RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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This commit is contained in:
Pascal Serrarens 2025-01-08 14:11:41 +01:00
parent a8afeeb141
commit 8338e2f5cd
9 changed files with 424 additions and 218 deletions
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6
ModelUrlMsg.cpp
View File

@ -1,5 +1,7 @@
#include "ModelUrlMsg.h"
#include <string.h>
namespace Passer {
namespace Control {
@ -25,7 +27,11 @@ ModelUrlMsg::ModelUrlMsg(const char *buffer) {
ModelUrlMsg::ModelUrlMsg(unsigned char networkId, Thing *thing) {
this->networkId = networkId;
this->thingId = thing->id;
if (thing->modelUrl == nullptr)
this->urlLength = 0;
else
this->urlLength = strlen(thing->modelUrl);
this->url = thing->modelUrl; // dangerous!
}

5
NameMsg.cpp
View File

@ -1,5 +1,7 @@
#include "NameMsg.h"
#include <string.h>
namespace Passer {
namespace Control {
@ -15,6 +17,9 @@ NameMsg::NameMsg(const char *buffer) {
NameMsg::NameMsg(unsigned char networkId, Thing *thing) {
this->networkId = networkId;
this->thingId = thing->id;
if (thing->name == nullptr)
this->nameLength = 0;
else
this->nameLength = strlen(thing->name);
this->name = thing->name; // dangerous!
}

