Implemented binary send() functions for local tr.

projects/local_transceiver/inc/local_transceiver.h

@@ -1,5 +1,6 @@
 #pragma once
 
+#include <custom_interfaces/msg/detail/gps__struct.hpp>
 #include <mutex>
 #include <string>
 
@@ -91,8 +92,7 @@ class LocalTransceiver
      * @tparam T of type custom_interfaces::msg::T
      * @param sensor new sensor data
      */
-    template <typename T>
-    void onNewSensorData(T sensor);
+    void onNewSensorData(custom_interfaces::msg::GPS sensor);
 
     /**
      * @brief Send current data to the serial port and to the remote server
@@ -134,14 +134,6 @@ class LocalTransceiver
      */
     void send(const std::string & cmd);
 
-    /**
-     * @brief Formats binary data to be sent to the satellite according to the AT command specification
-     *
-     * @param data data binary string to be sent
-     * @return Formatted message to be written to serial
-     */
-    static std::string createOutMsg(const std::string & data);
-
     /**
      * @brief Parse the message received from the remote server
      *
@@ -164,4 +156,12 @@ class LocalTransceiver
      * @return false if invalid
      */
     bool checkOK();
+
+    /**
+     * @brief Compute a checksum
+     *
+     * @param data data string
+     * @return checksum as a string
+     */
+    static std::string checksum(const std::string & data);
 };

projects/local_transceiver/src/local_transceiver.cpp

@@ -6,6 +6,7 @@
 #include <boost/asio/streambuf.hpp>
 #include <boost/asio/write.hpp>
 #include <boost/system/error_code.hpp>
+#include <custom_interfaces/msg/detail/gps__struct.hpp>
 #include <exception>
 #include <mutex>
 #include <stdexcept>
@@ -25,7 +26,6 @@ LocalTransceiver::SensorBuf::SensorBuf(){};
 
 void LocalTransceiver::SensorBuf::updateSensor(msg::GPS gps)
 {
-    std::lock_guard<std::mutex> lock(buf_mtx_);
     sensors_.mutable_gps()->set_heading(gps.heading.heading);
     sensors_.mutable_gps()->set_latitude(gps.lat_lon.latitude);
     sensors_.mutable_gps()->set_longitude(gps.lat_lon.longitude);
@@ -34,7 +34,6 @@ void LocalTransceiver::SensorBuf::updateSensor(msg::GPS gps)
 
 void LocalTransceiver::SensorBuf::updateSensor(msg::AISShips ships)
 {
-    std::lock_guard<std::mutex> lock(buf_mtx_);
     sensors_.clear_ais_ships();
     for (const msg::HelperAISShip & ship : ships.ships) {
         Sensors::Ais * new_ship = sensors_.add_ais_ships();
@@ -49,11 +48,7 @@ void LocalTransceiver::SensorBuf::updateSensor(msg::AISShips ships)
     }
 }
 
-Sensors LocalTransceiver::SensorBuf::sensors()
-{
-    std::lock_guard<std::mutex> lock(buf_mtx_);
-    return sensors_;
-}
+Sensors LocalTransceiver::SensorBuf::sensors() { return sensors_; }
 
 LocalTransceiver::LocalTransceiver(const std::string & port_name, const uint32_t baud_rate) : serial_(io_, port_name)
 {
@@ -67,17 +62,11 @@ LocalTransceiver::~LocalTransceiver()
 
 void LocalTransceiver::stop()
 {
-    std::lock_guard<std::mutex> lock(serial_mtx_);
-    // TODO(Jng468): Flush the serial port
+    serial_.cancel();
     serial_.close();  // Can throw an exception so cannot be put in the destructor
 }
 
-template <typename T>
-void LocalTransceiver::onNewSensorData(T sensor)
-{
-
-    sensor_buf_.updateSensor(sensor);
-}
+void LocalTransceiver::onNewSensorData(msg::GPS sensor) { sensor_buf_.updateSensor(sensor); }
 
 bool LocalTransceiver::send()
 {
@@ -99,14 +88,14 @@ bool LocalTransceiver::send()
           "No implementation to handle this!";
         throw std::length_error(err_string);
     }
-    std::string msg = createOutMsg(data);
-
-    std::lock_guard<std::mutex> lock(serial_mtx_);
 
     static constexpr int MAX_NUM_RETRIES = 20;
     for (int i = 0; i < MAX_NUM_RETRIES; i++) {
-        // TODO(Jng468): Send the binary data
-        send(msg);
+        std::string sbdwbCommand = "AT+SBDWB=" + std::to_string(data.size()) + "\r";
+        send(sbdwbCommand + data + "\r");
+
+        std::string checksumCommand = std::to_string(data.size()) + checksum(data) + "\r";
+        send(data + "+" + checksumCommand + "\r");
 
