ("The Goby Libraries").
11//
12// The Goby Libraries are free software: you can redistribute them and/or modify
13// them under the terms of the GNU Lesser General Public License as published by
14// the Free Software Foundation, either version 2.1 of the License, or
15// (at your option) any later version.
16//
17// The Goby Libraries are distributed in the hope that they will be useful,
18// but WITHOUT ANY WARRANTY; without even the implied warranty of
19// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
20// GNU Lesser General Public License for more details.
21//
22// You should have received a copy of the GNU Lesser General Public License
23// along with Goby. If not, see <http://www.gnu.org/licenses/>.
24
25#ifndef GOBY_ACOMMS_MODEMDRIVER_UDP_DRIVER_H
26#define GOBY_ACOMMS_MODEMDRIVER_UDP_DRIVER_H
27
28#include <array> // for array
29#include <cstddef> // for size_t
30#include <cstdint> // for uint32_t
31#include <map> // for multimap
32#include <memory> // for unique_ptr
33#include <set> // for set
34
35#include <boost/asio/ip/udp.hpp> // for udp, udp::endpoint
36
37#include "goby/acomms/modemdriver/driver_base.h" // for ModemDriverBase
38#include "goby/acomms/protobuf/driver_base.pb.h" // for DriverConfig
39#include "goby/util/asio_compat.h" // for io_context
40
41namespace boost
42{
43namespace system
44{
45class error_code;
46} // namespace system
47} // namespace boost
48
49namespace goby
50{
51namespace acomms
52{
53namespace protobuf
54{
55class ModemTransmission;
56} // namespace protobuf
57
59{
60 public:
62 ~UDPDriver() override;
63
64 void startup(const protobuf::DriverConfig& cfg) override;
65 void shutdown() override;
66 void do_work() override;
68
70
71 private:
72 void start_send(const protobuf::ModemTransmission& msg);
73 void send_complete(const boost::system::error_code& error, std::size_t bytes_transferred);
74 void start_receive();
75 void receive_complete(const boost::system::error_code& error, std::size_t bytes_transferred);
76 void receive_message(const protobuf::ModemTransmission& m);
77
78 private:
79 protobuf::DriverConfig driver_cfg_;
80 boost::asio::io_context io_context_;
81 std::unique_ptr<boost::asio::ip::udp::socket> socket_;
82 // modem id to endpoint
83 std::multimap<int, boost::asio::ip::udp::endpoint> receivers_;
84 boost::asio::ip::udp::endpoint sender_;
85
86 // (16 bit length = 65535 - 8 byte UDP header - 20 byte IP
87 static constexpr size_t UDP_MAX_PACKET_SIZE = 65507;
88
89 std::array<char, UDP_MAX_PACKET_SIZE> receive_buffer_;
90
91 // ids we are providing acks for, normally just our modem_id()
92 std::set<unsigned> application_ack_ids_;
93
94 std::uint32_t next_frame_{0};
95};
96} // namespace acomms
97} // namespace goby
98#endif
provides an abstract base class for acoustic modem drivers. This is subclassed by the various drivers...
Definition driver_base.h:59
void startup(const protobuf::DriverConfig &cfg) override
Starts the modem driver. Must be called before poll().
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...
void report(protobuf::ModemReport *report) override
Returns report including modem availability and signal quality (if known)
void shutdown() override
Shuts down the modem driver.
The global namespace for the Goby project.
extern ::PROTOBUF_NAMESPACE_ID::internal::ExtensionIdentifier< ::PROTOBUF_NAMESPACE_ID::MessageOptions, ::PROTOBUF_NAMESPACE_ID::internal::MessageTypeTraits< ::goby::GobyMessageOptions >, 11, false > msg