RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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site participant test succeeds on MacOS

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This commit is contained in:
Pascal Serrarens 2025-01-03 21:43:39 +01:00
parent f4727326bf
commit 4c9018d451
5 changed files with 108 additions and 29 deletions
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10
CMakeLists.txt
View File

@ -44,11 +44,11 @@ else()
LinearAlgebra
)
if(MSVC)
target_compile_options(ControlCoreTest PRIVATE /W4 /WX)
# else()
# target_compile_options(ControlCoreTest PRIVATE -Wall -Wextra -Wpedantic -Werror)
endif()
# if(MSVC)
# target_compile_options(ControlCoreTest PRIVATE /W4 /WX)
# # else()
# # target_compile_options(ControlCoreTest PRIVATE -Wall -Wextra -Wpedantic -Werror)
# endif()
include(GoogleTest)

109
Participant.cpp
View File

@ -13,6 +13,7 @@
#include <netinet/in.h>
#include <sys/socket.h>
#include <unistd.h>
#include <fcntl.h> // For fcntl
#endif
Participant::Participant() {}
@ -67,8 +68,12 @@ void Passer::Control::Participant::SetupUDP(int localPort,
remote_addr.sin_port = htons((u_short)remotePort);
if (inet_pton(AF_INET, remoteIpAddress, &remote_addr.sin_addr) <= 0) {
std::cerr << "Invalid address" << std::endl;
closesocket(sock);
WSACleanup();
#if defined(_WIN32) || defined(_WIN64)
closesocket(sock);
WSACleanup();
#elif defined(__unix__) || defined(__APPLE__)
close(sock);
#endif
return;
}
}
@ -79,8 +84,12 @@ void Passer::Control::Participant::SetupUDP(int localPort,
server_addr.sin_port = htons((u_short)localPort);
if (inet_pton(AF_INET, "0.0.0.0", &server_addr.sin_addr) <= 0) {
std::cerr << "Invalid address" << std::endl;
#if defined(_WIN32) || defined(_WIN64)
closesocket(sock);
WSACleanup();
#elif defined(__unix__) || defined(__APPLE__)
close(sock);
#endif
return;
}
@ -88,31 +97,61 @@ void Passer::Control::Participant::SetupUDP(int localPort,
if (bind(this->sock, (const struct sockaddr *)&server_addr,
sizeof(server_addr)) < 0) {
std::cerr << "Bind failed" << std::endl;
closesocket(this->sock);
#if defined(_WIN32) || defined(_WIN64)
closesocket(sock);
WSACleanup();
#elif defined(__unix__) || defined(__APPLE__)
close(sock);
#endif
return;
}
// Bind the socket to the specified port
// if (bind(this->sock, (const struct sockaddr *)&server_addr,
// sizeof(server_addr)) < 0) {
// std::cerr << "Bind failed" << std::endl;
// #if defined(_WIN32) || defined(_WIN64)
// closesocket(sock);
// WSACleanup();
// #elif defined(__unix__) || defined(__APPLE__)
// close(sock);
// #endif
// return;
// }
// Set up the broadcast address
memset(&broadcast_addr, 0, sizeof(broadcast_addr));
broadcast_addr.sin_family = AF_INET;
broadcast_addr.sin_port = htons((u_short)remotePort);
if (inet_pton(AF_INET, "255.255.255.255", &broadcast_addr.sin_addr) <= 0) {
std::cerr << "Invalid address" << std::endl;
#if defined(_WIN32) || defined(_WIN64)
closesocket(sock);
WSACleanup();
#elif defined(__unix__) || defined(__APPLE__)
close(sock);
#endif
return;
}
#if defined(_WIN32) || defined(_WIN64)
BOOL broadcast = TRUE;
if (setsockopt(sock, SOL_SOCKET, SO_BROADCAST, (char *)&broadcast,
sizeof(broadcast)) == SOCKET_ERROR) {
std::cerr << "Setting socket option for broadcast failed" << std::endl;
}
#elif defined(__unix__) || defined(__APPLE__)
int broadcastEnable = 1;
if (setsockopt(sock, SOL_SOCKET, SO_BROADCAST, &broadcastEnable, sizeof(broadcastEnable)) < 0) {
std::cerr << "Failed to set socket options" << std::endl;
}
#endif
}
void Participant::Update(unsigned long currentTimeMs) {
if (currentTimeMs > this->nextPublishMe) {
this->Publish(&ClientMsg(this->networkId));
ClientMsg* msg = new ClientMsg(this->networkId);
this->Publish(msg);
delete msg;
std::cout << this->name << " published ClientMsg\n";
this->nextPublishMe = currentTimeMs + this->publishInterval;
}
@ -128,15 +167,22 @@ void Participant::ReceiveUDP() {
// << ntohs(server_addr.sin_port) << "\n";
sockaddr_in client_addr;
#if defined(_WIN32) || defined(_WIN64)
int len = sizeof(client_addr);
#elif defined(__unix__) || defined(__APPLE__)
socklen_t len = sizeof(client_addr);
#endif
int packetSize = recvfrom(this->sock, buffer, sizeof(buffer), 0,
(struct sockaddr *)&client_addr, &len);
// std::cout << "received data " << packetSize << "\n";
if (packetSize < 0) {
#if defined(_WIN32) || defined(_WIN64)
int error_code = WSAGetLastError(); // Get the error code on Windows
if (error_code != WSAEWOULDBLOCK)
