Added gyroscope
This commit is contained in:
parent
a826817a0b
commit
a7a25bde6e
158
Participant.cpp
158
Participant.cpp
@ -19,34 +19,9 @@ void Participant::ReplaceLocalParticipant(Participant& newParticipant) {
|
||||
|
||||
Participant::Participant() {
|
||||
Thing::CreateRoot(this);
|
||||
//this->Add(this->root);
|
||||
}
|
||||
|
||||
/*
|
||||
Participant::Participant(const char* ipAddress, int port) {
|
||||
Thing::CreateRoot(this);
|
||||
//this->Add(this->root);
|
||||
|
||||
// make a copy of the ip address string
|
||||
int addressLength = (int)strlen(ipAddress);
|
||||
int stringLength = addressLength + 1;
|
||||
char* addressString = new char[stringLength];
|
||||
#if defined(_WIN32) || defined(_WIN64)
|
||||
strncpy_s(addressString, stringLength, ipAddress,
|
||||
addressLength); // Leave space for null terminator
|
||||
#else
|
||||
strncpy(addressString, ipAddress, addressLength);
|
||||
#endif
|
||||
addressString[addressLength] = '\0';
|
||||
|
||||
this->ipAddress = addressString;
|
||||
this->port = port;
|
||||
}
|
||||
*/
|
||||
Participant::~Participant() {
|
||||
// registry.Remove(this);
|
||||
// delete[] this->ipAddress;
|
||||
}
|
||||
Participant::~Participant() {}
|
||||
|
||||
void Participant::Update(bool recurse) {
|
||||
for (Thing* thing : this->things) {
|
||||
@ -57,47 +32,19 @@ void Participant::Update(bool recurse) {
|
||||
|
||||
bool Participant::Send(IMessage* msg) {
|
||||
std::cout << "sending message " << (static_cast<int>(this->buffer[0]) & 0xff)
|
||||
<< " to base Participant without communcation support " << std::endl;
|
||||
<< " to base Participant without communcation support "
|
||||
<< std::endl;
|
||||
|
||||
return true;
|
||||
}
|
||||
/*
|
||||
bool Participant::Send(IMessage* msg) {
|
||||
int bufferSize = msg->Serialize(this->buffer);
|
||||
if (bufferSize <= 0)
|
||||
return true;
|
||||
|
||||
// std::cout << "send msg " << (static_cast<int>(this->buffer[0]) & 0xff)
|
||||
// << " to " << this->ipAddress << std::endl;
|
||||
|
||||
#if defined(_WIN32) || defined(_WIN64)
|
||||
Windows::ParticipantUDP* thisWindows =
|
||||
static_cast<Windows::ParticipantUDP*>(this);
|
||||
return thisWindows->SendTo(this, bufferSize);
|
||||
#elif defined(__unix__) || defined(__APPLE__)
|
||||
Posix::ParticipantUDP* thisPosix = static_cast<Posix::ParticipantUDP*>(this);
|
||||
return thisPosix->SendTo(this, bufferSize);
|
||||
#elif defined(ARDUINO)
|
||||
Arduino::ParticipantUDP* thisArduino =
|
||||
static_cast<Arduino::ParticipantUDP*>(this);
|
||||
return thisArduino->SendTo(this, bufferSize);
|
||||
#elif defined(IDF_VER)
|
||||
EspIdf::ParticipantUDP* thisEspIdf =
|
||||
static_cast<EspIdf::ParticipantUDP*>(this);
|
||||
return thisEspIdf->SendTo(this, bufferSize);
|
||||
#else
|
||||
return false;
|
||||
#endif
|
||||
}
|
||||
*/
|
||||
|
||||
Thing* Participant::Get(unsigned char networkId, unsigned char thingId) {
|
||||
for (Thing* thing : this->things) {
|
||||
if (thing->owner->networkId == networkId && thing->id == thingId)
|
||||
return thing;
|
||||
}
|
||||
std::cout << "Could not find thing " //<< this->ipAddress << ":" << this->port
|
||||
<< "[" << (int)thingId << "]\n";
|
||||
