RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Merge commit '12d91378e5fe126b85141123aefb27a4c33f96e2'

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This commit is contained in:
Pascal Serrarens 2025-04-08 12:55:26 +02:00
commit bb33724873
3 changed files with 12 additions and 65 deletions
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73
Windows/WindowsParticipant.cpp
View File

@ -4,36 +4,22 @@
#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>
#endif
namespace RoboidControl {
namespace Windows {
void Setup(int localPort, const char* remoteIpAddress, int remotePort) {
void ParticipantUDP::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;
@ -41,13 +27,8 @@ void Setup(int localPort, const char* remoteIpAddress, int remotePort) {
}
// 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
@ -56,12 +37,8 @@ void Setup(int localPort, const char* remoteIpAddress, int remotePort) {
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;
}
}
@ -72,30 +49,22 @@ void Setup(int localPort, const char* remoteIpAddress, int remotePort) {
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
#endif // _WIN32 || _WIN64
}
void Receive() {
void ParticipantUDP::Receive() {
#if defined(_WIN32) || defined(_WIN64)
// char ip_str[INET_ADDRSTRLEN];
// inet_ntop(AF_INET, &(server_addr.sin_addr), ip_str, INET_ADDRSTRLEN);
@ -103,21 +72,13 @@ void Receive() {
// << 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);
@ -138,16 +99,16 @@ void Receive() {
// ReceiveData(packetSize, remoteParticipant);
}
#endif
#endif // _WIN32 || _WIN64
}
bool Send(Participant* remoteParticipant, int bufferSize) {
bool ParticipantUDP::Send(Participant* remoteParticipant, int bufferSize) {
#if defined(_WIN32) || defined(_WIN64)
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;
@ -155,18 +116,11 @@ bool Send(Participant* remoteParticipant, int bufferSize) {
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
#endif // _WIN32 || _WIN64
return true;
}
bool Publish(IMessage* msg) {
bool ParticipantUDP::Publish(IMessage* msg) {
#if defined(_WIN32) || defined(_WIN64)
int bufferSize = msg->Serialize(this->buffer);
if (bufferSize <= 0)
@ -176,7 +130,7 @@ bool Publish(IMessage* msg) {
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;
@ -184,14 +138,7 @@ bool Publish(IMessage* msg) {
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
#endif // _WIN32 || _WIN64
return true;
}

2
test/participant_test.cc
View File

@ -9,7 +9,7 @@
// #include <ws2tcpip.h>
#include "Participant.h"
#include "SiteServer.h"
#include "Participants/SiteServer.h"
#include "Thing.h"
using namespace RoboidControl;

2
test/thing_test.cc
View File

@ -4,7 +4,7 @@
// not supported using Visual Studio 2022 compiler...
#include <gtest/gtest.h>
#include "LocalParticipant.h"
#include "Participants/ParticipantUDP.h"
#include "Thing.h"
using namespace RoboidControl;