//========================================================================= // Summary : Modem Message Enumerations. // Filename : ModemMessage.h // Author : bluefinrobotics.com // Project : Remote Modem Message // Revision : 1 // Created : 2002 // Modified : 2003.03.11 Reed: added SeabirdSBE25. //========================================================================= // Description : Remote Modem Message Enumerations. //========================================================================= #ifndef _MODEMMESSAGE_H #define _MODEMMESSAGE_H #include #include #include // Maximum total length of a serialized ModemMessage #define iMAX_MESSAGE_SIZE 1024 // Codes for pretending to be standard SharedObject-like guys #define ModemMessageMsgCode 20 #define ModemMessageRequestMsgCode (ModemMessageMsgCode+1) class MMConvertible; ////////////////////////////////////////////////// // Priority - an enum of possible priority values. enum Priority { pDEFAULT, // no priority specified, use the config file default or AVERAGE pBEGIN, // placeholder for loop iteration pOPTIONAL = pBEGIN, // only send this data if you have plenty of bandwidth and power. pLOW, // not important pAVERAGE, // standard mission data pHIGH, // important mission data pURGENT, // safety data- danger messages only pMETA, // transmission information, such as ACKs pEND // placeholder for loop iteration }; /////////////////////////////////////////////////////// // A data holder for data that we want passed to a remote machine // via the modem. Fairly generic. Cannot pass between threads easily, // as the Message maintains pointers to locally allocated data. class ModemMessage { public: enum Type { // NEVER INSERT NEW TYPES ANYWHERE EXCEPT IMMEDIATELY BEFORE tEND!!!!!!! tUNKNOWN = 0, // we have no idea! tACK = 1, // acknowledgement of previous message tSTRING = 2, // human-readable string data tSYSTEM_COMMAND = 3, // command for remote system tMMNavigationPosition = 4, //Navigation position message tMMNavigationPositionRequest = 5, //Navigation position request message tMMNavigationAttitude = 6, //Navigation state message tMMNavigationStateRequest = 7, //Navigation state request message tMMAgentRequest = 8, //Turns on/off streaming data or gets single-shot tMMTailcone = 9, // Control tailcone and get feedback tMMCircuit = 10, // Power circuit status message tMMCircuitCurrent = 11, // Power circuit current message tMMGroundFaultCurrent = 12, // Ground fault current message tMMTemperature = 13, // Power board temperature message tMMWaterAlarm = 14, // Water alarm message tMMServerAlarm = 15, // Server alarm message tMMDropWeightRelease = 16, // Drop weight release message tMMDynamicControlCommand = 17, //Dynamic Control command message tMMDynamicControlCommandFull = 18, //Full-fledge dynamic control message tMMWaterAlarmBatch = 19, //Array of water alarms tMMServerAlarmBatch = 20, //Array of server alarms tMMDropWeightReleaseBatch = 21, //Array of drop weight release flags tMMCircuitBatch = 22, //Array of circuit on/off flags tMMCircuitCurrentBatch = 23, //Array of circuit currents tMMGroundFaultCurrentBatch = 24, //Array of ground fault currents tMMTemperatureBatch = 25, //Array of sphere temperatures tMMDeviceInfo = 26, //Uncompressed device info tMMTailconeRaw = 27, //Raw tailcone actuator readings tMMAhrs = 28, //Attitude, heading roll sensor tMMDepthSensor = 29, //Pressure depth sensor tMMWatchdog = 30, //Power board watchdogs tMMDvl = 31, //DVL vx,vy,vz, and range tMMDvlBeamVelocities = 32, //DVL beam velocities tMMDvlBeamRanges = 33, //DVL beam ranges tMMHoming = 34, //APOGEE homing message tMMGps = 35, //Gps message type tMMString = 36, //Generic string tMMNmea = 37, //NMEA message type tMMAbortMission = 38, //Abort mission message indicator tMMRtcm = 39, //RTCM message tMMUSBLFix = 40, //USBL fix messages tMMServer = 41, tMMMissionInfo = 42, tMMBehavior = 43, tMMBehaviorArray = 44, tMMActiveBehavior = 45, tMMMissionName = 46, tMMDriver = 47, tMMOas = 48, tMMSvs = 49, tMMDvlAttTemp = 50, tMMCircuitInfo = 51, tMMJumpBehavior = 52, tMMLN250 = 53, tMMBluefinBatteryInfo = 54, tMMBluefinBatteryGlobal = 55, tMMKillMission = 56, tMMLogDirName = 57, tMMControlExecute = 58, tMMMultiLeica = 59, tMMSeacat = 60, tMMSas21 = 61, tMMPhins = 62, tMMSeabirdSBE25 = 63, tMMEnvironmental = 64, tMMFluorometer = 65, //insert here tEND }; enum ControlType // Do we want to make sure that this guy gets through? { // NEVER INSERT NEW TYPES ANYWHERE EXCEPT IMMEDIATELY BEFORE ctEND!!!!!!! ctNoAck, // Nope. If it does not get through, that's okay. ctAck, // Make sure that this guy gets through. If you don't see an ACK // for him, send him again. It's OK if the receiver gets him more // than once. ctExactlyOnce,// Like ctAck, but this guy cannot arrive more than once. // The receiver filters extras out. This is somewhat expensive. ctEND }; ModemMessage(const char* buffer); // turns binary into true message form ModemMessage(const ModemMessage* pMessage); // copy construction ModemMessage(const MMConvertible* pMMC); ~ModemMessage(); ////////////////////////////////////////////////// // getBuffer - returns a pointer to the data in the message. const char* getBuffer() const { return _pcBuffer; }; ////////////////////////////////////////////////// // getBufferWritable - returns a pointer to the data in the message. char* getBufferWritable() { return _pcBuffer; }; ////////////////////////////////////////////////// // getBufferSize - returns length of the pointer in the message. int getBufferSize() const { return _iBufferLength; }; ////////////////////////////////////////////////// // getType - returns the type of the message. Type getType() const { return _type; }; ////////////////////////////////////////////////// // //time_t tGetAbsoluteTimeout() const { return _tTimeout; } ////////////////////////////////////////////////// // pcUnparse - writes a binary version of the message into buffer, // returns pointer to the byte after the last byte used in this way char *pcUnparse(char* buffer) const; ////////////////////////////////////////////////// // pcParse - reads a binary buffer as written by pcUnparse // returns pointer to the byte after the last byte used in this way void pcParse(const char* buffer); ////////////////////////////////////////////////// // nBinaryBytes - number of bytes that would be written by pcUnparse int nBinaryBytes() const; ////////////////////////////////////////////////// // nActualBytes - number of bytes used up by the actual object int nActualBytes() const { return sizeof(ModemMessage)+_iBufferLength; }; static int overhead() { return 2; }; // svelte, eh? protected: char* _pcBuffer; // data buffer int _iBufferLength; // length of data buffer in bytes Type _type; // what kind of message is this? // // Friends // friend class ModemBroker; }; // Parent class for guys who can easily convert back and forth from ModemMessage. class MMConvertible { public: // Should define a Child::Child(const ModemMessage*) constructor for each child. // Should define a copy constructor for each child. If not, C++ may implement it // by converting to ModemMessage and back again. Copy is used in lots of hidden places. // Required serialization calls: virtual const char* pcRead(const char* sourceBuffer) = 0; virtual char *pcWrite(char * destBuffer) const = 0; // Required ModemMessage type ID. virtual ModemMessage::Type tGetMessageType() const = 0; // Optional default control virtual ModemMessage::ControlType ctGetDefaultControlType() const { return ModemMessage::ctNoAck; }; }; #endif