std::cout << "Could not find thing " << "[" << (int)networkId << ": "
|
||||
<< (int)thingId << "]\n";
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
@ -120,8 +67,7 @@ void Participant::Add(Thing* thing, bool checkId) {
|
||||
this->things.push_back(thing);
|
||||
#endif
|
||||
std::cout << "Add thing with generated ID "
|
||||
//<< this->ipAddress << ":" << this->port
|
||||
<< "[" << (int)thing->id << "]\n";
|
||||
<< "[" << (int)networkId << ": " << (int)thing->id << "]\n";
|
||||
} else {
|
||||
Thing* foundThing = Get(thing->owner->networkId, thing->id);
|
||||
if (foundThing == nullptr) {
|
||||
@ -130,13 +76,11 @@ void Participant::Add(Thing* thing, bool checkId) {
|
||||
#else
|
||||
this->things.push_back(thing);
|
||||
#endif
|
||||
std::cout << "Add thing " << //this->ipAddress << ":" << this->port <<
|
||||
"["
|
||||
<< (int)thing->id << "]\n";
|
||||
std::cout << "Add thing [" << (int)networkId << ": " << (int)thing->id
|
||||
<< "]\n";
|
||||
} else {
|
||||
std::cout << "Did not add, existing thing "
|
||||
//<< this->ipAddress << ":" << this->port
|
||||
<< "[" << (int)thing->id << "]\n";
|
||||
<< "[" << (int)networkId << ": " << (int)thing->id << "]\n";
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -164,88 +108,4 @@ void Participant::Remove(Thing* thing) {
|
||||
|
||||
#pragma endregion
|
||||
|
||||
// #pragma region ParticipantRegistry
|
||||
|
||||
// /*
|
||||
// Participant* ParticipantRegistry::Get(const char* ipAddress,
|
||||
// unsigned int port) {
|
||||
// #if !defined(NO_STD)
|
||||
// for (Participant* participant : ParticipantRegistry::participants) {
|
||||
// if (participant == nullptr)
|
||||
// continue;
|
||||
// if (strcmp(participant->ipAddress, ipAddress) == 0 &&
|
||||
// participant->port == port) {
|
||||
// // std::cout << "found participant " << participant->ipAddress << ":"
|
||||
// // << (int)participant->port << std::endl;
|
||||
// return participant;
|
||||
// }
|
||||
// }
|
||||
// std::cout << "Could not find participant " << ipAddress << ":" << (int)port
|
||||
// << std::endl;
|
||||
// #endif
|
||||
// return nullptr;
|
||||
// }
|
||||
// */
|
||||
// Participant* ParticipantRegistry::Get(unsigned char participantId) {
|
||||
// #if !defined(NO_STD)
|
||||
// for (Participant* participant : ParticipantRegistry::participants) {
|
||||
// if (participant == nullptr)
|
||||
// continue;
|
||||
// if (participant->networkId == participantId)
|
||||
// return participant;
|
||||
// }
|
||||
// std::cout << "Could not find participant " << (int)participantId << std::endl;
|
||||
// #endif
|
||||
// return nullptr;
|
||||
// }
|
||||
|
||||
// // Participant* ParticipantRegistry::Add(const char* ipAddress,
|
||||
// // unsigned int port) {
|
||||
// // Participant* participant = new Participant(ipAddress, port);
|
||||
// // Add(participant);
|
||||
// // return participant;
|
||||
// // }
|
||||
|
||||
// void ParticipantRegistry::Add(Participant* participant) {
|
||||
// Participant* foundParticipant =
|
||||
// Get(participant->networkId);
|
||||
// //Get(participant->ipAddress, participant->port);
|
||||
|
||||
// if (foundParticipant == nullptr) {
|
||||
// #if defined(NO_STD)
|
||||