262
Participant.cpp
View File

@ -4,20 +4,32 @@
#define BUF_SIZE 1024
#include "UdpArduino.h"
#if defined(_WIN32) || defined(_WIN64)
#include <winsock2.h>
#include <ws2tcpip.h>
#pragma comment(lib, "ws2_32.lib")
#elif defined(__unix__) || defined(__APPLE__)
#include <arpa/inet.h>
#include <fcntl.h> // For fcntl
#include <netinet/in.h>
#include <sys/socket.h>
#include <unistd.h>
#include <fcntl.h> // For fcntl
#endif
Participant::Participant() {}
Participant::Participant(int port) {
this->ipAddress = "0.0.0.0";
this->port = port;
this->participants.push_back(this);
int randomPort = (rand() % (65535 - 49152 + 1)) + 49152;
SetupUDP(randomPort, ipAddress, port);
}
Participant::Participant(const char *ipAddress, int port) {
this->ipAddress = ipAddress;
this->port = port;
@ -31,125 +43,18 @@ Participant::Participant(const char *ipAddress, int port) {
void Passer::Control::Participant::SetupUDP(int localPort,
const char *remoteIpAddress,
int remotePort) {
// Create a UDP socket
#if defined(_WIN32) || defined(_WIN64)
// Windows-specific Winsock initialization
WSADATA wsaData;
if (WSAStartup(MAKEWORD(2, 2), &wsaData) != 0) {
std::cerr << "WSAStartup failed" << std::endl;
return;
}
#endif
#if defined(_WIN32) || defined(_WIN64)
this->sock = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
#elif defined(__unix__) || defined(__APPLE__)
this->sock = socket(AF_INET, SOCK_DGRAM, 0);
#endif
if (this->sock < 0) {
std::cerr << "Error creating socket" << std::endl;
return;
}
// Set the socket to non-blocking mode
#if defined(_WIN32) || defined(_WIN64)
u_long mode = 1; // 1 to enable non-blocking socket
ioctlsocket(this->sock, FIONBIO, &mode);
#elif defined(__unix__) || defined(__APPLE__)
int flags = fcntl(this->sock, F_GETFL, 0);
fcntl(this->sock, F_SETFL, flags | O_NONBLOCK);
#endif
if (remotePort != 0) {
// Set up the address to send to
memset(&remote_addr, 0, sizeof(remote_addr));
remote_addr.sin_family = AF_INET;
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;
#if defined(_WIN32) || defined(_WIN64)
closesocket(sock);
WSACleanup();
#elif defined(__unix__) || defined(__APPLE__)
close(sock);
#endif
return;
}
}
// Set up the receiving address
memset(&server_addr, 0, sizeof(server_addr));
server_addr.sin_family = AF_INET;
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;
}
// 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;
}
// 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;
}
UdpWindows *thisWindows = static_cast<UdpWindows *>(this);
thisWindows->Setup(localPort, remoteIpAddress, remotePort);
#elif defined(ARDUINO)
UdpArduino *thisArduino = static_cast<UdpArduino *>(this);
thisArduino->Setup(localPort, remoteIpAddress, remotePort);
#endif
}
void Participant::Update(unsigned long currentTimeMs) {
if (currentTimeMs > this->nextPublishMe) {
ClientMsg* msg = new ClientMsg(this->networkId);
if (this->publishInterval > 0 && currentTimeMs > this->nextPublishMe) {
ClientMsg *msg = new ClientMsg(this->networkId);
this->Publish(msg);
delete msg;
std::cout << this->name << " published ClientMsg\n";
@ -161,47 +66,13 @@ void Participant::Update(unsigned long currentTimeMs) {
}
void Participant::ReceiveUDP() {
// char ip_str[INET_ADDRSTRLEN];
// inet_ntop(AF_INET, &(server_addr.sin_addr), ip_str, INET_ADDRSTRLEN);
// std::cout << this->name << " Receive on " << ip_str << ":"
// << 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);
UdpWindows *thisWindows = static_cast<UdpWindows *>(this);
thisWindows->Receive();
#elif defined(ARDUINO)
UdpArduino *thisArduino = static_cast<UdpArduino *>(this);
thisArduino->Receive();
#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,
INET_ADDRSTRLEN);
int sender_port = ntohs(client_addr.sin_port);
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);
}
}
Participant *Participant::GetParticipant(const char *ipAddress, int port) {
@ -232,68 +103,41 @@ void Participant::SendThingInfo(Thing *thing) {
msg = new ModelUrlMsg(this->networkId, thing);
this->Send(msg);
delete msg;
// this->Send(&ModelUrlMsg(this->networkId, thing));
}
void Passer::Control::Participant::PublishThingInfo(Thing *thing) {
std::cout << "Publish thing info\n";
// Strange, when publishing, the network id is irrelevant, because it is
// connected to a specific site...
ThingMsg *thingMsg = new ThingMsg(this->networkId, thing);
this->Publish(thingMsg);
delete thingMsg;
NameMsg *nameMsg = new NameMsg(this->networkId, thing);
this->Publish(nameMsg);
delete nameMsg;
ModelUrlMsg *modelMsg = new ModelUrlMsg(this->networkId, thing);
this->Publish(modelMsg);
delete modelMsg;
}
bool Participant::Send(IMessage *msg) {
// Send the message to the specified address and port
int bufferSize = msg->Serialize(this->buffer);
// std::cout << "buffer size " << bufferSize << "\n";
if (bufferSize <= 0)
return true;
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";
int sent_bytes = sendto(sock, this->buffer, bufferSize, 0,
(struct sockaddr *)&remote_addr, sizeof(remote_addr));
#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;
}
UdpWindows *thisWindows = static_cast<UdpWindows *>(this);
return thisWindows->Send(msg);
#elif defined(ARDUINO)
UdpArduino *thisArduino = static_cast<UdpArduino *>(this);
return thisArduino->Send(msg);
#endif
return true;
}
bool Participant::Publish(IMessage *msg) {
int bufferSize = msg->Serialize(this->buffer);
if (bufferSize <= 0)
return true;
char ip_str[INET_ADDRSTRLEN];
inet_ntop(AF_INET, &(broadcast_addr.sin_addr), ip_str, INET_ADDRSTRLEN);
std::cout << "Publish to " << ip_str << ":" << ntohs(broadcast_addr.sin_port)
<< "\n";
int sent_bytes =
sendto(sock, this->buffer, bufferSize, 0,
(struct sockaddr *)&broadcast_addr, sizeof(broadcast_addr));
#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;
}
UdpWindows *thisWindows = static_cast<UdpWindows *>(this);
return thisWindows->Publish(msg);
#elif defined(ARDUINO)
UdpArduino *thisArduino = static_cast<UdpArduino *>(this);
return thisArduino->Publish(msg);
#endif
return true;
}
// Send
@ -306,12 +150,12 @@ void Participant::ReceiveData(unsigned char bufferSize,
unsigned char msgId = this->buffer[0];
switch (msgId) {
case ClientMsg::id: {
ClientMsg* msg = new ClientMsg(this->buffer);
ClientMsg *msg = new ClientMsg(this->buffer);
Process(remoteParticipant, msg);
delete msg;
}
case NetworkIdMsg::id: {
NetworkIdMsg* msg = new NetworkIdMsg(this->buffer);
NetworkIdMsg *msg = new NetworkIdMsg(this->buffer);
Process(remoteParticipant, msg);
delete msg;
} break;
@ -349,7 +193,7 @@ void Participant::Process(Participant *sender, NetworkIdMsg *msg) {
// sender->SendThingInfo(thing);
// }
for (Thing* thing : allThings) {
for (Thing *thing : allThings) {
sender->SendThingInfo(thing);
}
}

