DUNE: Uniform Navigational Environment  2022.04.0
List of all members | Public Member Functions | Protected Types | Protected Member Functions | Protected Attributes
DUNE::Hardware::BasicModem Class Reference

Public Member Functions

 BasicModem (Tasks::Task *task, IO::Handle *handle)
 
virtual ~BasicModem (void)
 
void initialize (void)
 
void setLineTermIn (const std::string &term)
 
const std::string & getLineTermIn (void)
 
void setLineTermOut (const std::string &str)
 
const std::string & getLineTermOut (void)
 
void setLineTrim (bool enable)
 
void setTxRateMax (double rate)
 
bool isBusy (void)
 
bool isCooling (void)
 
void setBusy (bool value)
 
- Public Member Functions inherited from DUNE::Concurrency::Thread
 Thread (void)
 
virtual ~Thread (void)
 
int getProcessorUsage (void)
 
- Public Member Functions inherited from DUNE::Concurrency::Runnable
 Runnable (void)
 
virtual ~Runnable (void)
 
void start (void)
 
void stop (void)
 
void join (void)
 
void stopAndJoin (void)
 
void setPriority (Scheduler::Policy policy, unsigned priority)
 
unsigned getPriority (void)
 
State getState (void)
 
bool isCreated (void)
 
bool isStopping (void)
 
bool isRunning (void)
 
bool isStarting (void)
 
bool isDead (void)
 

Protected Types

enum  ReadMode { READ_MODE_LINE, READ_MODE_RAW }
 

Protected Member Functions

virtual bool handleUnsolicited (const std::string &str)
 
virtual void sendInitialization (void)
 
virtual void sendReset (void)
 
virtual bool isFragment (const std::string &str)
 
void sendRaw (const uint8_t *data, unsigned data_size)
 
void send (const std::string &str)
 
void setTimeout (double timeout)
 
double getTimeout (void)
 
void expect (const std::string &str)
 
void readRaw (Time::Counter< double > &timer, uint8_t *data, unsigned data_size)
 
ReadMode getReadMode (void)
 
void setReadMode (ReadMode mode)
 
void flushInput (void)
 
std::string readLine (void)
 
std::string readLine (Time::Counter< double > &timer)
 
Tasks::Task * getTask (void)
 
void setSkipLine (const std::string &line)
 
- Protected Member Functions inherited from DUNE::Concurrency::Thread
void startImpl (void)
 
void stopImpl (void)
 
void joinImpl (void)
 
void setPriorityImpl (Scheduler::Policy policy, unsigned priority)
 
unsigned getPriorityImpl (void)
 

Protected Attributes

Concurrency::Mutex m_mutex
 
IO::Handle * m_handle
 
std::string m_last_cmd
 

Additional Inherited Members

- Public Types inherited from DUNE::Concurrency::Runnable
enum  State {
  StateStarting, StateRunning, StateStopping, StateDead,
  StateUnknown
}
 

Member Enumeration Documentation

◆ ReadMode

enum DUNE::Hardware::BasicModem::ReadMode
protected

Read mode.

Enumerator
READ_MODE_LINE 

Line oriented input.

READ_MODE_RAW 

Unprocessed sequence of bytes.

Constructor & Destructor Documentation

◆ BasicModem()

DUNE::Hardware::BasicModem::BasicModem ( Tasks::Task *  task,
IO::Handle *  handle 
)

Constructor.

Parameters
[in]taskparent task.
[in]handleI/O handle.

References DUNE::IO::Handle::flushInput(), and m_handle.

◆ ~BasicModem()

virtual DUNE::Hardware::BasicModem::~BasicModem ( void  )
inlinevirtual

References getLineTermIn(), getLineTermOut(), initialize(), isBusy(), isCooling(), setBusy(), setLineTermIn(), setLineTermOut(), setLineTrim(), and setTxRateMax().

Member Function Documentation

◆ expect()

void DUNE::Hardware::BasicModem::expect ( const std::string &  str)
protected

References readLine().

Referenced by isFragment().

◆ flushInput()

void DUNE::Hardware::BasicModem::flushInput ( void  )
protected

References DUNE::Status::CODE_IO_ERROR, DUNE::IO::Handle::flushInput(), getReadMode(), DUNE::Status::getString(), getTask(), handleUnsolicited(), DUNE::IMC::IoEvent::IOV_TYPE_INPUT_ERROR, DUNE::Concurrency::Runnable::isStopping(), m_handle, DUNE::IO::Poll::poll(), DUNE::Concurrency::TSQueue< T >::push(), DUNE::IO::Handle::read(), READ_MODE_RAW, DUNE::Tasks::Task::receive(), DUNE::Streams::sanitize(), DUNE::IMC::Message::setDestinationEntity(), DUNE::IMC::Message::setSource(), DUNE::IMC::Message::setSourceEntity(), DUNE::Tasks::Task::spew(), DUNE::IMC::IoEvent::type, and DUNE::Tasks::Task::war().