// // this->things[this->thingCount++] = thing;
|
||||
// #else
|
||||
// ParticipantRegistry::participants.push_back(participant);
|
||||
// #endif
|
||||
// // std::cout << "Add participant " << participant->ipAddress << ":"
|
||||
// // << participant->port << "[" << (int)participant->networkId
|
||||
// // << "]\n";
|
||||
// // std::cout << "participants " <<
|
||||
// // ParticipantRegistry::participants.size()
|
||||
// // << "\n";
|
||||
// // } else {
|
||||
// // std::cout << "Did not add, existing participant " <<
|
||||
// // participant->ipAddress
|
||||
// // << ":" << participant->port << "[" <<
|
||||
// // (int)participant->networkId
|
||||
// // << "]\n";
|
||||
// }
|
||||
// }
|
||||
|
||||
// void ParticipantRegistry::Remove(Participant* participant) {
|
||||
// // participants.remove(participant);
|
||||
// }
|
||||
|
||||
// #if defined(NO_STD)
|
||||
// Participant** ParticipantRegistry::GetAll() const {
|
||||
// return ParticipantRegistry::participants;
|
||||
// }
|
||||
// #else
|
||||
// const std::list<Participant*>& ParticipantRegistry::GetAll() const {
|
||||
// return ParticipantRegistry::participants;
|
||||
// }
|
||||
// #endif
|
||||
|
||||
// #pragma endregion ParticipantRegistry
|
||||
|
||||
} // namespace RoboidControl
|
||||
|
||||
@ -7,55 +7,6 @@ namespace RoboidControl {
|
||||
|
||||
constexpr int MAX_THING_COUNT = 256;
|
||||
|
||||
/*
|
||||
/// @brief class which manages all known participants
|
||||
class ParticipantRegistry {
|
||||
public:
|
||||
/// @brief Retrieve a participant by its address
|
||||
/// @param ipAddress The IP address of the participant
|
||||
/// @param port The port number of the participant
|
||||
/// @return The participant or a nullptr when it could not be found
|
||||
//Participant* Get(const char* ipAddress, unsigned int port);
|
||||
/// @brief Retrieve a participant by its network ID
|
||||
/// @param networkID The network ID of the participant
|
||||
/// @return The participant or a nullptr when it could not be found
|
||||
Participant* Get(unsigned char networkID);
|
||||
|
||||
/// @brief Add a participant with the given details
|
||||
/// @param ipAddress The IP address of the participant
|
||||
/// @param port The port number of the participant
|
||||
/// @return The added participant
|
||||
//Participant* Add(const char* ipAddress, unsigned int port);
|
||||
|
||||
/// @brief Add a participant
|
||||
/// @param participant The participant to add
|
||||
void Add(Participant* participant);
|
||||
|
||||
/// @brief Remove a participant
|
||||
/// @param participant The participant to remove
|
||||
void Remove(Participant* participant);
|
||||
|
||||
private:
|
||||
#if defined(NO_STD)
|
||||
public:
|
||||
Participant** GetAll() const;
|
||||
int count = 0;
|
||||
|
||||
private:
|
||||
Participant** participants;
|
||||
#else
|
||||
public:
|
||||
/// @brief Get all participants
|
||||
/// @return All participants
|
||||
const std::list<Participant*>& GetAll() const;
|
||||
|
||||
private:
|
||||
/// @brief The list of known participants
|
||||
std::list<Participant*> participants;
|
||||
#endif
|
||||
};
|
||||
*/
|
||||
|
||||
/// @brief A participant is a device which manages things.