std::cerr << "recvfrom failed with error: " << error_code << std::endl;
#else
//std::cerr << "recvfrom failed with error: " << packetSize << std::endl;
#endif
} else if (packetSize > 0) {
char sender_ipAddress[INET_ADDRSTRLEN];
inet_ntop(AF_INET, &(client_addr.sin_addr), sender_ipAddress,
@ -147,9 +193,11 @@ void Participant::ReceiveUDP() {
this->GetParticipant(sender_ipAddress, sender_port);
if (remoteParticipant == nullptr) {
remoteParticipant = this->AddParticipant(sender_ipAddress, sender_port);
std::cout << "New remote participant " << sender_ipAddress << ":"
<< sender_port << " "
<< (unsigned char)remoteParticipant->networkId << "|\n";
// std::cout << "New sender " << sender_ipAddress << ":"
// << sender_port << "\n";
// std::cout << "New remote participant " << remoteParticipant->ipAddress << ":"
// << remoteParticipant->port << " "
// << (int)remoteParticipant->networkId << "\n";
}
ReceiveData(packetSize, remoteParticipant);
@ -167,7 +215,6 @@ Participant *Participant::GetParticipant(const char *ipAddress, int port) {
Participant *Participant::AddParticipant(const char *ipAddress, int port) {
Participant *participant = new Participant(ipAddress, port);
participant->networkId = (unsigned char)this->participants.size();
std::cout << "nw id " << (unsigned char)participant->networkId << "\n";
this->participants.push_back(participant);
return participant;
}
@ -182,10 +229,10 @@ void Participant::SendThingInfo(Thing *thing) {
msg = new NameMsg(this->networkId, thing);
this->Send(msg);
delete msg;
// msg = new ModelUrlMsg(this->networkId, thing);
// this->Send(msg);
// delete msg;
this->Send(&ModelUrlMsg(this->networkId, thing));
msg = new ModelUrlMsg(this->networkId, thing);
this->Send(msg);
delete msg;
// this->Send(&ModelUrlMsg(this->networkId, thing));
}
bool Participant::Send(IMessage *msg) {
@ -196,18 +243,26 @@ bool Participant::Send(IMessage *msg) {
return true;
char ip_str[INET_ADDRSTRLEN];
inet_ntop(AF_INET, &(server_addr.sin_addr), ip_str, INET_ADDRSTRLEN);
std::cout << "Publish to " << ip_str << ":" << ntohs(server_addr.sin_port)
inet_ntop(AF_INET, &(remote_addr.sin_addr), ip_str, INET_ADDRSTRLEN);
std::cout << "Send to " << ip_str << ":" << ntohs(remote_addr.sin_port)
<< "\n";
int sent_bytes = sendto(sock, this->buffer, bufferSize, 0,
(struct sockaddr *)&remote_addr, sizeof(remote_addr));
if (sent_bytes == SOCKET_ERROR) {
#if defined(_WIN32) || defined(_WIN64)
if (sent_bytes <= SOCKET_ERROR) {
int error_code = WSAGetLastError(); // Get the error code on Windows
std::cerr << "sendto failed with error: " << error_code << std::endl;
closesocket(sock);
WSACleanup();
return false;
}
#elif defined(__unix__) || defined(__APPLE__)
if (sent_bytes < 0) {
std::cerr << "sendto failed with error: " << sent_bytes << std::endl;
close(sock);
return false;
}
#endif
return true;
}
@ -223,13 +278,21 @@ bool Participant::Publish(IMessage *msg) {
int sent_bytes =
sendto(sock, this->buffer, bufferSize, 0,
(struct sockaddr *)&broadcast_addr, sizeof(broadcast_addr));
if (sent_bytes == SOCKET_ERROR) {
#if defined(_WIN32) || defined(_WIN64)
if (sent_bytes <= SOCKET_ERROR) {
int error_code = WSAGetLastError(); // Get the error code on Windows
std::cerr << "sendto failed with error: " << error_code << std::endl;
closesocket(sock);
WSACleanup();
return false;
}
#elif defined(__unix__) || defined(__APPLE__)
if (sent_bytes < 0) {
std::cerr << "sendto failed with error: " << sent_bytes << std::endl;
close(sock);
return false;
}
#endif
return true;
}
@ -243,10 +306,14 @@ void Participant::ReceiveData(unsigned char bufferSize,
unsigned char msgId = this->buffer[0];
switch (msgId) {
case ClientMsg::id: {
Process(remoteParticipant, &ClientMsg(this->buffer));
ClientMsg* msg = new ClientMsg(this->buffer);
Process(remoteParticipant, msg);
delete msg;
}
case NetworkIdMsg::id: {
Process(remoteParticipant, &NetworkIdMsg(this->buffer));
NetworkIdMsg* msg = new NetworkIdMsg(this->buffer);
Process(remoteParticipant, msg);
delete msg;
} break;
case InvestigateMsg::id: {
InvestigateMsg msg = InvestigateMsg(this->buffer);
@ -271,7 +338,7 @@ void Participant::Process(Participant *sender, ClientMsg *msg) {}
void Participant::Process(Participant *sender, NetworkIdMsg *msg) {
std::cout << this->name << " receive network id " << (int)this->networkId
<< " " << msg->networkId << "\n";
<< " " << (int)msg->networkId << "\n";
if (this->networkId != msg->networkId) {
this->networkId = msg->networkId;
Thing **allThings = Thing::GetAllThings();

