AcousticModem_Benthos_ATM900.h

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#ifndef ACOUSTICMODEM_BENTHOS_ATM900_H
#define ACOUSTICMODEM_BENTHOS_ATM900_H

#include "component/SyncComponent.h"
#include "io/LoadControl.h"
#include "io/UartStream.h"
#include "logger/Logger.h"

class UniversalDataReader;
class UniversalDataWriter;

class AcousticModem_Benthos_ATM900 : public SyncSensorComponent
{
public:

    AcousticModem_Benthos_ATM900( const Module* module );

    virtual ~AcousticModem_Benthos_ATM900();

    virtual void run();

    virtual RunState start();

    virtual RunState starting();

    virtual RunState pause();

    virtual RunState paused();

    virtual RunState resume();

    virtual RunState resuming();

    virtual RunState runnable();

    virtual RunState resetting()
    {
        return stop();
    }

    virtual RunState stop();

    virtual RunState stopping();

    virtual RunState stopped();

    virtual void uninitialize();

    virtual ConfigURI getConfigURI( ConfigOption configOption ) const;

private:

    // Note that the copy constructor below is private and not given a body.
    // Any attempt to call it will return a compiler error.
    AcousticModem_Benthos_ATM900( const AcousticModem_Benthos_ATM900& old ); // disallow copy constructor

    void readConfig();

    ConfigReader* verbosityCfgReader_;
    ConfigReader* localAddressCfgReader_;

    // Slate inputs
    DataReader *queryAddressRequestedReader_;
    DataReader *numberOfPingsRequestedReader_;

    // Slate outputs
    DataWriter* acousticWakeupWriter_;
    UniversalDataWriter* rxTimeWriter_;
    UniversalDataWriter* txTimeWriter_;
    DataWriter* rangeRequestReceivedWriter_;
    DataWriter* remoteAddressWriter_;
    DataWriter* localAddressWriter_;
    DataWriter* rangeWriter_;
//    DataWriter* onewayCmdWriter_;

    bool debug_;
    int verbosity_;
    char deviceResponse_[396]; // Stores the current response from the modem

    // Instance of load controller
    LoadControl loadControl_;
    Timestamp startTime_;
    Timestamp powerOffTimeStart_;
    Timespan poTimeout_, powerDownTimeout_;

    UartStream uart_; // Holds the communications device

    int localAddressCfgSetting_;
    bool commandModeSent_, commandModeAcknowledged_, localAddressSettingSent_, localAddressSettingAcknowledged_; // TODO: These state flags are clunky -- it would be cleaner if we just made this component asynchronous and let the serial port wait for a reasonable time for a response.
    Timespan acousticResponseTimeout_;
    int remoteAddressRequested_, numPingsRequested_; // The query from another component, consisting of the address of the modem from which the AcousticModem_Benthos_ATM900 is requesting data and the number of return pings it is requesting
    int numPingsReceived_;
    bool gotAcousticWakeup_, gotResponseNotReceived_, gotDebugRxMessage_, gotDebugTxMessage_, gotRangeRequestMessage_, gotRangeMessage_;
    int commRate_;

    double range_;
    Timestamp dataTimestamp_;
    Timestamp transmitPingTime_, receivePingTime_;
    Timestamp modemTransmitPingTime_, modemReceivePingTime_;
    double modemTransmitPingEpochSeconds_, modemReceivePingEpochSeconds_;
    int remoteAddress_, localAddress_;

    void logVoltageAndCurrent();

    // returns true if data is requested from one of the readers
    bool isDataRequested();

    bool gotNewQuery( void );

    Timestamp requestRange( const int remoteAddress, const int numPings );

    int clearUserPrompt( void );

    void readAndParseResponses( void );

    void cleanResponse( void );

    bool parseDebugRxMessage( void );

    bool parseDebugTxMessage( void );

    bool parseRangeMessage( void );

    void publishData( void );

};

#endif /*ACOUSTICMODEM_BENTHOS_ATM900_H*/