RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Alignment with C#

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This commit is contained in:
Pascal Serrarens 2025-06-04 12:17:30 +02:00
parent e36f3bb45d
commit 2a83dbe7ca
6 changed files with 135 additions and 68 deletions
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32
Participant.cpp
View File

@ -1,6 +1,10 @@
#include "Participant.h"
#include <string.h>
#include "Arduino/ArduinoParticipant.h"
#include "EspIdf/EspIdfParticipant.h"
#include "Posix/PosixParticipant.h"
#include "Windows/WindowsParticipant.h"
namespace RoboidControl {
@ -52,6 +56,34 @@ void Participant::Update() {
}
}
bool Participant::Send(IMessage* msg) {
int bufferSize = msg->Serialize(this->buffer);
if (bufferSize <= 0)
return true;
// std::cout << "send msg " << (static_cast<int>(this->buffer[0]) & 0xff)
// << " to " << remoteParticipant->ipAddress << std::endl;
#if defined(_WIN32) || defined(_WIN64)
Windows::ParticipantUDP* thisWindows =
static_cast<Windows::ParticipantUDP*>(this);
return thisWindows->Send(remoteParticipant, bufferSize);
#elif defined(__unix__) || defined(__APPLE__)
Posix::ParticipantUDP* thisPosix = static_cast<Posix::ParticipantUDP*>(this);
return thisPosix->Send(remoteParticipant, bufferSize);
#elif defined(ARDUINO)
Arduino::ParticipantUDP* thisArduino =
static_cast<Arduino::ParticipantUDP*>(this);
return thisArduino->Send(this, bufferSize);
#elif defined(IDF_VER)
EspIdf::ParticipantUDP* thisEspIdf =
static_cast<EspIdf::ParticipantUDP*>(this);
return thisEspIdf->Send(remoteParticipant, bufferSize);
#else
return false;
#endif
}
Thing* Participant::Get(unsigned char thingId) {
for (Thing* thing : this->things) {
if (thing->id == thingId)

11
Participant.h
View File

@ -1,5 +1,6 @@
#pragma once
#include "Messages/IMessage.h"
#include "Thing.h"
namespace RoboidControl {
@ -132,13 +133,21 @@ class Participant {
#pragma endregion Update
#pragma region Send
public:
char buffer[1024];
virtual bool Send(IMessage* msg);
#pragma endregion Send
#pragma region Participant Registry
public:
static ParticipantRegistry registry;
#pragma endregion Participant Registry
};
} // namespace RoboidControl