17
Participant.h
View File

@ -16,6 +16,8 @@
#include <netinet/in.h>
#include <sys/socket.h>
#include <unistd.h>
#elif defined(ARDUINO)
#include <WiFiUdp.h>
#endif
namespace Passer {
@ -33,6 +35,14 @@ public:
const char *ipAddress = "0.0.0.0";
int port = 0;
#if defined(ARDUINO)
const char *remoteIpAddress = nullptr;
unsigned short remotePort = 0;
char *broadcastIpAddress = nullptr;
WiFiUDP udp;
#else
#if defined(_WIN32) || defined(_WIN64)
SOCKET sock;
#elif defined(__unix__) || defined(__APPLE__)
@ -42,12 +52,19 @@ public:
sockaddr_in server_addr;
sockaddr_in broadcast_addr;
#endif
Participant();
Participant(int port);
Participant(const char *ipAddress, int port);
// Bad design, you cannot use constructor in global scope
// i.e.
// Participant p = Participant("127.0.0.1", 8000);
virtual void Update(unsigned long currentTimeMs);
void SendThingInfo(Thing *thing);
void PublishThingInfo(Thing *thing);
bool Send(IMessage *msg);
bool Publish(IMessage *msg);

13
Thing.cpp
View File

@ -1,7 +1,9 @@
#include "Thing.h"
#include "Participant.h"
#include <algorithm>
#include <iostream>
#include <list>
#include <string.h>
Thing::Thing(unsigned char networkId, unsigned char thingType) {
@ -165,9 +167,11 @@ Thing *Thing::Get(unsigned char networkId, unsigned char thingId) {
// return thing;
// }
// return nullptr;
std::find_if(allThings.begin(), allThings.end(), [networkId, thingId](Thing* thing){
std::find_if(allThings.begin(), allThings.end(),
[networkId, thingId](Thing *thing) {
return thing->networkId == networkId && thing->id == thingId;
});
return nullptr;
}
int Thing::Add(Thing *newThing) {
@ -181,17 +185,18 @@ int Thing::Add(Thing *newThing) {
// return ix;
// }
// }
for (Thing* thing : allThings) {
for (Thing *thing : allThings) {
if (thing == newThing)
return thing->id;
}
allThings.push_back(newThing);
return allThings.size() - 1;
}
void Thing::Remove(Thing *thing) {
// std::cout << " remove " << (int)thing->id << "\n";
// allThings[thing->id] = nullptr;
allThings.remove_if([thing](Thing* obj) { return obj == thing; });
allThings.remove_if([thing](Thing *obj) { return obj == thing; });
}
void Thing::UpdateAll(unsigned long currentTimeMs) {
@ -205,7 +210,7 @@ void Thing::UpdateAll(unsigned long currentTimeMs) {
// thing->Update(currentTimeMs);
// }
// }
for (Thing* thing : allThings) {
for (Thing *thing : allThings) {
if (thing != nullptr &&
thing->parent == nullptr) { // update all root things
// std::cout << " update " << (int)ix << " thingid " << (int)thing->id

91
UdpArduino.cpp Normal file
View File

@ -0,0 +1,91 @@
#include "UdpArduino.h"
#if defined(ARDUINO)
#include <ESP8266WiFi.h>
#endif
namespace Passer {
namespace Control {
void UdpArduino::Setup(int localPort, const char *remoteIpAddress,
int remotePort) {
#if ARDUINO
this->remoteIpAddress = remoteIpAddress;
this->remotePort = remotePort;
GetBroadcastAddress();
if (WiFi.isConnected() == false) {
std::cout << "No network available!\n";
return;
}
udp.begin(this->remotePort);
std::cout << "Wifi sync started to port " << this->remotePort << "\n";
#endif
}
void UdpArduino::GetBroadcastAddress() {
IPAddress broadcastAddress = WiFi.localIP();
broadcastAddress[3] = 255;
String broadcastIpString = broadcastAddress.toString();
this->broadcastIpAddress = new char[broadcastIpString.length() + 1];
broadcastIpString.toCharArray(this->broadcastIpAddress,
broadcastIpString.length() + 1);
std::cout << "Broadcast address: " << broadcastIpAddress << "\n";
}
void UdpArduino::Receive() {
int packetSize = udp.parsePacket();
while (packetSize > 0) {
udp.read(buffer, packetSize);
String senderAddress = udp.remoteIP().toString();
char sender_ipAddress[16];
senderAddress.toCharArray(sender_ipAddress, 16);
int sender_port = udp.remotePort();
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);
packetSize = udp.parsePacket();
}
}
bool UdpArduino::Send(IMessage *msg) {
int bufferSize = msg->Serialize(this->buffer);
if (bufferSize <= 0)
return true;
udp.beginPacket(this->remoteIpAddress, this->remotePort);
udp.write(buffer, bufferSize);
udp.endPacket();
// std::cout << "Sent to " << this->remoteIpAddress << ":"
// << this->remotePort << "\n";
return true;
}
bool UdpArduino::Publish(IMessage *msg) {
int bufferSize = msg->Serialize(this->buffer);
if (bufferSize <= 0)
return true;
udp.beginPacket(this->broadcastIpAddress, this->remotePort);
udp.write(buffer, bufferSize);
udp.endPacket();
// std::cout << "Publish to " << this->broadcastIpAddress << ":"
// << this->remotePort << "\n";
return true;
};
} // namespace Control
} // namespace Passer

