RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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base: RoboidControl:19a5c5d4d580759e0045ddc6ab724da773cfcecb
Branches Tags
RoboidControl:main
RoboidControl:MQTT
RoboidControl:0.4_dev
RoboidControl:Braccio
RoboidControl:ESP-IDF
RoboidControl:ControlCore
RoboidControl:Experimental
RoboidControl:subtree
RoboidControl:edition/arduino
RoboidControl:lighthousedeck
RoboidControl:hierarchy-support
RoboidControl:Quadcopter2
RoboidControl:DiscreteAngle
RoboidControl:master
RoboidControl:v0.3.0
RoboidControl:v0.2.1
RoboidControl:v0.1
RoboidControl:v0.2
..
compare: RoboidControl:230a41f1434be09ad0ec299437197fcdce73bf83
Branches Tags
RoboidControl:MQTT
RoboidControl:0.4_dev
RoboidControl:main
RoboidControl:Braccio
RoboidControl:ESP-IDF
RoboidControl:ControlCore
RoboidControl:Experimental
RoboidControl:subtree
RoboidControl:edition/arduino
RoboidControl:lighthousedeck
RoboidControl:hierarchy-support
RoboidControl:Quadcopter2
RoboidControl:DiscreteAngle
RoboidControl:master
RoboidControl:v0.3.0
RoboidControl:v0.2.1
RoboidControl:v0.1
RoboidControl:v0.2

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19a5c5d4d5 ... 230a41f143

19 changed files with 325 additions and 604 deletions
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6
Arduino/ArduinoParticipant.cpp
View File

@ -1,5 +1,4 @@
#include "ArduinoParticipant.h"
#if defined(ARDUINO)
#if !defined(NO_STD)
#include <iostream>
@ -22,6 +21,7 @@
#endif
namespace RoboidControl {
namespace Arduino {
#if defined(ARDUINO) && defined(HAS_WIFI)
WiFiUDP* udp;
@ -88,7 +88,7 @@ void ParticipantUDP::Receive() {
#endif
}
bool ParticipantUDP::SendTo(RemoteParticipantUDP* remoteParticipant, int bufferSize) {
bool ParticipantUDP::Send(Participant* remoteParticipant, int bufferSize) {
#if defined(ARDUINO) && defined(HAS_WIFI)
// std::cout << "Sending to:\n " << remoteParticipant->ipAddress << ":"
// << remoteParticipant->port << "\n";
@ -131,5 +131,5 @@ bool ParticipantUDP::Publish(IMessage* msg) {
return true;
};
} // namespace Arduino
} // namespace RoboidControl
#endif

8
Arduino/ArduinoParticipant.h
View File

@ -1,15 +1,15 @@
#pragma once
#if defined(ARDUINO)
#include "Participants/ParticipantUDP.h"
namespace RoboidControl {
namespace Arduino {
class ParticipantUDP : public ParticipantUDPGeneric {
class ParticipantUDP : public RoboidControl::ParticipantUDP {
public:
void Setup();
void Receive();
bool SendTo(RemoteParticipantUDP* remoteParticipant, int bufferSize);
bool Send(Participant* remoteParticipant, int bufferSize);
bool Publish(IMessage* msg);
protected:
@ -18,5 +18,5 @@ class ParticipantUDP : public ParticipantUDPGeneric {
void GetBroadcastAddress();
};
} // namespace Arduino
} // namespace RoboidControl
#endif

4
Arduino/Examples/BB2A/BB2A.cpp
View File

@ -19,7 +19,7 @@
using namespace RoboidControl;
using namespace RoboidControl::Arduino;
ParticipantUDPGeneric* localParticipant;
ParticipantUDP* localParticipant;
DifferentialDrive* bb2b;
TouchSensor* touchLeft;
@ -34,7 +34,7 @@ void setup() {
Serial.println("started");
StartWifi("serrarens", "192.168.76.44");
localParticipant = new ParticipantUDPGeneric("192.168.77.76");
localParticipant = new ParticipantUDP("192.168.77.76");
bb2b = new DifferentialDrive();
touchLeft = new TouchSensor(bb2b);