Referenced by isFragment().

◆ getLineTermIn()

const std::string & DUNE::Hardware::BasicModem::getLineTermIn ( void  )

References m_mutex.

Referenced by ~BasicModem().

◆ getLineTermOut()

const std::string & DUNE::Hardware::BasicModem::getLineTermOut ( void  )

References m_mutex.

Referenced by DUNE::Hardware::HayesModem::sendAT(), and ~BasicModem().

◆ getReadMode()

BasicModem::ReadMode DUNE::Hardware::BasicModem::getReadMode ( void  )
protected

References m_mutex.

Referenced by flushInput(), and isFragment().

◆ getTask()

Tasks::Task* DUNE::Hardware::BasicModem::getTask ( void  )
inlineprotected

References setSkipLine().

Referenced by flushInput(), DUNE::Hardware::HayesModem::HayesModem(), readRaw(), send(), DUNE::Hardware::HayesModem::sendAT(), setBusy(), setReadMode(), and DUNE::Hardware::HayesModem::setRSSI().

◆ getTimeout()

double DUNE::Hardware::BasicModem::getTimeout ( void  )
protected

References m_mutex.

Referenced by isFragment(), and readLine().

◆ handleUnsolicited()

virtual bool DUNE::Hardware::BasicModem::handleUnsolicited ( const std::string &  str)
inlineprotectedvirtual

Handle unsolicited or asynchronous commands.

Parameters
[in]strcommand string.
Returns
true if command was handled, false otherwise.

Referenced by flushInput(), and setReadMode().

◆ initialize()

void DUNE::Hardware::BasicModem::initialize ( void  )

References DUNE::IO::Handle::flushInput(), m_handle, READ_MODE_LINE, sendInitialization(), sendReset(), setReadMode(), DUNE::Concurrency::Runnable::start(), and DUNE::Time::Delay::wait().

Referenced by ~BasicModem().

◆ isBusy()

bool DUNE::Hardware::BasicModem::isBusy ( void  )

Test if the modem is busy.

Returns
true if the modem is busy, false otherwise.

References m_mutex.

Referenced by ~BasicModem().

◆ isCooling()

bool DUNE::Hardware::BasicModem::isCooling ( void  )

Test if the modem is cooling down.

Returns
true if the modem is cooling down, false otherwise.

References m_mutex, and DUNE::Time::Counter< T >::overflow().

Referenced by ~BasicModem().

◆ isFragment()

virtual bool DUNE::Hardware::BasicModem::isFragment ( const std::string &  str)
inlineprotectedvirtual

Test if command is not complete (i.e.

is a fragment). This method is useful when the protocol allows mixing ASCII with binary data.

Parameters
[in]strcommand string.
Returns
true if command is a fragment, false otherwise.

References expect(), flushInput(), getReadMode(), getTimeout(), readLine(), readRaw(), send(), sendRaw(), setReadMode(), and setTimeout().

Referenced by readRaw().

◆ readLine() [1/2]

std::string DUNE::Hardware::BasicModem::readLine ( void  )
protected

References getTimeout().

Referenced by DUNE::Hardware::HayesModem::expect(), expect(), DUNE::Hardware::HayesModem::getRevision(), isFragment(), readLine(), and DUNE::Hardware::HayesModem::readValue().

◆ readLine() [2/2]

std::string DUNE::Hardware::BasicModem::readLine ( Time::Counter< double > &  timer)
protected

References DUNE::Time::Counter< T >::getRemaining(), m_last_cmd, DUNE::Concurrency::TSQueue< T >::pop(), readLine(), and DUNE::Concurrency::TSQueue< T >::waitForItems().

◆ readRaw()

void DUNE::Hardware::BasicModem::readRaw ( Time::Counter< double > &  timer,
uint8_t *  data,
unsigned  data_size 
)
protected

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), DUNE::Time::Counter< T >::getRemaining(), getTask(), isFragment(), DUNE::Time::Counter< T >::overflow(), DUNE::Concurrency::TSQueue< T >::pop(), DUNE::Streams::sanitize(), DUNE::IMC::Message::setDestination(), DUNE::Tasks::Task::trace(), DUNE::Utils::String::trim(), DUNE::IMC::DevDataText::value, and DUNE::Concurrency::TSQueue< T >::waitForItems().