|
||||
/// It can communicate with other participant to synchronise the state of
|
||||
/// things. This class is used to register the things the participant is
|
||||
@ -137,12 +88,6 @@ class Participant {
|
||||
|
||||
#pragma endregion Send
|
||||
|
||||
// #pragma region Participant Registry
|
||||
|
||||
// public:
|
||||
// static ParticipantRegistry registry;
|
||||
|
||||
// #pragma endregion Participant Registry
|
||||
};
|
||||
|
||||
} // namespace RoboidControl
|
||||
|
||||
@ -16,90 +16,6 @@
|
||||
|
||||
namespace RoboidControl {
|
||||
|
||||
#pragma region ParticipantRegistry
|
||||
|
||||
ParticipantRegistry ParticipantUDPGeneric::registry;
|
||||
|
||||
ParticipantSocket* ParticipantRegistry::Get(const char* ipAddress,
|
||||
unsigned int port) {
|
||||
#if !defined(NO_STD)
|
||||
for (ParticipantSocket* participant : ParticipantRegistry::participants) {
|
||||
if (participant == nullptr)
|
||||
continue;
|
||||
if (strcmp(participant->ipAddress, ipAddress) == 0 &&
|
||||
participant->port == port) {
|
||||
// std::cout << "found participant " << participant->ipAddress << ":"
|
||||
// << (int)participant->port << std::endl;
|
||||
return participant;
|
||||
}
|
||||
}
|
||||
std::cout << "Could not find participant " << ipAddress << ":" << (int)port
|
||||
<< std::endl;
|
||||
#endif
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
ParticipantSocket* ParticipantRegistry::Get(unsigned char participantId) {
|
||||
#if !defined(NO_STD)
|
||||
for (ParticipantSocket* participant : ParticipantRegistry::participants) {
|
||||
if (participant == nullptr)
|
||||
continue;
|
||||
if (participant->networkId == participantId)
|
||||
return participant;
|
||||
}
|
||||
std::cout << "Could not find participant " << (int)participantId << std::endl;
|
||||
#endif
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
ParticipantSocket* ParticipantRegistry::Add(const char* ipAddress,
|
||||
unsigned int port) {
|
||||
ParticipantSocket* participant = new ParticipantSocket(ipAddress, port);
|
||||
Add(participant);
|
||||
return participant;
|
||||
}
|
||||
|
||||
void ParticipantRegistry::Add(ParticipantSocket* participant) {
|
||||
Participant* foundParticipant = Get(participant->networkId);
|
||||
// Get(participant->ipAddress, participant->port);
|
||||
|
||||
if (foundParticipant == nullptr) {
|
||||
#if defined(NO_STD)
|
||||
// this->things[this->thingCount++] = thing;
|
||||
#else
|
||||
ParticipantRegistry::participants.push_back(participant);
|
||||
#endif
|
||||
// std::cout << "Add participant " << participant->ipAddress << ":"
|
||||
// << participant->port << "[" << (int)participant->networkId
|
||||
// << "]\n";
|
||||
// std::cout << "participants " <<
|
||||
// ParticipantRegistry::participants.size()
|
||||
// << "\n";
|
||||
// } else {
|
||||
// std::cout << "Did not add, existing participant " <<
|
||||
// participant->ipAddress
|
||||
// << ":" << participant->port << "[" <<
|
||||
// (int)participant->networkId
|
||||
// << "]\n";
|
||||
}
|
||||
}
|
||||
|
||||
void ParticipantRegistry::Remove(ParticipantSocket* participant) {
|
||||
// participants.remove(participant);
|
||||
}
|
||||
|
||||
#if defined(NO_STD)
|
||||
RemoteParticipantUDP** ParticipantRegistry::GetAll() const {
|
||||
return ParticipantRegistry::participants;
|
||||
}
|
||||
#else
|
||||
const std::list<ParticipantSocket*>& ParticipantRegistry::GetAll() const {
|
||||
return ParticipantRegistry::participants;
|
||||
}
|
||||
#endif
|
||||
|
||||
#pragma endregion ParticipantRegistry
|
||||
|
||||
bool ParticipantSocket::Send(IMessage* msg) {
|
||||
// No message is actually sent, because this class has no networking
|
||||
// implementation
|
||||