20
UdpArduino.h Normal file
View File

@ -0,0 +1,20 @@
#pragma once
#include "Participant.h"
namespace Passer {
namespace Control {
class UdpArduino : public Participant {
public:
void Setup(int localPort, const char *remoteIpAddress, int remotePort);
void Receive();
bool Send(IMessage *msg);
bool Publish(IMessage *msg);
protected:
void GetBroadcastAddress();
};
} // namespace Control
} // namespace Passer

201
UdpWindows.cpp Normal file
View File

@ -0,0 +1,201 @@
#include "UdpWindows.h"
namespace Passer {
namespace Control {
void UdpWindows::Setup(int localPort, const char *remoteIpAddress,
int remotePort) {
#if defined(_WIN32) || defined(_WIN64)
// Create a UDP socket
#if defined(_WIN32) || defined(_WIN64)
// Windows-specific Winsock initialization
WSADATA wsaData;
if (WSAStartup(MAKEWORD(2, 2), &wsaData) != 0) {
std::cerr << "WSAStartup failed" << std::endl;
return;
}
#endif
#if defined(_WIN32) || defined(_WIN64)
this->sock = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
#elif defined(__unix__) || defined(__APPLE__)
this->sock = socket(AF_INET, SOCK_DGRAM, 0);
#endif
if (this->sock < 0) {
std::cerr << "Error creating socket" << std::endl;
return;
}
// Set the socket to non-blocking mode
#if defined(_WIN32) || defined(_WIN64)
u_long mode = 1; // 1 to enable non-blocking socket
ioctlsocket(this->sock, FIONBIO, &mode);
#elif defined(__unix__) || defined(__APPLE__)
int flags = fcntl(this->sock, F_GETFL, 0);
fcntl(this->sock, F_SETFL, flags | O_NONBLOCK);
#endif
if (remotePort != 0) {
// Set up the address to send to
memset(&remote_addr, 0, sizeof(remote_addr));
remote_addr.sin_family = AF_INET;
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;
#if defined(_WIN32) || defined(_WIN64)
closesocket(sock);
WSACleanup();
#elif defined(__unix__) || defined(__APPLE__)
close(sock);
#endif
return;
}
}
// Set up the receiving address
memset(&server_addr, 0, sizeof(server_addr));
server_addr.sin_family = AF_INET;
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;
}
// 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
}
#endif
}
void UdpWindows::Receive() {
#if defined(_WIN32) || defined(_WIN64)
// char ip_str[INET_ADDRSTRLEN];
// inet_ntop(AF_INET, &(server_addr.sin_addr), ip_str, INET_ADDRSTRLEN);
// std::cout << this->name << " Receive on " << ip_str << ":"
// << 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,
INET_ADDRSTRLEN);
int sender_port = ntohs(client_addr.sin_port);
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);
}
#endif
}
bool UdpWindows::Send(
IMessage *msg) { // Send the message to the specified address and port
#if defined(_WIN32) || defined(_WIN64)
int bufferSize = msg->Serialize(this->buffer);
// std::cout << "buffer size " << bufferSize << "\n";
if (bufferSize <= 0)
return true;
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";
int sent_bytes = sendto(sock, this->buffer, bufferSize, 0,
(struct sockaddr *)&remote_addr, sizeof(remote_addr));
#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
#endif
return true;
}
bool UdpWindows::Publish(IMessage *msg) {
#if defined(_WIN32) || defined(_WIN64)
int bufferSize = msg->Serialize(this->buffer);
if (bufferSize <= 0)
return true;
char ip_str[INET_ADDRSTRLEN];
inet_ntop(AF_INET, &(broadcast_addr.sin_addr), ip_str, INET_ADDRSTRLEN);
std::cout << "Publish to " << ip_str << ":" << ntohs(broadcast_addr.sin_port)
<< "\n";
int sent_bytes =
sendto(sock, this->buffer, bufferSize, 0,
(struct sockaddr *)&broadcast_addr, sizeof(broadcast_addr));
#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
#endif
return true;
}
} // namespace Control
} // namespace Passer

17
UdpWindows.h Normal file
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#pragma once
#include "Participant.h"
namespace Passer {
namespace Control {
class UdpWindows : public Participant {
public:
void Setup(int localPort, const char *remoteIpAddress, int remotePort);
void Receive();
bool Send(IMessage *msg);
bool Publish(IMessage *msg);
};
} // namespace Control
} // namespace Passer