RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Sending messages works

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This commit is contained in:
Pascal Serrarens 2025-04-03 11:41:33 +02:00
parent a5cd5c89d3
commit 8130a057ea
3 changed files with 71 additions and 33 deletions
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96
EspIdf/EspIdfParticipant.cpp
View File

@ -6,12 +6,27 @@
namespace RoboidControl { namespace RoboidControl {
namespace EspIdf { 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, void LocalParticipant::Setup(int localPort,
const char* remoteIpAddress, const char* remoteIpAddress,
int remotePort) { int remotePort) {
#if defined(IDF_VER) #if defined(IDF_VER)
this->remoteIpAddress = remoteIpAddress;
this->remotePort = remotePort;
GetBroadcastAddress(); GetBroadcastAddress();
wifi_ap_record_t ap_info; wifi_ap_record_t ap_info;
@ -21,11 +36,6 @@ void LocalParticipant::Setup(int localPort,
return; 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 // Create a UDP socket
sockfd = socket(AF_INET, SOCK_DGRAM, 0); sockfd = socket(AF_INET, SOCK_DGRAM, 0);
if (sockfd < 0) { if (sockfd < 0) {
@ -34,31 +44,35 @@ void LocalParticipant::Setup(int localPort,
return; return;
} }
// Set socket to non-blocking mode // // Set socket to non-blocking mode
int flags = fcntl(sockfd, F_GETFL, 0); // int flags = fcntl(sockfd, F_GETFL, 0);
if (flags < 0) { // if (flags < 0) {
std::cout << "fcntl failed"; // std::cout << "fcntl failed";
close(sockfd); // close(sockfd);
return; // return;
} // }
fcntl(sockfd, F_SETFL, flags | O_NONBLOCK); // fcntl(sockfd, F_SETFL, flags | O_NONBLOCK);
// set_socket_non_blocking(sockfd);
// Set up the server address structure // Set up the server address structure
memset(&server_addr, 0, sizeof(server_addr)); struct sockaddr_in local_addr;
server_addr.sin_family = AF_INET; memset(&local_addr, 0, sizeof(local_addr));
server_addr.sin_port = htons(localPort); local_addr.sin_family = AF_INET;
server_addr.sin_addr.s_addr = local_addr.sin_port = htons(this->port);
local_addr.sin_addr.s_addr =
htonl(INADDR_ANY); // Listen on all available network interfaces htonl(INADDR_ANY); // Listen on all available network interfaces
// Bind the socket to the address and port // 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"; std::cout << "Unable to bind UDP socket: errno " << errno << "\n";
close(sockfd); close(sockfd);
vTaskDelete(NULL); vTaskDelete(NULL);
return; 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 #endif
} }
@ -72,15 +86,22 @@ void LocalParticipant::GetBroadcastAddress() {
return; return;
} }
ip_addr_t broadcast_addr; ip_addr_t broadcast_addr = {};
broadcast_addr.u_addr.ip4.addr = broadcast_addr.u_addr.ip4.addr =
(ip_info.ip.addr & ip_info.netmask.addr) | ~ip_info.netmask.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() { void LocalParticipant::Receive() {
#if defined(IDF_VER) #if defined(IDF_VER)
return; // disable receiving for now
set_socket_non_blocking(sockfd);
struct sockaddr_in client_addr; struct sockaddr_in client_addr;
socklen_t addr_len = sizeof(client_addr); socklen_t addr_len = sizeof(client_addr);
int packetSize = recvfrom(sockfd, buffer, sizeof(buffer) - 1, 0, int packetSize = recvfrom(sockfd, buffer, sizeof(buffer) - 1, 0,
@ -107,22 +128,39 @@ void LocalParticipant::Receive() {
packetSize = recvfrom(sockfd, buffer, sizeof(buffer) - 1, 0, packetSize = recvfrom(sockfd, buffer, sizeof(buffer) - 1, 0,
(struct sockaddr*)&client_addr, &addr_len); (struct sockaddr*)&client_addr, &addr_len);
} }
set_socket_blocking(sockfd);
#endif #endif
} }
bool LocalParticipant::Send(Participant* remoteParticipant, int bufferSize) { bool LocalParticipant::Send(Participant* remoteParticipant, int bufferSize) {
#if defined(IDF_VER) #if defined(IDF_VER)
// std::cout << "Sending to:\n " << remoteParticipant->ipAddress << ":" std::cout << "Sending to " << remoteParticipant->ipAddress << ":"
// << remoteParticipant->port << "\n"; << remoteParticipant->port << "\n";
struct sockaddr_in dest_addr; 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_family = AF_INET;
dest_addr.sin_port = htons(remoteParticipant->port); dest_addr.sin_port = htons(remoteParticipant->port);
inet_pton(AF_INET, remoteParticipant->ipAddress, &dest_addr.sin_addr.s_addr); inet_pton(AF_INET, remoteParticipant->ipAddress, &dest_addr.sin_addr.s_addr);
int err = sendto(sockfd, buffer, bufferSize, 0, (struct sockaddr*)&dest_addr,
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)); sizeof(dest_addr));
if (err != 0) if (errno != 0)
std::cout << "Send error\n"; std::cout << "Send error " << err << " or " << errno << "\n";
#endif #endif
return true; return true;
@ -136,7 +174,7 @@ bool LocalParticipant::Publish(IMessage* msg) {
struct sockaddr_in dest_addr; struct sockaddr_in dest_addr;
dest_addr.sin_family = AF_INET; 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); inet_pton(AF_INET, this->broadcastIpAddress, &dest_addr.sin_addr.s_addr);
int err = sendto(sockfd, buffer, bufferSize, 0, (struct sockaddr*)&dest_addr, int err = sendto(sockfd, buffer, bufferSize, 0, (struct sockaddr*)&dest_addr,
sizeof(dest_addr)); sizeof(dest_addr));

4
EspIdf/EspIdfParticipant.h
View File

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

2
LocalParticipant.cpp
View File

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