@ -179,7 +95,7 @@ void ParticipantUDPGeneric::Update(bool recurse) {
|
||||
this->nextPublishMe = currentTimeMs + this->publishInterval;
|
||||
}
|
||||
|
||||
//this->ReceiveUDP();
|
||||
this->ReceiveUDP();
|
||||
}
|
||||
|
||||
UpdateMyThings();
|
||||
@ -294,8 +210,7 @@ void ParticipantUDPGeneric::ReceiveData(unsigned char packetSize,
|
||||
unsigned int senderPort) {
|
||||
// std::cout << "Receive data from " << senderIpAddress << ":" << senderPort
|
||||
// << std::endl;
|
||||
ParticipantSocket* sender =
|
||||
this->registry.Get(senderIpAddress, senderPort);
|
||||
ParticipantSocket* sender = this->registry.Get(senderIpAddress, senderPort);
|
||||
if (sender == nullptr) {
|
||||
sender = this->registry.Add(senderIpAddress, senderPort);
|
||||
#if !defined(NO_STD)
|
||||
@ -413,8 +328,7 @@ void ParticipantUDPGeneric::Process(ParticipantSocket* sender,
|
||||
#endif
|
||||
}
|
||||
|
||||
void ParticipantUDPGeneric::Process(ParticipantSocket* sender,
|
||||
ThingMsg* msg) {
|
||||
void ParticipantUDPGeneric::Process(ParticipantSocket* sender, ThingMsg* msg) {
|
||||
#if defined(DEBUG)
|
||||
std::cout << this->name << ": process ThingMsg [" << (int)msg->networkId
|
||||
<< "/" << (int)msg->thingId << "] " << (int)msg->thingType << " "
|
||||
@ -459,8 +373,7 @@ Thing* ParticipantUDPGeneric::ProcessNewThing(ParticipantSocket* owner,
|
||||
}
|
||||
}
|
||||
|
||||
void ParticipantUDPGeneric::Process(ParticipantSocket* sender,
|
||||
NameMsg* msg) {
|
||||
void ParticipantUDPGeneric::Process(ParticipantSocket* sender, NameMsg* msg) {
|
||||
#if defined(DEBUG)
|
||||
std::cout << this->name << ": process NameMsg [" << (int)msg->networkId << "/"
|
||||
<< (int)msg->thingId << "] ";
|
||||
@ -500,8 +413,7 @@ void ParticipantUDPGeneric::Process(ParticipantSocket* sender,
|
||||
#endif
|
||||
}
|
||||
|
||||
void ParticipantUDPGeneric::Process(ParticipantSocket* sender,
|
||||
PoseMsg* msg) {
|
||||
void ParticipantUDPGeneric::Process(ParticipantSocket* sender, PoseMsg* msg) {
|
||||
#if !defined(DEBUG) && !defined(NO_STD)
|
||||
std::cout << this->name << ": process PoseMsg [" << (int)this->networkId
|
||||
<< "/" << (int)msg->networkId << "] " << (int)msg->poseType << "\n";
|
||||
@ -524,8 +436,7 @@ void ParticipantUDPGeneric::Process(ParticipantSocket* sender,
|
||||
thing->SetAngularVelocity(msg->angularVelocity);
|
||||
}
|
||||
|
||||
void ParticipantUDPGeneric::Process(ParticipantSocket* sender,
|
||||
BinaryMsg* msg) {
|
||||
void ParticipantUDPGeneric::Process(ParticipantSocket* sender, BinaryMsg* msg) {
|
||||
#if defined(DEBUG)
|
||||
std::cout << this->name << ": process BinaryMsg [" << (int)msg->networkId
|
||||
<< "/" << (int)msg->thingId << "]\n";
|
||||
@ -547,8 +458,7 @@ void ParticipantUDPGeneric::Process(ParticipantSocket* sender,
|
||||
}
|
||||
}
|
||||
|
||||
void ParticipantUDPGeneric::Process(ParticipantSocket* sender,
|
||||
TextMsg* msg) {
|
||||
void ParticipantUDPGeneric::Process(ParticipantSocket* sender, TextMsg* msg) {
|
||||
#if defined(DEBUG)
|
||||
std::cout << this->name << ": process TextMsg " << (int)msg->textLength << " "
|
||||
<< (int)msg->text << "\n";
|
||||
@ -570,4 +480,87 @@ void ParticipantUDPGeneric::Process(ParticipantSocket* sender,
|
||||
// Receive
|
||||
#pragma endregion
|
||||
|
||||
#pragma region Registry
|
||||
|
||||
ParticipantUDP::Registry ParticipantUDPGeneric::registry;
|
||||
|
||||
ParticipantSocket* ParticipantUDP::Registry::Get(const char* ipAddress, unsigned int port) {
|
||||
#if !defined(NO_STD)
|
||||
for (ParticipantSocket* participant : Registry::participants) {
|
||||
if (participant == nullptr)
|
||||
continue;
|
||||
if (strcmp(participant->ipAddress, ipAddress) == 0 &&
|
||||
participant->port == port) {