124
Participants/ParticipantUDP.cpp
View File

@ -46,14 +46,6 @@ ParticipantUDP::ParticipantUDP(const char* ipAddress, int port, int localPort)
Participant::ReplaceLocalParticipant(*this);
}
static ParticipantUDP* isolatedParticipant = nullptr;
ParticipantUDP* ParticipantUDP::Isolated() {
if (isolatedParticipant == nullptr)
isolatedParticipant = new ParticipantUDP(0);
return isolatedParticipant;
}
void ParticipantUDP::begin() {
if (this->isIsolated || this->remoteSite == nullptr)
return;
@ -105,7 +97,8 @@ void ParticipantUDP::Update() {
if (this->remoteSite == nullptr)
this->Publish(msg);
else
this->Send(this->remoteSite, msg);
this->remoteSite->Send(msg);
delete msg;
this->nextPublishMe = currentTimeMs + this->publishInterval;
@ -122,7 +115,7 @@ void ParticipantUDP::PrepMyThings() {
for (Thing* thing : this->things) {
if (thing == nullptr)
continue;
thing->PrepareForUpdate();
}
}
@ -137,12 +130,12 @@ void ParticipantUDP::UpdateMyThings() {
if (thing->hierarchyChanged) {
if (!(this->isIsolated || this->networkId == 0)) {
ThingMsg* thingMsg = new ThingMsg(this->networkId, thing);
this->Send(this->remoteSite, thingMsg);
this->remoteSite->Send(thingMsg);
delete thingMsg;
if (thing->nameChanged) {
NameMsg* nameMsg = new NameMsg(this->networkId, thing);
this->Send(this->remoteSite, nameMsg);
this->remoteSite->Send(nameMsg);
delete nameMsg;
}
}
@ -159,20 +152,20 @@ void ParticipantUDP::UpdateMyThings() {
if (!(this->isIsolated || this->networkId == 0)) {
if (thing->terminate) {
DestroyMsg* destroyMsg = new DestroyMsg(this->networkId, thing);
this->Send(this->remoteSite, destroyMsg);
this->remoteSite->Send(destroyMsg);
delete destroyMsg;
} else {
// Send to remote site
if (thing->nameChanged) {
NameMsg* nameMsg = new NameMsg(this->networkId, thing);
this->Send(this->remoteSite, nameMsg);
this->remoteSite->Send(nameMsg);
delete nameMsg;
}
PoseMsg* poseMsg = new PoseMsg(this->networkId, thing);
this->Send(this->remoteSite, poseMsg);
this->remoteSite->Send(poseMsg);
delete poseMsg;
BinaryMsg* binaryMsg = new BinaryMsg(this->networkId, thing);
this->Send(this->remoteSite, binaryMsg);
this->remoteSite->Send(binaryMsg);
delete binaryMsg;
}
}
@ -203,10 +196,10 @@ void ParticipantUDP::UpdateOtherThings() {
for (Thing* thing : participant->things) {
PoseMsg* poseMsg = new PoseMsg(participant->networkId, thing);
this->Send(participant, poseMsg);
participant->Send(poseMsg);
delete poseMsg;
BinaryMsg* binaryMsg = new BinaryMsg(participant->networkId, thing);
this->Send(participant, binaryMsg);
participant->Send(binaryMsg);
delete binaryMsg;
}
}
@ -221,49 +214,50 @@ void ParticipantUDP::SendThingInfo(Participant* remoteParticipant,
Thing* thing) {
// std::cout << "Send thing info [" << (int)thing->id << "] \n";
ThingMsg* thingMsg = new ThingMsg(this->networkId, thing);
this->Send(remoteParticipant, thingMsg);
remoteParticipant->Send(thingMsg);
delete thingMsg;
NameMsg* nameMsg = new NameMsg(this->networkId, thing);
this->Send(remoteParticipant, nameMsg);
remoteParticipant->Send(nameMsg);
delete nameMsg;
ModelUrlMsg* modelMsg = new ModelUrlMsg(this->networkId, thing);
this->Send(remoteParticipant, modelMsg);
remoteParticipant->Send(modelMsg);
delete modelMsg;
PoseMsg* poseMsg = new PoseMsg(this->networkId, thing, true);
this->Send(remoteParticipant, poseMsg);
remoteParticipant->Send(poseMsg);
delete poseMsg;
BinaryMsg* customMsg = new BinaryMsg(this->networkId, thing);
this->Send(remoteParticipant, customMsg);
delete customMsg;
BinaryMsg* binaryMsg = new BinaryMsg(this->networkId, thing);
remoteParticipant->Send(binaryMsg);
delete binaryMsg;
}
bool ParticipantUDP::Send(Participant* remoteParticipant, IMessage* msg) {
int bufferSize = msg->Serialize(this->buffer);
if (bufferSize <= 0)
return true;
// bool ParticipantUDP::Send(Participant* remoteParticipant, IMessage* msg) {
// int bufferSize = msg->Serialize(this->buffer);
// if (bufferSize <= 0)
// return true;
// std::cout << "send msg " << (static_cast<int>(this->buffer[0]) & 0xff)
// << " to " << remoteParticipant->ipAddress << std::endl;
// // std::cout << "send msg " << (static_cast<int>(this->buffer[0]) & 0xff)
// // << " to " << remoteParticipant->ipAddress << std::endl;
#if defined(_WIN32) || defined(_WIN64)
Windows::ParticipantUDP* thisWindows =
static_cast<Windows::ParticipantUDP*>(this);
return thisWindows->Send(remoteParticipant, bufferSize);
#elif defined(__unix__) || defined(__APPLE__)
Posix::ParticipantUDP* thisPosix = static_cast<Posix::ParticipantUDP*>(this);
return thisPosix->Send(remoteParticipant, bufferSize);
#elif defined(ARDUINO)
Arduino::ParticipantUDP* thisArduino =
static_cast<Arduino::ParticipantUDP*>(this);
return thisArduino->Send(remoteParticipant, bufferSize);
#elif defined(IDF_VER)
EspIdf::ParticipantUDP* thisEspIdf =
static_cast<EspIdf::ParticipantUDP*>(this);
return thisEspIdf->Send(remoteParticipant, bufferSize);
#else
return false;
#endif
}
// #if defined(_WIN32) || defined(_WIN64)
// Windows::ParticipantUDP* thisWindows =
// static_cast<Windows::ParticipantUDP*>(this);
// return thisWindows->Send(remoteParticipant, bufferSize);
// #elif defined(__unix__) || defined(__APPLE__)
// Posix::ParticipantUDP* thisPosix =
// static_cast<Posix::ParticipantUDP*>(this); return
// thisPosix->Send(remoteParticipant, bufferSize);
// #elif defined(ARDUINO)
// Arduino::ParticipantUDP* thisArduino =
// static_cast<Arduino::ParticipantUDP*>(this);
// return thisArduino->Send(remoteParticipant, bufferSize);
// #elif defined(IDF_VER)
// EspIdf::ParticipantUDP* thisEspIdf =
// static_cast<EspIdf::ParticipantUDP*>(this);
// return thisEspIdf->Send(remoteParticipant, bufferSize);
// #else
// return false;
// #endif
// }
void ParticipantUDP::PublishThingInfo(Thing* thing) {
// std::cout << "Publish thing info" << thing->networkId << "\n";
@ -402,6 +396,18 @@ void ParticipantUDP::ReceiveData(unsigned char bufferSize,
Process(sender, msg);
delete msg;
} break;
case TextMsg::id: {
TextMsg* msg = new TextMsg(this->buffer);
bufferSize -= msg->length + msg->textLength;
Process(sender, msg);
delete msg;
} break;
case DestroyMsg::id: {
DestroyMsg* msg = new DestroyMsg(this->buffer);
bufferSize -= msg->length;
Process(sender, msg);
delete msg;
} break;
};
// Check if the buffer has been read completely
@ -532,6 +538,24 @@ void ParticipantUDP::Process(Participant* sender, BinaryMsg* msg) {
}
}
void ParticipantUDP::Process(Participant* sender, TextMsg* msg) {
#if defined(DEBUG)
std::cout << this->name << ": process TextMsg " << (int)msg->textLength << " "
<< (int)msg->text << "\n";
#endif
}
void ParticipantUDP::Process(Participant* sender, DestroyMsg* msg) {
#if defined(DEBUG)
std::cout << this->name << ": process Destroy [" << (int)msg->networkId << "/"
<< (int)msg->thingId << "]\n";
#endif
Thing* thing = sender->Get(msg->thingId);
if (thing != nullptr)
this->Remove(thing);
}
// Receive
#pragma endregion

