route.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_ACOMMS_ROUTE_ROUTE_H
#define GOBY_ACOMMS_ROUTE_ROUTE_H
 
#include <cstdint> // for uint32_t
#include <map>      // for map
 
#include "goby/acomms/protobuf/route.pb.h"       // for RouteManagerConfig
#include "goby/util/debug_logger/flex_ostream.h" // for FlexOstream, glog
#include "goby/util/debug_logger/term_color.h"   // for Colors, Colors::yellow
 
namespace google
{
namespace protobuf
{
class Message;
} // namespace protobuf
} // namespace google
 
namespace goby
{
namespace acomms
{
class QueueManager;
namespace protobuf
{
class QueuedMessageMeta;
} // namespace protobuf
 
class RouteManager
{
  public:
    RouteManager() { glog.add_group("goby::acomms::route", util::Colors::yellow); }
    ~RouteManager() = default;
 
    void set_cfg(const protobuf::RouteManagerConfig& cfg);
    void merge_cfg(const protobuf::RouteManagerConfig& cfg);
 
    void handle_in(const protobuf::QueuedMessageMeta& meta,
                   const google::protobuf::Message& data_msg, int modem_id);
 
    void handle_out(protobuf::QueuedMessageMeta* meta, const google::protobuf::Message& data_msg,
                    int modem_id);
 
    void add_subnet_queue(QueueManager* manager);
 
    bool is_in_route(int modem_id) { return route_index(modem_id) != -1; }
 
    int route_index(int modem_id);
 
    int find_next_hop(int us, int dest);
    int find_next_route_hop(int us, int dest);
 
  private:
    RouteManager(const RouteManager&) = delete;
    RouteManager& operator=(const RouteManager&) = delete;
 
    void process_cfg();
 
  private:
    protobuf::RouteManagerConfig cfg_;
 
    // maps (modem_id & subnet_mask) onto QueueManager
    std::map<std::uint32_t, QueueManager*> subnet_map_;
};
} // namespace acomms
} // namespace goby
 
#endif