goby::acomms::MMDriver Class Reference

provides an API to the WHOI Micro-Modem driver More...

#include <goby/acomms/modem_driver.h>

Inheritance diagram for goby::acomms::MMDriver:

Public Member Functions
	MMDriver ()
	Default constructor.
	~MMDriver () override
	Destructor.
void	startup (const protobuf::DriverConfig &cfg) override
	Starts the driver.
void	update_cfg (const protobuf::DriverConfig &cfg) override
	Update configuration while running (not required to be implemented).
void	shutdown () override
	Stops the driver.
void	do_work () override
	See ModemDriverBase::do_work().
void	handle_initiate_transmission (const protobuf::ModemTransmission &m) override
	See ModemDriverBase::handle_initiate_transmission().
int	clk_mode ()
	Current clock mode of the modem, necessary for synchronous navigation.
bool	is_started () const
void	set_silent (bool silent)
void	write_single_cfg (const std::string &s)
Public Member Functions inherited from goby::acomms::ModemDriverBase
virtual	~ModemDriverBase ()
	Public Destructor.
virtual void	report (protobuf::ModemReport *report)
	Returns report including modem availability and signal quality (if known).
int	driver_order ()
	Integer for the order in which this driver was started (first driver started is 1, second driver is 2, etc.).

Static Public Member Functions
static unsigned	packet_frame_count (int rate)
static unsigned	packet_size (int rate)
static std::string	driver_name (const protobuf::DriverConfig &cfg)
	Unique driver name (e.g. UDP_MULTICAST::1 or my_driver_name::2).

Additional Inherited Members
boost::signals2::signal< void(const protobuf::ModemTransmission &message)>	signal_receive
	Called when a binary data transmission is received from the modem.
boost::signals2::signal< void(const protobuf::ModemTransmission &message)>	signal_transmit_result
	Called when a transmission is completed.
boost::signals2::signal< void(protobuf::ModemTransmission *msg)>	signal_data_request
	Called when the modem or modem driver needs data to send. The returned data should be stored in ModemTransmission::frame.
boost::signals2::signal< void(protobuf::ModemTransmission *msg_request)>	signal_modify_transmission
	Called before the modem driver begins processing a transmission. This allows a third party to modify the parameters of the transmission (such as destination or rate) on the fly.
boost::signals2::signal< void(const protobuf::ModemRaw &msg)>	signal_raw_incoming
	Called after any message is received from the modem by the driver. Used by the MACManager for auto-discovery of vehicles. Also useful for higher level analysis and debugging of the transactions between the driver and the modem.
boost::signals2::signal< void(const protobuf::ModemRaw &msg)>	signal_raw_outgoing
	Called after any message is sent from the driver to the modem. Useful for higher level analysis and debugging of the transactions between the driver and the modem.
Protected Member Functions inherited from goby::acomms::ModemDriverBase
	ModemDriverBase ()
	Constructor.
void	modem_write (const std::string &out)
	write a line to the serial port.
bool	modem_read (std::string *in)
	read a line from the serial port, including end-of-line character(s)
void	modem_start (const protobuf::DriverConfig &cfg, bool modem_connection_expected=true)
	start the physical connection to the modem (serial port, TCP, etc.). must be called before ModemDriverBase::modem_read() or ModemDriverBase::modem_write()
void	modem_close ()
	closes the serial port. Use modem_start to reopen the port.
const std::string &	glog_out_group () const
const std::string &	glog_in_group () const
util::LineBasedInterface &	modem ()
	use for direct access to the modem
static std::atomic< int >	count_

Detailed Description

provides an API to the WHOI Micro-Modem driver

Definition at line 57 of file mm_driver.h.

Constructor & Destructor Documentation

MMDriver()

goby::acomms::MMDriver::MMDriver

(

)

Default constructor.

~MMDriver()

goby::acomms::MMDriver::~MMDriver ( )

override

Destructor.

Member Function Documentation

clk_mode()

int goby::acomms::MMDriver::clk_mode ( )

inline

Current clock mode of the modem, necessary for synchronous navigation.

Definition at line 82 of file mm_driver.h.

do_work()

void goby::acomms::MMDriver::do_work ( )

overridevirtual

See ModemDriverBase::do_work().

Implements goby::acomms::ModemDriverBase.

handle_initiate_transmission()

void goby::acomms::MMDriver::handle_initiate_transmission ( const protobuf::ModemTransmission & m )

overridevirtual

See ModemDriverBase::handle_initiate_transmission().

Implements goby::acomms::ModemDriverBase.

is_started()

bool goby::acomms::MMDriver::is_started ( ) const

inline

Definition at line 84 of file mm_driver.h.

packet_frame_count()

unsigned goby::acomms::MMDriver::packet_frame_count ( int rate )

inlinestatic

Definition at line 86 of file mm_driver.h.

packet_size()

unsigned goby::acomms::MMDriver::packet_size ( int rate )

inlinestatic

Definition at line 88 of file mm_driver.h.

set_silent()

void goby::acomms::MMDriver::set_silent

(

bool

silent

)

shutdown()

void goby::acomms::MMDriver::shutdown ( )

overridevirtual

Stops the driver.

Implements goby::acomms::ModemDriverBase.

startup()

void goby::acomms::MMDriver::startup ( const protobuf::DriverConfig & cfg )

overridevirtual

Starts the driver.

Parameters

cfg	Configuration for the Micro-Modem driver. DriverConfig is defined in acomms_driver_base.proto, and various extensions specific to the WHOI Micro-Modem are defined in acomms_mm_driver.proto.

Implements goby::acomms::ModemDriverBase.

update_cfg()

void goby::acomms::MMDriver::update_cfg ( const protobuf::DriverConfig & cfg )

overridevirtual

Update configuration while running (not required to be implemented).

Reimplemented from goby::acomms::ModemDriverBase.

write_single_cfg()

void goby::acomms::MMDriver::write_single_cfg

(

const std::string &

s

)

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The documentation for this class was generated from the following file:

• goby/acomms/modemdriver/mm_driver.h