RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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collisions are operating (but too slow)

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This commit is contained in:
Pascal Serrarens 2025-02-26 09:27:54 +01:00
parent 6a5d4ff1a7
commit 59006540e6
7 changed files with 63 additions and 46 deletions
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23
Arduino/Participant.cpp
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@ -49,19 +49,20 @@ void Participant::Receive() {
String senderAddress = udp.remoteIP().toString();
char sender_ipAddress[16];
senderAddress.toCharArray(sender_ipAddress, 16);
int sender_port = udp.remotePort();
unsigned int sender_port = udp.remotePort();
RemoteParticipant* remoteParticipant = this->GetParticipant(sender_ipAddress, sender_port);
if (remoteParticipant == nullptr) {
remoteParticipant = this->AddParticipant(sender_ipAddress, sender_port);
// std::cout << "New sender " << sender_ipAddress << ":" << sender_port
// << "\n";
// std::cout << "New remote participant " << remoteParticipant->ipAddress
// << ":" << remoteParticipant->port << " "
// << (int)remoteParticipant->networkId << "\n";
}
// RemoteParticipant* remoteParticipant = this->GetParticipant(sender_ipAddress, sender_port);
// if (remoteParticipant == nullptr) {
// remoteParticipant = this->AddParticipant(sender_ipAddress, sender_port);
// // 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);
// ReceiveData(packetSize, remoteParticipant);
ReceiveData(packetSize, sender_ipAddress, sender_port);
packetSize = udp.parsePacket();
}
#endif

24
Participant.cpp
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@ -134,19 +134,19 @@ RemoteParticipant* Participant::AddParticipant(const char* ipAddress, int port)
#pragma region Send
void Participant::SendThingInfo(RemoteParticipant* remoteParticipant, Thing* thing) {
void Participant::SendThingInfo(RemoteParticipant* owner, Thing* thing) {
std::cout << "Send thing info " << thing->id << " \n";
ThingMsg* thingMsg = new ThingMsg(this->networkId, thing);
this->Send(remoteParticipant, thingMsg);
this->Send(owner, thingMsg);
delete thingMsg;
NameMsg* nameMsg = new NameMsg(this->networkId, thing);
this->Send(remoteParticipant, nameMsg);
this->Send(owner, nameMsg);
delete nameMsg;
ModelUrlMsg* modelMsg = new ModelUrlMsg(this->networkId, thing);
this->Send(remoteParticipant, modelMsg);
this->Send(owner, modelMsg);
delete modelMsg;
PoseMsg* poseMsg = new PoseMsg(this->networkId, thing);
this->Send(remoteParticipant, poseMsg);
this->Send(owner, poseMsg);
delete poseMsg;
}
@ -203,6 +203,20 @@ bool Participant::Publish(IMessage* msg) {
#pragma region Receive
void Participant::ReceiveData(unsigned char packetSize, char* senderIpAddress, unsigned int senderPort) {
RemoteParticipant* remoteParticipant = this->GetParticipant(senderIpAddress, senderPort);
if (remoteParticipant == nullptr) {
remoteParticipant = this->AddParticipant(senderIpAddress, senderPort);
// 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);
}
void Participant::ReceiveData(unsigned char bufferSize, RemoteParticipant* remoteParticipant) {
unsigned char msgId = this->buffer[0];
// std::cout << "receive msg " << (int)msgId << "\n";

1
Participant.h
View File

@ -68,6 +68,7 @@ class Participant : public RemoteParticipant {
bool Send(RemoteParticipant* remoteParticipant, IMessage* msg);
bool Publish(IMessage* msg);
void ReceiveData(unsigned char bufferSize, char* senderIpAddress, unsigned int senderPort);
void ReceiveData(unsigned char bufferSize, RemoteParticipant* remoteParticipant);
protected:

27
Posix/Participant.cpp
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@ -71,19 +71,20 @@ void Participant::Receive() {
if (packetSize > 0) {
char sender_ipAddress[INET_ADDRSTRLEN];
inet_ntop(AF_INET, &(client_addr.sin_addr), sender_ipAddress, INET_ADDRSTRLEN);
int sender_port = ntohs(client_addr.sin_port);
unsigned int sender_port = ntohs(client_addr.sin_port);
RoboidControl::RemoteParticipant* remoteParticipant = this->GetParticipant(sender_ipAddress, sender_port);
if (remoteParticipant == nullptr) {
remoteParticipant = this->AddParticipant(sender_ipAddress, sender_port);
// std::cout << "New sender " << sender_ipAddress << ":" << sender_port
// << "\n";
// std::cout << "New remote participant " << remoteParticipant->ipAddress
// << ":" << remoteParticipant->port << " "
// << (int)remoteParticipant->networkId << "\n";
}
ReceiveData(packetSize, sender_ipAddress, sender_port);
// RoboidControl::RemoteParticipant* remoteParticipant = this->GetParticipant(sender_ipAddress, sender_port);
// if (remoteParticipant == nullptr) {
// remoteParticipant = this->AddParticipant(sender_ipAddress, sender_port);
// // 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);
// ReceiveData(packetSize, remoteParticipant);
// std::cout << "Received data\n";
}
#endif
@ -94,8 +95,8 @@ bool Participant::Send(RemoteParticipant* remoteParticipant, int bufferSize) {
// Set up the destination address
// char ip_str[INET_ADDRSTRLEN];
// inet_ntop(AF_INET, &(remote_addr.sin_addr), ip_str, INET_ADDRSTRLEN);
// std::cout << "Send to " << ip_str << ":" << ntohs(remote_addr.sin_port)
// << "\n";
std::cout << "Send to " << ip_str << ":" << ntohs(remote_addr.sin_port)
<< "\n";
struct sockaddr_in dest_addr;
memset(&dest_addr, 0, sizeof(dest_addr));
dest_addr.sin_family = AF_INET;

4
Sensors/TouchSensor.cpp
View File

@ -15,8 +15,8 @@ TouchSensor::TouchSensor(RemoteParticipant* participant) : Thing(participant) {
void TouchSensor::GenerateBinary(char* bytes, unsigned char* ix) {}
void TouchSensor::ProcessBinary(char* bytes) {
this->touchedSomething = (bytes[0] == 1);
if (this->touchedSomething)
std::cout << "Touching something!\n";
// if (this->touchedSomething)
// std::cout << "Touching something!\n";
}
} // namespace RoboidControl

3
SiteServer.cpp
View File

@ -24,9 +24,8 @@ SiteServer::SiteServer(int port) {
void SiteServer::Process(RemoteParticipant *sender, ParticipantMsg *msg) {
if (msg->networkId == 0) {
std::cout << this->name << " received New Client -> " << sender->ipAddress
<< " " << (int)sender->networkId << "\n";
<< ":" << (int)sender->port << "\n";
SiteMsg *msg = new SiteMsg(sender->networkId);
//sender->Send(msg);
this->Send(sender, msg);
delete msg;
}

27
Windows/Participant.cpp
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@ -120,21 +120,22 @@ void Participant::Receive() {
} else if (packetSize > 0) {
char sender_ipAddress[INET_ADDRSTRLEN];
inet_ntop(AF_INET, &(client_addr.sin_addr), sender_ipAddress, INET_ADDRSTRLEN);
int sender_port = ntohs(client_addr.sin_port);
unsigned int sender_port = ntohs(client_addr.sin_port);
RoboidControl::Participant* remoteParticipant = this->GetParticipant(sender_ipAddress, sender_port);
if (remoteParticipant == nullptr) {
remoteParticipant = this->AddParticipant(sender_ipAddress, sender_port);
// std::cout << "New sender " << sender_ipAddress << ":"
// << sender_port << "\n";
// std::cout << "New remote participant " <<
// remoteParticipant->ipAddress
// << ":"
// << remoteParticipant->port << " "
// << (int)remoteParticipant->networkId << "\n";
}
ReceiveData(packetSize, sender_ipAddress, sender_port);
// RoboidControl::Participant* remoteParticipant = this->GetParticipant(sender_ipAddress, sender_port);
// if (remoteParticipant == nullptr) {
// remoteParticipant = this->AddParticipant(sender_ipAddress, sender_port);
// // 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);
// ReceiveData(packetSize, remoteParticipant);
}
#endif
}