Sending messages works

EspIdf/EspIdfParticipant.cpp

@@ -6,12 +6,27 @@
 namespace RoboidControl {
 namespace EspIdf {
 
+void set_socket_blocking(int sock) {
+  int flags = fcntl(sock, F_GETFL, 0);
+  if (flags != -1) {
+    fcntl(
+        sock, F_SETFL,
+        flags & ~O_NONBLOCK);  // Clear O_NONBLOCK flag to set to blocking mode
+  }
+}
+
+void set_socket_non_blocking(int sock) {
+  int flags = fcntl(sock, F_GETFL, 0);
+  if (flags != -1) {
+    fcntl(sock, F_SETFL,
+          flags | O_NONBLOCK);  // Set socket to non-blocking mode
+  }
+}
+
 void LocalParticipant::Setup(int localPort,
                              const char* remoteIpAddress,
                              int remotePort) {
 #if defined(IDF_VER)
-  this->remoteIpAddress = remoteIpAddress;
-  this->remotePort = remotePort;
   GetBroadcastAddress();
 
   wifi_ap_record_t ap_info;
@@ -21,11 +36,6 @@ void LocalParticipant::Setup(int localPort,
     return;
   }
 
-  struct sockaddr_in server_addr; //, client_addr;
-  // socklen_t addr_len = sizeof(client_addr);
-  // char recv_buffer[1024];
-  //    int sockfd;
-
   // Create a UDP socket
   sockfd = socket(AF_INET, SOCK_DGRAM, 0);
   if (sockfd < 0) {
@@ -34,31 +44,35 @@ void LocalParticipant::Setup(int localPort,
     return;
   }
 
-  // Set socket to non-blocking mode
-  int flags = fcntl(sockfd, F_GETFL, 0);
-  if (flags < 0) {
-    std::cout << "fcntl failed";
-    close(sockfd);
-    return;
-  }
-  fcntl(sockfd, F_SETFL, flags | O_NONBLOCK);
+  // // Set socket to non-blocking mode
+  // int flags = fcntl(sockfd, F_GETFL, 0);
+  // if (flags < 0) {
+  //   std::cout << "fcntl failed";
+  //   close(sockfd);
+  //   return;
+  // }
+  // fcntl(sockfd, F_SETFL, flags | O_NONBLOCK);
+  // set_socket_non_blocking(sockfd);
 
   // Set up the server address structure
-  memset(&server_addr, 0, sizeof(server_addr));
-  server_addr.sin_family = AF_INET;
-  server_addr.sin_port = htons(localPort);
-  server_addr.sin_addr.s_addr =
+  struct sockaddr_in local_addr;
+  memset(&local_addr, 0, sizeof(local_addr));
+  local_addr.sin_family = AF_INET;
+  local_addr.sin_port = htons(this->port);
+  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(sockfd, (struct sockaddr*)&server_addr, sizeof(server_addr)) < 0) {
+  if (bind(sockfd, (struct sockaddr*)&local_addr, sizeof(local_addr)) < 0) {
     std::cout << "Unable to bind UDP socket: errno " << errno << "\n";
     close(sockfd);
     vTaskDelete(NULL);
     return;
   }
 
-  std::cout << "Wifi sync started to port " << this->remotePort << "\n";
+  std::cout << "Wifi sync started local " << this->port << ", remote "
+            << this->remoteSite->ipAddress << ":" << this->remoteSite->port
+            << "\n";
 #endif
 }
 
@@ -72,15 +86,22 @@ void LocalParticipant::GetBroadcastAddress() {
     return;
   }
 
-  ip_addr_t broadcast_addr;
+  ip_addr_t broadcast_addr = {};
   broadcast_addr.u_addr.ip4.addr =
       (ip_info.ip.addr & ip_info.netmask.addr) | ~ip_info.netmask.addr;
 