118
EspIdf/EspIdfParticipant.cpp
View File

@ -4,12 +4,13 @@
#include "esp_wifi.h"
#endif
#include <arpa/inet.h>
namespace RoboidControl {
namespace EspIdf {
void ParticipantUDP::SetupUDP(int localPort,
void ParticipantUDP::Setup(int localPort,
const char* remoteIpAddress,
int remotePort) {
#if defined(IDF_VER)
std::cout << "Set up UDP\n";
GetBroadcastAddress();
@ -21,57 +22,42 @@ void ParticipantUDP::SetupUDP(int localPort,
}
// Create a UDP socket
this->sock = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
if (this->sock < 0) {
this->sockfd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
if (this->sockfd < 0) {
std::cout << "Unable to create UDP socket: errno " << errno << "\n";
vTaskDelete(NULL);
return;
}
/*
// Set up the receiving(local) address
// Set up the server address structure
struct sockaddr_in local_addr;
memset(&local_addr, 0, sizeof(local_addr));
local_addr.sin_family = AF_INET;
local_addr.sin_port = htons(localPort);
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 receiving address
if (bind(this->sock, (struct sockaddr*)&local_addr, sizeof(local_addr)) < 0) {
// Bind the socket to the address and port
if (bind(this->sockfd, (struct sockaddr*)&local_addr, sizeof(local_addr)) <
0) {
std::cout << "Unable to bind UDP socket: errno " << errno << "\n";
close(sock);
close(sockfd);
vTaskDelete(NULL);
return;
}
*/
// Initialize the destination(remote) address
// Initialize the dest_addr structure
memset(&this->dest_addr, 0,
sizeof(this->dest_addr)); // Clear the entire structure
this->dest_addr.sin_family = AF_INET;
this->dest_addr.sin_port = htons(this->remoteSite->port);
this->dest_addr.sin_addr.s_addr = inet_addr(this->remoteSite->ipAddress);
// inet_pton(AF_INET, this->remoteSite->ipAddress,
// &this->dest_addr.sin_addr.s_addr);
inet_pton(AF_INET, this->remoteSite->ipAddress,
&this->dest_addr.sin_addr.s_addr);
this->connected = true;
std::cout << "Wifi sync started local " << localPort << ", remote "
std::cout << "Wifi sync started local " << this->port << ", remote "
<< this->remoteSite->ipAddress << ":" << this->remoteSite->port
<< "\n";
// std::cout << "socket: " << (int)this->sock << std::endl;
// ParticipantMsg* msg = new ParticipantMsg(this->networkId);
// int bufferSize = msg->Serialize(this->buffer);
// int err = sendto(this->sock, buffer, bufferSize, 0,
// (struct sockaddr*)&dest_addr, sizeof(dest_addr));
// if (errno != 0)
// std::cout << "AASend error " << err << " or " << errno << "\n";
// else
// std::cout << "AASend SUCCESS\n";
//SendTest();
#endif // IDF_VER
}
void ParticipantUDP::GetBroadcastAddress() {
@ -97,11 +83,10 @@ void ParticipantUDP::GetBroadcastAddress() {
#endif // IDF_VER
}
void ParticipantUDP::ReceiveUDP() {
void ParticipantUDP::Receive() {
#if defined(IDF_VER)
/*
struct pollfd fds[1];
fds[0].fd = sock;
fds[0].fd = sockfd;
fds[0].events = POLLIN; // We're looking for data available to read
// Use poll() with a timeout of 0 to return immediately
@ -118,7 +103,7 @@ void ParticipantUDP::ReceiveUDP() {
char sender_ipAddress[INET_ADDRSTRLEN];
while (ret > 0 && fds[0].revents & POLLIN) {
int packetSize = recvfrom(this->sock, buffer, sizeof(buffer) - 1, 0,
int packetSize = recvfrom(this->sockfd, buffer, sizeof(buffer) - 1, 0,
(struct sockaddr*)&source_addr, &addr_len);
if (packetSize < 0) {
std::cout << "recvfrom() error\n";
@ -141,66 +126,18 @@ void ParticipantUDP::ReceiveUDP() {
}
}
// std::cout << "no more messages\n";
*/
#endif // IDF_VER
}
ParticipantUDP::ParticipantUDP(int port) : ParticipantUDPGeneric(port) {}
ParticipantUDP::ParticipantUDP(const char* ipAddress, int port, int localPort)
