/*****************************************************************/ /* NAME: Michael Benjamin */ /* ORGN: Dept of Mechanical Eng / CSAIL, MIT Cambridge MA */ /* FILE: FldNodeComms.h */ /* DATE: Dec 4th 2011 */ /* */ /* This file is part of MOOS-IvP */ /* */ /* MOOS-IvP is free software: you can redistribute it and/or */ /* modify it under the terms of the GNU General Public License */ /* as published by the Free Software Foundation, either version */ /* 3 of the License, or (at your option) any later version. */ /* */ /* MOOS-IvP is distributed in the hope that it will be useful, */ /* but WITHOUT ANY WARRANTY; without even the implied warranty */ /* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See */ /* the GNU General Public License for more details. */ /* */ /* You should have received a copy of the GNU General Public */ /* License along with MOOS-IvP. If not, see */ /* . */ /*****************************************************************/ #ifndef FLD_NODE_COMMS_HEADER #define FLD_NODE_COMMS_HEADER #include #include #include "MOOS/libMOOS/Thirdparty/AppCasting/AppCastingMOOSApp.h" #include "NodeRecord.h" #include "NodeMessage.h" #include "AckMessage.h" class FldNodeComms : public AppCastingMOOSApp { public: FldNodeComms(); virtual ~FldNodeComms() {} public: // Standard MOOSApp functions to overload bool OnNewMail(MOOSMSG_LIST &NewMail); bool Iterate(); bool OnConnectToServer(); bool OnStartUp(); protected: // Standard AppCastingMOOSApp function to overload bool buildReport(); protected: void registerVariables(); void checkForDeletableNodes(); bool handleMailNodeReport(const std::string& str, std::string& whynot); bool handleMailNodeMessage(const std::string& str, const std::string& src); bool handleMailAckMessage(const std::string& str); bool handleMailCommsRange(double); bool handleMailFullReportReq(std::string); bool handleStealth(const std::string&); bool handleEarange(const std::string&); bool handleEnableSharedNodeReports(std::string); void distributeNodeReportInfo(const std::string& uname); void localShareNodeReportInfo(const std::string& uname); void distributeNodeMessageInfo(const std::string& uname); void distributeNodeMessageInfo(std::string src, NodeMessage msg); void distributeAckMessageInfo(const std::string& uname); void distributeAckMessageInfo(std::string src, AckMessage msg); void clearStaleNodes(); bool meetsDropPercentage(); bool meetsRangeThresh(const std::string& v1, const std::string& v2); bool meetsReportRateThresh(const std::string& v1, const std::string& v2); bool meetsCriticalRangeThresh(const std::string&, const std::string&); void postViewCommsPulse(const std::string& v1, const std::string& v2, const std::string& pulse_type="nrep", const std::string& color="auto", double fill_opaqueness=0.35); protected: // Configuration variables bool m_verbose; bool m_debug; bool m_apply_groups; bool m_apply_groups_msgs; bool m_view_node_rpt_pulses; // Default range to source threshold for vehicle to receive // node report from a source vehicle. double m_comms_range; double m_critical_range; double m_default_stealth; double m_default_earange; double m_min_stealth; double m_max_earange; double m_drop_pct; // Added Aug 20th, 2021 std::string m_ignore_group; // The duration in seconds associated the comms pulses posted. A // duration of zero means no pulses are to be posted. double m_pulse_duration; // Seconds after which a vehicle does not received node reports // or messages unless a node report has been received from it. double m_stale_time; double m_stale_forget; // always 20 * m_stale_time // Minimum time between message sends (doesn't affect node reports) double m_min_msg_interval; // Minimum time between message sends (doesn't affect messages) double m_min_rpt_interval; // Min time between reposting node reports locally, if enabled double m_min_share_interval; // Maximum length of strings allowed in node messages unsigned int m_max_msg_length; // Total number of stale vehicles detected and dropped unsigned int m_stale_dropped; std::map m_map_stealth; // key:vname std::map m_map_earange; // key:vname protected: // State variables // Holds last node report received for vehicle vname std::map m_map_record; // Holds last time posted local share, if enabled, for each vname std::map m_map_lshare_tstamp; // Holds last node messsages received for vehicle vname std::map > m_map_message; // Holds last ack messsages received for vehicle vname std::map > m_map_ack_message; // True if last node report for vehicle vname has not been sent out std::map m_map_newrecord; // True if last node message for vehicle vname has not been sent out std::map m_map_newmessage; // True if last ack message for vehicle vname has not been sent out std::map m_map_newackmessage; // Time node report was last received for vehicle vname std::map m_map_time_nreport; // Time node message was last received for vehicle vname std::map m_map_time_nmessage; // Time ack message was last received for vehicle vname std::map m_map_time_amessage; // Unique index associated with vehicle vname std::map m_map_vindex; // Name of group if any for vehicle vname according to node reports std::map m_map_vgroup; // Time last node report send from Vehicle A to B. Key is vname:vname2 std::map m_map_last_rpt_tstamp; std::string m_full_rpt_vname; std::set m_full_rpt_waiting; std::string m_msg_color; std::string m_msg_repeat_color; protected: // State (statistics) variables unsigned int m_total_reports_rcvd; unsigned int m_total_reports_sent; unsigned int m_total_messages_rcvd; unsigned int m_total_messages_sent; unsigned int m_total_ack_messages_rcvd; unsigned int m_total_ack_messages_sent; std::map m_map_reports_rcvd; std::map m_map_reports_sent; std::map m_map_messages_rcvd; std::map m_map_messages_sent; std::map m_map_ack_messages_rcvd; std::map m_map_ack_messages_sent; unsigned int m_blk_msg_invalid; unsigned int m_blk_msg_toostale; unsigned int m_blk_msg_tooquick; unsigned int m_blk_msg_toolong; unsigned int m_blk_msg_toofar; unsigned int m_blk_msg_noinfo; std::list m_last_messages; std::list m_recent_ackids; }; #endif