Referenced by isFragment().

◆ send()

void DUNE::Hardware::BasicModem::send ( const std::string &  str)
protected

References DUNE::Tasks::Task::dispatch(), getTask(), DUNE::Streams::sanitize(), sendRaw(), DUNE::IMC::Message::setDestination(), DUNE::Tasks::Task::trace(), and DUNE::IMC::DevDataText::value.

Referenced by isFragment(), and DUNE::Hardware::HayesModem::sendAT().

◆ sendInitialization()

virtual void DUNE::Hardware::BasicModem::sendInitialization ( void  )
inlineprotectedvirtual

Reimplemented in DUNE::Hardware::HayesModem.

Referenced by initialize().

◆ sendRaw()

void DUNE::Hardware::BasicModem::sendRaw ( const uint8_t *  data,
unsigned  data_size 
)
protected

References m_handle, and DUNE::IO::Handle::write().

Referenced by isFragment(), and send().

◆ sendReset()

virtual void DUNE::Hardware::BasicModem::sendReset ( void  )
inlineprotectedvirtual

Reimplemented in DUNE::Hardware::HayesModem.

Referenced by initialize().

◆ setBusy()

void DUNE::Hardware::BasicModem::setBusy ( bool  value)

References DUNE::Tasks::Task::debug(), getTask(), m_mutex, and DUNE::Time::Counter< T >::reset().

Referenced by ~BasicModem().

◆ setLineTermIn()

void DUNE::Hardware::BasicModem::setLineTermIn ( const std::string &  term)

Set line termination for modem to CPU commands.

Parameters
[in]termline terminator.

References m_mutex.

Referenced by ~BasicModem().

◆ setLineTermOut()

void DUNE::Hardware::BasicModem::setLineTermOut ( const std::string &  str)

Set line termination for CPU to modem commands.

Parameters
[in]strline terminator.

References m_mutex.

Referenced by ~BasicModem().

◆ setLineTrim()

void DUNE::Hardware::BasicModem::setLineTrim ( bool  enable)

Remove leading and trailing blank characters from lines.

Parameters
[in]enabletrue to enable trimming, false otherwise.

References m_mutex.

Referenced by ~BasicModem().

◆ setReadMode()

void DUNE::Hardware::BasicModem::setReadMode ( BasicModem::ReadMode  mode)
protected

References DUNE::Tasks::Task::err(), getTask(), handleUnsolicited(), m_mutex, DUNE::Concurrency::TSQueue< T >::pop(), DUNE::Concurrency::TSQueue< T >::push(), READ_MODE_LINE, DUNE::Concurrency::TSQueue< T >::size(), and DUNE::Tasks::Task::spew().

Referenced by initialize(), DUNE::Hardware::HayesModem::initialize(), and isFragment().

◆ setSkipLine()

void DUNE::Hardware::BasicModem::setSkipLine ( const std::string &  line)
protected

Referenced by getTask().

◆ setTimeout()

void DUNE::Hardware::BasicModem::setTimeout ( double  timeout)
protected

References m_mutex.

Referenced by isFragment().

◆ setTxRateMax()

void DUNE::Hardware::BasicModem::setTxRateMax ( double  rate)

Set maximum transmission rate.

Parameters
[in]ratetransmission rate in second. Negative values will disable transmission rate control.
[in]ratetransmission rate in second. Negative values will disable transmission rate cap.

References m_mutex, and DUNE::Time::Counter< T >::setTop().

Referenced by ~BasicModem().

Member Data Documentation

◆ m_handle

IO::Handle* DUNE::Hardware::BasicModem::m_handle
protected

I/O handle.

Referenced by BasicModem(), flushInput(), initialize(), DUNE::Hardware::HayesModem::initialize(), DUNE::Hardware::HayesModem::sendRaw(), and sendRaw().

◆ m_last_cmd

std::string DUNE::Hardware::BasicModem::m_last_cmd
protected

Last command sent to modem.

Referenced by readLine(), and DUNE::Hardware::HayesModem::sendAT().

◆ m_mutex

Concurrency::Mutex DUNE::Hardware::BasicModem::m_mutex
protected

Concurrency lock.

Referenced by getLineTermIn(), getLineTermOut(), getReadMode(), DUNE::Hardware::HayesModem::getRSSI(), getTimeout(), isBusy(), isCooling(), setBusy(), setLineTermIn(), setLineTermOut(), setLineTrim(), setReadMode(), DUNE::Hardware::HayesModem::setRSSI(), setTimeout(), and setTxRateMax().

Collaboration diagram for DUNE::Hardware::BasicModem:
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