|
||||
// std::cout << "found participant " << participant->ipAddress << ":"
|
||||
// << (int)participant->port << std::endl;
|
||||
return participant;
|
||||
}
|
||||
}
|
||||
std::cout << "Could not find participant " << ipAddress << ":" << (int)port
|
||||
<< std::endl;
|
||||
#endif
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
ParticipantSocket* ParticipantUDP::Registry::Get(unsigned char participantId) {
|
||||
#if !defined(NO_STD)
|
||||
for (ParticipantSocket* participant : Registry::participants) {
|
||||
if (participant == nullptr)
|
||||
continue;
|
||||
if (participant->networkId == participantId)
|
||||
return participant;
|
||||
}
|
||||
std::cout << "Could not find participant " << (int)participantId << std::endl;
|
||||
#endif
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
ParticipantSocket* ParticipantUDP::Registry::Add(const char* ipAddress, unsigned int port) {
|
||||
ParticipantSocket* participant = new ParticipantSocket(ipAddress, port);
|
||||
Add(participant);
|
||||
return participant;
|
||||
}
|
||||
|
||||
void ParticipantUDP::Registry::Add(ParticipantSocket* participant) {
|
||||
Participant* foundParticipant = Get(participant->networkId);
|
||||
// Get(participant->ipAddress, participant->port);
|
||||
|
||||
if (foundParticipant == nullptr) {
|
||||
#if defined(NO_STD)
|
||||
// this->things[this->thingCount++] = thing;
|
||||
#else
|
||||
Registry::participants.push_back(participant);
|
||||
#endif
|
||||
// std::cout << "Add participant " << participant->ipAddress << ":"
|
||||
// << participant->port << "[" << (int)participant->networkId
|
||||
// << "]\n";
|
||||
// std::cout << "participants " <<
|
||||
// Registry::participants.size()
|
||||
// << "\n";
|
||||
// } else {
|
||||
// std::cout << "Did not add, existing participant " <<
|
||||
// participant->ipAddress
|
||||
// << ":" << participant->port << "[" <<
|
||||
// (int)participant->networkId
|
||||
// << "]\n";
|
||||
}
|
||||
}
|
||||
|
||||
void ParticipantUDP::Registry::Remove(ParticipantSocket* participant) {
|
||||
// participants.remove(participant);
|
||||
}
|
||||
|
||||
#if defined(NO_STD)
|
||||
RemoteParticipantUDP** Registry::GetAll() const {
|
||||
return Registry::participants;
|
||||
}
|
||||
#else
|
||||
const std::list<ParticipantSocket*>& ParticipantUDP::Registry::GetAll() const {
|
||||
return Registry::participants;
|
||||
}
|
||||
#endif
|
||||
|
||||
// Registry
|
||||
#pragma endregion Registry
|
||||
|
||||
} // namespace RoboidControl
|
||||
|
||||
@ -32,55 +32,6 @@ namespace RoboidControl {
|
||||
|
||||
constexpr int MAX_SENDER_COUNT = 256;
|
||||
|
||||
|
||||
|
||||
/// @brief class which manages all known participants
|
||||
class ParticipantRegistry {
|
||||
public:
|
||||
/// @brief Retrieve a participant by its address
|
||||
/// @param ipAddress The IP address of the participant
|
||||
/// @param port The port number of the participant
|
||||
/// @return The participant or a nullptr when it could not be found
|
||||
ParticipantSocket* Get(const char* ipAddress, unsigned int port);
|
||||
/// @brief Retrieve a participant by its network ID
|
||||
/// @param networkID The network ID of the participant
|
||||
/// @return The participant or a nullptr when it could not be found
|
||||
ParticipantSocket* Get(unsigned char networkID);
|
||||
|
||||
/// @brief Add a participant with the given details
|
||||
/// @param ipAddress The IP address of the participant
|
||||
/// @param port The port number of the participant
|
||||
/// @return The added participant
|
||||
ParticipantSocket* Add(const char* ipAddress, unsigned int port);
|
||||
|
||||
/// @brief Add a participant
|
||||
/// @param participant The participant to add
