Monitors/Boot: Added boot monitor to send satellite and gsm messages …

…on dune boot.

src/Monitors/Boot/Task.cpp

@@ -0,0 +1,206 @@
+//***************************************************************************
+// Copyright 2007-2024 Universidade do Porto - Faculdade de Engenharia      *
+// Laboratório de Sistemas e Tecnologia Subaquática (LSTS)                  *
+//***************************************************************************
+// This file is part of DUNE: Unified Navigation Environment.               *
+//                                                                          *
+// Commercial Licence Usage                                                 *
+// Licencees holding valid commercial DUNE licences may use this file in    *
+// accordance with the commercial licence agreement provided with the       *
+// Software or, alternatively, in accordance with the terms contained in a  *
+// written agreement between you and Faculdade de Engenharia da             *
+// Universidade do Porto. For licensing terms, conditions, and further      *
+// information contact lsts@fe.up.pt.                                       *
+//                                                                          *
+// Modified European Union Public Licence - EUPL v.1.1 Usage                *
+// Alternatively, this file may be used under the terms of the Modified     *
+// EUPL, Version 1.1 only (the "Licence"), appearing in the file LICENCE.md *
+// included in the packaging of this file. You may not use this work        *
+// except in compliance with the Licence. Unless required by applicable     *
+// law or agreed to in writing, software distributed under the Licence is   *
+// distributed on an "AS IS" basis, WITHOUT WARRANTIES OR CONDITIONS OF     *
+// ANY KIND, either express or implied. See the Licence for the specific    *
+// language governing permissions and limitations at                        *
+// https://github.com/LSTS/dune/blob/master/LICENCE.md and                  *
+// http://ec.europa.eu/idabc/eupl.html.                                     *
+//***************************************************************************
+// Author: Luis Venancio                                                    *
+//***************************************************************************
+
+// DUNE headers.
+#include <DUNE/DUNE.hpp>
+
+namespace Monitors
+{
+  //! Send Satellite and GSM message on boot.
+  //! @author Luis Venancio
+  namespace Boot
+  {
+    using DUNE_NAMESPACES;
+
+    struct Arguments
+    {
+      double delay;
+      double ttl;
+      std::string recipient;
+    };
+
+    struct Task: public DUNE::Tasks::Task
+    {
+      //! Task Arguments
+      Arguments m_args;
+      //! Boot message timer
+      Counter<double> m_delay_timer;
+      //! Flag for message sent
+      bool m_msg_sent;
+
+      //! Constructor.
+      //! @param[in] name task name.
+      //! @param[in] ctx context.
+      Task(const std::string& name, Tasks::Context& ctx):
+        DUNE::Tasks::Task(name, ctx),
+        m_msg_sent(false)
+      {
+        param("Boot Message Delay", m_args.delay)
+        .defaultValue("5")
+        .minimumValue("1")
+        .description("Delay, in seconds, before dispatching boot message. "
+                     "Value can not be less than 1s.");
+
+        param("Boot Message TTL", m_args.ttl)
+        .defaultValue("300")
+        .minimumValue("60")
+        .description("Boot message time-to-live, in seconds. Value can not be less than 60s.");
+
+        param("SMS Recipient Number", m_args.recipient)
+        .visibility(Tasks::Parameter::VISIBILITY_USER)
+        .defaultValue("")
+        .description(DTR("Phone number of the SMS recipient"));
+
+
+        setEntityState(IMC::EntityState::ESTA_BOOT, Status::CODE_INIT);
+      }
+
+      //! Update internal state with new parameter values.
+      void
+      onUpdateParameters(void)
+      {
+      }
+
+      //! Reserve entity identifiers.
+      void
+      onEntityReservation(void)
+      {
+      }
+
+      //! Resolve entity names.
+      void
+      onEntityResolution(void)
+      {
+      }
+
+      //! Acquire resources.
+      void
+      onResourceAcquisition(void)
+      {
+      }
+
+      //! Initialize resources.
+      void
+      onResourceInitialization(void)
+      {
+        m_delay_timer.setTop(m_args.delay);
+      }
+
+      //! Release resources.
+      void
+      onResourceRelease(void)
+      {
+      }
+
+      void
+      sendSatelliteEntityState()
+      {
+        EntityState msg;
+        msg.state = EntityState::ESTA_BOOT;
+        // msg.description = "System Booted";
+
+        IMC::TransmissionRequest request;
+        request.setDestination(getSystemId());
+        request.comm_mean = IMC::TransmissionRequest::CMEAN_SATELLITE;
+        request.data_mode = IMC::TransmissionRequest::DMODE_INLINEMSG;
+        request.deadline = Time::Clock::getSinceEpoch() + m_args.ttl;
+        request.destination = "broadcast";
+        request.msg_data.set(msg);
+        request.req_id = 0;
+
+        dispatch(request);
+        war("EntityState sent");
+      }
+
+      void
+      sendSatelliteText()
+      {
+        Time::BrokenDown bdt(Time::Clock::getSinceEpoch());
+        std::string msg = "Boot: ";
+        msg += String::str("%04u-%02u-%02u %02u:%02u:%02u", bdt.year, bdt.month,
+                                                            bdt.day, bdt.hour, 
+                                                            bdt.minutes, bdt.seconds);
+
+        IMC::TransmissionRequest request;
+        request.setDestination(getSystemId());
+        request.comm_mean = IMC::TransmissionRequest::CMEAN_SATELLITE;
+        request.data_mode = IMC::TransmissionRequest::DMODE_TEXT;
+        request.deadline = Time::Clock::getSinceEpoch() + m_args.ttl;
+        request.destination = "broadcast";
+        request.txt_data = msg;
+        request.req_id = 0;
+
+        dispatch(request);
+      }
+
+      void
+      sendSMS()
+      {
+        if (m_args.recipient.empty())
+          return;
+
+        Time::BrokenDown bdt(Time::Clock::getSinceEpoch());
+        std::string msg = "Boot: ";
+        msg += String::str("%04u-%02u-%02u %02u:%02u:%02u", bdt.year, bdt.month,
+                                                            bdt.day, bdt.hour, 
+                                                            bdt.minutes, bdt.seconds);
+
+        IMC::TransmissionRequest request;
+        request.setDestination(getSystemId());
+        request.comm_mean = IMC::TransmissionRequest::CMEAN_GSM;
+        request.data_mode = IMC::TransmissionRequest::DMODE_TEXT;
+        request.deadline = Time::Clock::getSinceEpoch() + m_args.ttl;
+        request.destination = m_args.recipient;
+        request.txt_data = msg;
+        request.req_id = 1;
+
+        dispatch(request);
+      }
+
+      //! Main loop.
+      void
+      onMain(void)
+      {
+        while (!stopping())
+        {
+          if (m_delay_timer.overflow() && !m_msg_sent)
+          {
+            sendSatelliteText();
+            sendSMS();
+
+            setEntityState(IMC::EntityState::ESTA_NORMAL, "active - messages sent");
+            m_msg_sent = true;
+          }
+        }
+      }
+    };
+  }
+}
+
+DUNE_TASK