-  std::cout << "Broadcast address: " << broadcastIpAddress << "\n";
+  this->broadcastIpAddress = new char[16];  // IPv4 address can have a max of 15
+                                            // characters + null  terminator
+  snprintf(this->broadcastIpAddress, 16, IPSTR,
+           IP2STR(&broadcast_addr.u_addr.ip4));
+  std::cout << "Broadcast address: " << this->broadcastIpAddress << "\n";
 }
 
 void LocalParticipant::Receive() {
 #if defined(IDF_VER)
+return; // disable receiving for now
+  set_socket_non_blocking(sockfd);
+
   struct sockaddr_in client_addr;
   socklen_t addr_len = sizeof(client_addr);
   int packetSize = recvfrom(sockfd, buffer, sizeof(buffer) - 1, 0,
@@ -107,22 +128,39 @@ void LocalParticipant::Receive() {
     packetSize = recvfrom(sockfd, buffer, sizeof(buffer) - 1, 0,
                           (struct sockaddr*)&client_addr, &addr_len);
   }
+  set_socket_blocking(sockfd);
+
 #endif
 }
 
 bool LocalParticipant::Send(Participant* remoteParticipant, int bufferSize) {
 #if defined(IDF_VER)
-  // std::cout << "Sending to:\n " << remoteParticipant->ipAddress << ":"
-  // << remoteParticipant->port << "\n";
+  std::cout << "Sending to " << remoteParticipant->ipAddress << ":"
+            << remoteParticipant->port << "\n";
 
   struct sockaddr_in dest_addr;
+  memset(dest_addr.sin_zero, 0, sizeof(dest_addr.sin_zero));
   dest_addr.sin_family = AF_INET;
   dest_addr.sin_port = htons(remoteParticipant->port);
   inet_pton(AF_INET, remoteParticipant->ipAddress, &dest_addr.sin_addr.s_addr);
-  int err = sendto(sockfd, buffer, bufferSize, 0, (struct sockaddr*)&dest_addr,
-                   sizeof(dest_addr));
-  if (err != 0)
-    std::cout << "Send error\n";
+
+  int err = 0;
+  // int n = 0;
+  // do {
+  //   if (n > 0) {
+  //     std::cout << "Retry sending\n";
+  //     vTaskDelay(pdMS_TO_TICKS(10));  // Wait 10ms
+  //   }
+  //   n++;
+  //   err = sendto(sockfd, buffer, bufferSize, 0, (struct sockaddr*)&dest_addr,
+  //                sizeof(dest_addr));
+
+  // } while (errno == EAGAIN && n < 10);
+
+  err = sendto(sockfd, buffer, bufferSize, 0, (struct sockaddr*)&dest_addr,
+               sizeof(dest_addr));
+  if (errno != 0)
+    std::cout << "Send error " << err << " or " << errno << "\n";
 
 #endif
   return true;
@@ -136,7 +174,7 @@ bool LocalParticipant::Publish(IMessage* msg) {
 
   struct sockaddr_in dest_addr;
   dest_addr.sin_family = AF_INET;
-  dest_addr.sin_port = htons(this->remotePort);
+  dest_addr.sin_port = htons(this->port);
   inet_pton(AF_INET, this->broadcastIpAddress, &dest_addr.sin_addr.s_addr);
   int err = sendto(sockfd, buffer, bufferSize, 0, (struct sockaddr*)&dest_addr,
                    sizeof(dest_addr));

EspIdf/EspIdfParticipant.h

@@ -13,8 +13,8 @@ class LocalParticipant : public RoboidControl::LocalParticipant {
   bool Publish(IMessage* msg);
 
  protected:
-  const char* remoteIpAddress = nullptr;
-  unsigned short remotePort = 0;
+  // const char* remoteIpAddress = nullptr;
+  // unsigned short remotePort = 0;
   char* broadcastIpAddress = nullptr;
 
   int sockfd;

LocalParticipant.cpp

@@ -56,7 +56,7 @@ void LocalParticipant::begin() {
   if (this->isIsolated)
     return;
 
-  SetupUDP(this->port, this->ipAddress, this->port);
+  SetupUDP(this->port, this->remoteSite->ipAddress, this->remoteSite->port);
 }
 
 void LocalParticipant::SetupUDP(int localPort,