RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Improve ESP-IDF defines

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This commit is contained in:
Pascal Serrarens 2025-04-11 11:23:54 +02:00
parent 1aed9856aa
commit 304856ea0a
2 changed files with 28 additions and 19 deletions
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38
EspIdf/EspIdfParticipant.cpp
View File

@ -1,15 +1,17 @@
#include "EspIdfParticipant.h"
#if defined(IDF_VER)
#include "esp_wifi.h"
#endif
namespace RoboidControl {
namespace EspIdf {
void ParticipantUDP::Setup(int localPort,
const char* remoteIpAddress,
int remotePort) {
const char* remoteIpAddress,
int remotePort) {
#if defined(IDF_VER)
std::cout << "Set up UDP\n";
std::cout << "Set up UDP\n";
GetBroadcastAddress();
wifi_ap_record_t ap_info;
@ -35,9 +37,9 @@ std::cout << "Set up UDP\n";
local_addr.sin_addr.s_addr =
htonl(INADDR_ANY); // Listen on all available network interfaces
// Bind the socket to the address and port
if (bind(this->sockfd, (struct sockaddr*)&local_addr, sizeof(local_addr)) < 0) {
if (bind(this->sockfd, (struct sockaddr*)&local_addr, sizeof(local_addr)) <
0) {
std::cout << "Unable to bind UDP socket: errno " << errno << "\n";
close(sockfd);
vTaskDelete(NULL);
@ -45,19 +47,21 @@ std::cout << "Set up UDP\n";
}
// Initialize the dest_addr structure
memset(&this->dest_addr, 0, sizeof(this->dest_addr)); // Clear the entire structure
memset(&this->dest_addr, 0,
sizeof(this->dest_addr)); // Clear the entire structure
this->dest_addr.sin_family = AF_INET;
this->dest_addr.sin_port = htons(this->remoteSite->port);
inet_pton(AF_INET, this->remoteSite->ipAddress, &this->dest_addr.sin_addr.s_addr);
inet_pton(AF_INET, this->remoteSite->ipAddress,
&this->dest_addr.sin_addr.s_addr);
std::cout << "Wifi sync started local " << this->port << ", remote "
<< this->remoteSite->ipAddress << ":" << this->remoteSite->port
<< "\n";
#endif // IDF_VER
#endif // IDF_VER
}
void ParticipantUDP::GetBroadcastAddress() {
#if defined(IDF_VER)
// SOMEHOW, THIS FUNCTION RESULTS IN MEMORY CORRUPION...
esp_netif_ip_info_t ip_info;
@ -76,6 +80,7 @@ void ParticipantUDP::GetBroadcastAddress() {
snprintf(this->broadcastIpAddress, INET_ADDRSTRLEN, IPSTR,
IP2STR(&broadcast_addr.u_addr.ip4));
std::cout << "Broadcast address: " << this->broadcastIpAddress << "\n";
#endif // IDF_VER
}
void ParticipantUDP::Receive() {
@ -90,8 +95,8 @@ void ParticipantUDP::Receive() {
std::cout << "poll() error\n";
return;
}
//char buffer[1024];
// char buffer[1024];
struct sockaddr_in source_addr;
socklen_t addr_len = sizeof(source_addr);
@ -107,7 +112,8 @@ void ParticipantUDP::Receive() {
break;
}
// std::cout << "receiving " << packetSize << " bytes, msgId " << (int)this->buffer[0] << "\n";
// std::cout << "receiving " << packetSize << " bytes, msgId " <<
// (int)this->buffer[0] << "\n";
inet_ntoa_r(source_addr.sin_addr, sender_ipAddress, INET_ADDRSTRLEN);
unsigned int sender_port = ntohs(source_addr.sin_port);
@ -119,9 +125,9 @@ void ParticipantUDP::Receive() {
return;
}
}
//std::cout << "no more messages\n";
// std::cout << "no more messages\n";
#endif // IDF_VER
#endif // IDF_VER
}
bool ParticipantUDP::Send(Participant* remoteParticipant, int bufferSize) {
@ -129,8 +135,8 @@ bool ParticipantUDP::Send(Participant* remoteParticipant, int bufferSize) {
std::cout << "Sending to " << remoteParticipant->ipAddress << ":"
<< remoteParticipant->port << "\n";
int err = sendto(this->sockfd, buffer, bufferSize, 0, (struct sockaddr*)&dest_addr,
sizeof(dest_addr));
int err = sendto(this->sockfd, buffer, bufferSize, 0,
(struct sockaddr*)&dest_addr, sizeof(dest_addr));
if (errno != 0)
std::cout << "Send error " << err << " or " << errno << "\n";

9
EspIdf/EspIdfParticipant.h
View File

@ -2,7 +2,9 @@
#include "Participants/ParticipantUDP.h"
#if defined(IDF_VER)
#include "lwip/sockets.h"
#endif
namespace RoboidControl {
namespace EspIdf {
@ -15,12 +17,13 @@ class ParticipantUDP : public RoboidControl::ParticipantUDP {
bool Publish(IMessage* msg);
protected:
char broadcastIpAddress[INET_ADDRSTRLEN]; // IPv4 address can have a max of 15 characters
// + null terminator
#if defined(IDF_VER)
char broadcastIpAddress[INET_ADDRSTRLEN];
int sockfd;
struct sockaddr_in dest_addr;
//struct sockaddr_in src_addr;
// struct sockaddr_in src_addr;
#endif
void GetBroadcastAddress();
};