|
||||
void Add(ParticipantSocket* participant);
|
||||
|
||||
/// @brief Remove a participant
|
||||
/// @param participant The participant to remove
|
||||
void Remove(ParticipantSocket* participant);
|
||||
|
||||
private:
|
||||
#if defined(NO_STD)
|
||||
public:
|
||||
ParticipantSocket** GetAll() const;
|
||||
int count = 0;
|
||||
|
||||
private:
|
||||
ParticipantSocket** participants;
|
||||
#else
|
||||
public:
|
||||
/// @brief Get all participants
|
||||
/// @return All participants
|
||||
const std::list<ParticipantSocket*>& GetAll() const;
|
||||
|
||||
private:
|
||||
/// @brief The list of known participants
|
||||
std::list<ParticipantSocket*> participants;
|
||||
#endif
|
||||
};
|
||||
|
||||
/// @brief A participant using UDP communication
|
||||
/// A local participant is the local device which can communicate with
|
||||
/// other participants It manages all local things and communcation with other
|
||||
@ -174,9 +125,12 @@ class ParticipantUDPGeneric : public ParticipantSocket {
|
||||
void ReceiveData(unsigned char bufferSize,
|
||||
char* senderIpAddress,
|
||||
unsigned int senderPort);
|
||||
void ReceiveData(unsigned char bufferSize, ParticipantSocket* remoteParticipant);
|
||||
void ReceiveData(unsigned char bufferSize,
|
||||
ParticipantSocket* remoteParticipant);
|
||||
|
||||
virtual void SetupUDP(int localPort, const char* remoteIpAddress, int remotePort) = 0;
|
||||
virtual void SetupUDP(int localPort,
|
||||
const char* remoteIpAddress,
|
||||
int remotePort) = 0;
|
||||
|
||||
virtual void ReceiveUDP() = 0;
|
||||
|
||||
@ -198,9 +152,55 @@ class ParticipantUDPGeneric : public ParticipantSocket {
|
||||
|
||||
#pragma endregion Receive
|
||||
|
||||
public:
|
||||
static ParticipantRegistry registry;
|
||||
public:
|
||||
/// @brief class which manages all known participants
|
||||
class Registry {
|
||||
public:
|
||||
/// @brief Retrieve a participant by its address
|
||||
/// @param ipAddress The IP address of the participant
|
||||
/// @param port The port number of the participant
|
||||
/// @return The participant or a nullptr when it could not be found
|
||||
ParticipantSocket* Get(const char* ipAddress, unsigned int port);
|
||||
/// @brief Retrieve a participant by its network ID
|
||||
/// @param networkID The network ID of the participant
|
||||
/// @return The participant or a nullptr when it could not be found
|
||||
ParticipantSocket* Get(unsigned char networkID);
|
||||
|
||||
/// @brief Add a participant with the given details
|
||||
/// @param ipAddress The IP address of the participant
|
||||
/// @param port The port number of the participant
|
||||
/// @return The added participant
|
||||
ParticipantSocket* Add(const char* ipAddress, unsigned int port);
|
||||
|
||||
/// @brief Add a participant
|
||||
/// @param participant The participant to add
|
||||
void Add(ParticipantSocket* participant);
|
||||
|
||||
/// @brief Remove a participant
|
||||
/// @param participant The participant to remove
|
||||
void Remove(ParticipantSocket* participant);
|
||||
|
||||
private:
|
||||
#if defined(NO_STD)
|
||||
public:
|
||||
ParticipantSocket** GetAll() const;
|
||||
int count = 0;
|
||||
|
||||
private:
|
||||
ParticipantSocket** participants;
|
||||
#else
|
||||
public:
|
||||
/// @brief Get all participants
|
||||
/// @return All participants
|
||||
const std::list<ParticipantSocket*>& GetAll() const;
|
||||
|
||||
private:
|
||||
/// @brief The list of known participants
|
||||
std::list<ParticipantSocket*> participants;
|
||||
#endif
|
||||
};
|
||||
|
||||
static Registry registry;
|
||||
};
|
||||
|
||||
} // namespace RoboidControl
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user