20
Participants/ParticipantUDP.h
View File

@ -9,6 +9,7 @@
#include "Messages/PoseMsg.h"
#include "Messages/NetworkIdMsg.h"
#include "Messages/ThingMsg.h"
#include "Messages/TextMsg.h"
#include "Participant.h"
#if !defined(NO_STD)
@ -43,6 +44,7 @@ constexpr int MAX_SENDER_COUNT = 256;
/// RoboidControl::IsolatedParticipant::Isolated().
/// @sa RoboidControl::Thing::Thing()
class ParticipantUDP : public Participant {
#pragma region Init
public:
@ -58,19 +60,15 @@ class ParticipantUDP : public Participant {
/// @param localPort The port used by the local participant
ParticipantUDP(const char* ipAddress, int port = 7681, int localPort = 7681);
/// @brief Isolated participant is used when the application is run without
/// networking
/// @return A participant without networking support
static ParticipantUDP* Isolated();
/// @brief True if the participant is running isolated.
/// Isolated participants do not communicate with other participants
#pragma endregion Init
#pragma region Properties
public:
/// @brief True if the participant is running isolated.
/// Isolated participants do not communicate with other participants
bool isIsolated = false;
/// @brief The remote site when this participant is connected to a site
Participant* remoteSite = nullptr;
@ -94,6 +92,8 @@ class ParticipantUDP : public Participant {
void begin();
bool connected = false;
#pragma endregion Properties
#pragma region Update
public:
@ -114,7 +114,7 @@ class ParticipantUDP : public Participant {
void SendThingInfo(Participant* remoteParticipant, Thing* thing);
void PublishThingInfo(Thing* thing);
bool Send(Participant* remoteParticipant, IMessage* msg);
//bool Send(Participant* remoteParticipant, IMessage* msg);
bool Publish(IMessage* msg);
#pragma endregion Send
@ -139,6 +139,8 @@ protected:
virtual void Process(Participant* sender, ModelUrlMsg* msg);
virtual void Process(Participant* sender, PoseMsg* msg);
virtual void Process(Participant* sender, BinaryMsg* msg);
virtual void Process(Participant* sender, TextMsg* msg);
virtual void Process(Participant* sender, DestroyMsg* msg);
#pragma endregion Receive

6
Participants/SiteServer.cpp
View File

@ -42,10 +42,10 @@ void SiteServer::UpdateMyThings() {
continue;
PoseMsg* poseMsg = new PoseMsg(this->networkId, thing);
this->Send(participant, poseMsg);
participant->Send(poseMsg);
delete poseMsg;
BinaryMsg* binaryMsg = new BinaryMsg(this->networkId, thing);
this->Send(participant, binaryMsg);
participant->Send(binaryMsg);
delete binaryMsg;
}
}
@ -62,7 +62,7 @@ void SiteServer::Process(Participant* sender, ParticipantMsg* msg) {
// sender->ipAddress
// << ":" << (int)sender->port << "\n";
NetworkIdMsg* msg = new NetworkIdMsg(sender->networkId);
this->Send(sender, msg);
sender->Send(msg);
delete msg;
}
}

10
Participants/SiteServer.h
View File

@ -2,11 +2,11 @@
#include "ParticipantUDP.h"
#if !defined(NO_STD)
#include <functional>
#include <memory>
#include <unordered_map>
#endif
// #if !defined(NO_STD)
// #include <functional>
// #include <memory>
// #include <unordered_map>
// #endif
namespace RoboidControl {