9
Participant.h
View File

@ -11,6 +11,11 @@
#if defined(_WIN32) || defined(_WIN64)
#include <winsock2.h>
#elif defined(__unix__) || defined(__APPLE__)
#include <arpa/inet.h>
#include <netinet/in.h>
#include <sys/socket.h>
#include <unistd.h>
#endif
namespace Passer {
@ -28,7 +33,11 @@ public:
const char *ipAddress = "0.0.0.0";
int port = 0;
#if defined(_WIN32) || defined(_WIN64)
SOCKET sock;
#elif defined(__unix__) || defined(__APPLE__)
int sock;
#endif
sockaddr_in remote_addr;
sockaddr_in server_addr;
sockaddr_in broadcast_addr;

7
SiteServer.cpp
View File

@ -19,8 +19,11 @@ void Passer::Control::SiteServer::Update(unsigned long currentTimeMs) {
void Passer::Control::SiteServer::Process(Participant *sender, ClientMsg *msg) {
if (msg->networkId == 0) {
std::cout << this->name << " received New Client -> "
<< (unsigned char)sender->networkId << "\n";
sender->Send(&NetworkIdMsg(sender->networkId));
<< sender->ipAddress << " "
<< (int)sender->networkId << "\n";
NetworkIdMsg* msg = new NetworkIdMsg(sender->networkId);
sender->Send(msg);
delete msg;
}
}

2
test/thing_test.cc
View File

@ -6,7 +6,7 @@
#include <chrono>
#include <thread>
#include <ws2tcpip.h>
// #include <ws2tcpip.h>
#include "Participant.h"
#include "SiteServer.h"