         // Check SBD Session status to see if data was sent successfully
         send(AT::SBD_SESSION);
@@ -129,33 +118,29 @@ bool LocalTransceiver::send()
 std::string LocalTransceiver::debugSend(const std::string & cmd)
 {
     send(cmd);
-    // TODO(Jng468): Get the output and return it
-    return "PLACEHOLDER";
+
+    std::string response = readLine();  // Read and capture the response
+    readLine();                         // Check if there is an empty line after respones
+    return response;
 }
 
 std::string LocalTransceiver::receive()
 {
-    // TODO(Jng468)
-    (void)serial_;  // Remove this line when implemented
-    std::string msg = "placeholder";
-    return msg;
+    std::string receivedData = readLine();
+    return receivedData;
 }
 
 void LocalTransceiver::send(const std::string & cmd) { bio::write(serial_, bio::buffer(cmd, cmd.size())); }
 
-std::string LocalTransceiver::createOutMsg(const std::string & data)
-{
-    // TODO(Jng468)
-    std::string msg = "Prepend command header + any others stuff" + data + " Append other stuff";
-    return msg;
-}
-
 std::string LocalTransceiver::parseInMsg(const std::string & msg)
 {
-    // TODO(Jng468)
-    (void)msg;
-    // Separate data from payload header and other formatting
-    std::string data = "placeholder";
+    const std::string header = "AT+SBDWB=";
+    const std::string footer = "\r";
+
+    size_t headerPos = msg.find(header);
+    size_t footerPos = msg.find(footer);
+
+    std::string data = msg.substr(headerPos + header.size(), footerPos - headerPos - header.size());
     return data;
 }
 
@@ -172,3 +157,15 @@ bool LocalTransceiver::checkOK()
     std::string status = readLine();
     return status == AT::STATUS_OK;
 }
+
+std::string LocalTransceiver::checksum(const std::string & data)
+{
+    uint16_t counter = 0;
+    for (char c : data) {
+        counter += static_cast<uint8_t>(c);
+    }
+
+    std::stringstream ss;
+    ss << std::hex << std::setw(4) << std::setfill('0') << counter;
+    return ss.str();
+}

projects/local_transceiver/test/test_local_transceiver.cpp

@@ -1,15 +1,15 @@
 /* IMPORTANT: Make sure only one instance of network_systems/scripts/run_virtual_iridium.sh is running */
 
 #include <boost/system/system_error.hpp>
+
 #include "cmn_hdrs/shared_constants.h"
 #include "gtest/gtest.h"
 #include "local_transceiver.h"
+#include "sensors.pb.h"
 
 class TestLocalTransceiver : public ::testing::Test
 {
 protected:
-
-    // TestLocalTransceiver() : lcl_trns_(LocalTransceiver(LOCAL_TRANSCEIVER_TEST_PORT, SATELLITE_BAUD_RATE)) {}
     TestLocalTransceiver()
     {
         try {
@@ -25,10 +25,32 @@ class TestLocalTransceiver : public ::testing::Test
         delete lcl_trns_;
     }
 
-    ~TestLocalTransceiver() override { delete lcl_trns_; }
     LocalTransceiver * lcl_trns_;
 };
 
-TEST_F(TestLocalTransceiver, PlaceholderTest) { std::cout << "PLACEHOLDER" << std::endl; }
+/**
+ * @brief Verify debugSendTest sends something to the terminal
+ */
+TEST_F(TestLocalTransceiver, debugSendTest)
+{
+    std::string testDebug = "showsUp";
+    lcl_trns_->debugSend(testDebug);
+}
+
+/**
+ * @brief Send a binary string to virtual_iridium and verify it is received
+ *        Uses gps custom interface
+ */
+TEST_F(TestLocalTransceiver, sendGpsTest)
+{
+    constexpr float holder = 14.3;
+
+    custom_interfaces::msg::GPS gps;
+    gps.heading.set__heading(holder);
+    gps.lat_lon.set__latitude(holder);
+    gps.lat_lon.set__longitude(holder);
+    gps.speed.set__speed(holder);
 
-TEST_F(TestLocalTransceiver, PlaceholderTest2) { std::cout << "PLACEHOLDER" << std::endl; }
+    lcl_trns_->onNewSensorData(gps);
+    lcl_trns_->send();
+}