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Goby Intervehicle Portal - Reattempt comm link connection feature #316

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Goby Intervehicle Portal - Reattempt comm link connection feature #316

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10 changes: 10 additions & 0 deletions src/middleware/protobuf/intervehicle.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,16 @@ message PortalConfig
(goby.field).description = "Time between modem reports",
(dccl.field) = { units { base_dimensions: "T" } }
];

optional bool required = 22 [
default = true,
(goby.field).description = "Specify if the modem is necessary for an application's communications archictecture."
];

optional uint32 connection_attempts = 23 [
default = 1,
(goby.field).description = "The number of times to re-attempt initialising the link. Set to 0 for infinite attempts."
];
}

repeated LinkConfig link = 1;
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58 changes: 44 additions & 14 deletions src/middleware/transport/intervehicle.h
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Original file line number Diff line number Diff line change
Expand Up @@ -779,28 +779,58 @@ class InterVehiclePortal
data.underlying_thread.reset(new std::thread(
[&data, link]()
{
try
{
data.modem_driver_thread.reset(new intervehicle::ModemDriverThread(*link));
data.modem_driver_thread->run(data.driver_thread_alive);
}
catch (std::exception& e)
{
goby::glog.is_warn() &&
goby::glog << "Modem driver thread had uncaught exception: " << e.what()
<< std::endl;
throw;
}
uint32_t attempts = 0;
do {
attempts++;
try
{
data.modem_driver_thread.reset(
new intervehicle::ModemDriverThread(*link));
data.modem_driver_thread->run(data.driver_thread_alive);
}
catch (std::exception& e)
{
if (link->connection_attempts() == 0 ||
attempts < link->connection_attempts())
{
goby::glog.is_warn() &&
goby::glog << "Modem driver thread had uncaught exception: "
<< e.what() << " Attempting reconnection."
<< std::endl;
}
else
{
if (link->required())
{
goby::glog.is_warn() &&
goby::glog << "Modem driver thread had uncaught exception: "
<< e.what() << std::endl;
throw;
}
else
{
goby::glog.is_warn() &&
goby::glog << "Modem driver thread had uncaught exception: "
<< e.what()
<< " However, the communication link is not "
"required. Ignoring uncaught exception."
<< std::endl;
}
}
}
} while (link->connection_attempts() == 0 ||
attempts < link->connection_attempts());
}));

if (goby::glog.buf().is_gui())
// allows for visual grouping of each link in the NCurses gui
std::this_thread::sleep_for(std::chrono::milliseconds(250));
}

while (drivers_ready_ < modem_drivers_.size())
while (drivers_ready_ > 1) // < modem_drivers_.size())
{
goby::glog.is_debug1() && goby::glog << "Waiting for drivers to be ready." << std::endl;
goby::glog.is_debug1() &&
goby::glog << "Waiting for at least one modem driver to be ready." << std::endl;
this->poll();
std::this_thread::sleep_for(std::chrono::seconds(1));
}
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