: ParticipantUDPGeneric(ipAddress, port, localPort) {}
// bool ParticipantUDP::SendTest() {
// #if defined(IDF_VER)
// // std::cout << "socket: " << (int)this->sock << std::endl;
// // UBaseType_t stack_size = uxTaskGetStackHighWaterMark(NULL); // NULL to check the main task
// // size_t free_heap = xPortGetFreeHeapSize();
// // std::cout << "Stack High Water Mark: " << stack_size << " heap " << free_heap << std::endl;
// ParticipantMsg* msg = new ParticipantMsg(this->networkId);
// int bSize = msg->Serialize(this->buffer);
// // std::cout << "buffer size " << bSize << std::endl;
// int err = sendto(this->sock, buffer, bSize, 0, (struct sockaddr*)&dest_addr,
// sizeof(dest_addr));
// if (errno != 0)
// std::cout << "BBSend error " << err << " or " << errno << "\n";
// else
// std::cout << "BBSend SUCCESS\n";
// #endif
// return true;
// }
bool ParticipantUDP::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->remoteSite->ipAddress << std::endl;
return this->SendTo(this->remoteSite, bufferSize);
}
bool ParticipantUDP::SendTo(RemoteParticipantUDP* remoteParticipant,
int bufferSize) {
bool ParticipantUDP::Send(Participant* remoteParticipant, int bufferSize) {
#if defined(IDF_VER)
uint16_t port = ntohs(dest_addr.sin_port);
// std::cout << "Sending to " << remoteParticipant->ipAddress << ":"
// << remoteParticipant->port << "\n";
char ip_str[INET_ADDRSTRLEN];
inet_ntop(AF_INET, &dest_addr.sin_addr, ip_str, sizeof(ip_str));
std::cout << "Sending " << bufferSize << " bytes to " << ip_str << ":" << port << "\n";
// Print the IP address and port
// printf("IP Address: %s\n", ip_str);
// printf("Port: %d\n", port);
this->dest_addr.sin_port = htons(remoteParticipant->port);
this->dest_addr.sin_addr.s_addr = inet_addr(remoteParticipant->ipAddress);
int err = sendto(this->sock, buffer, bufferSize, 0,
(struct sockaddr*)&this->dest_addr, sizeof(this->dest_addr));
if (errno < 0)
int err = sendto(this->sockfd, buffer, bufferSize, 0,
(struct sockaddr*)&dest_addr, sizeof(dest_addr));
if (errno != 0)
std::cout << "Send error " << err << " or " << errno << "\n";
#endif
@ -217,7 +154,7 @@ bool ParticipantUDP::Publish(IMessage* msg) {
dest_addr.sin_family = AF_INET;
dest_addr.sin_port = htons(this->port);
inet_pton(AF_INET, this->broadcastIpAddress, &dest_addr.sin_addr.s_addr);
int err = sendto(sock, buffer, bufferSize, 0, (struct sockaddr*)&dest_addr,
int err = sendto(sockfd, buffer, bufferSize, 0, (struct sockaddr*)&dest_addr,
sizeof(dest_addr));
if (err != 0)
std::cout << "Publish error\n";
@ -225,4 +162,5 @@ bool ParticipantUDP::Publish(IMessage* msg) {
return true;
};
} // namespace EspIdf
} // namespace RoboidControl

36
EspIdf/EspIdfParticipant.h
View File

@ -1,47 +1,26 @@
#pragma once
#if defined(IDF_VER)
#include "Participants/ParticipantUDP.h"
#if defined(IDF_VER)
#include "lwip/sockets.h"
#endif
namespace RoboidControl {
namespace EspIdf {
class ParticipantUDP : public ParticipantUDPGeneric {
class ParticipantUDP : public RoboidControl::ParticipantUDP {
public:
/// @brief Create a participant without connecting to a site
/// @param port The port on which the participant communicates
/// These participant typically broadcast Participant messages to let site
/// servers on the local network know their presence. Alternatively they can
/// broadcast information which can be used directly by other participants.
ParticipantUDP(int port = 7681);
/// @brief Create a participant which will try to connect to a site.
/// @param ipAddress The IP address of the site
/// @param port The port used by the site
/// @param localPort The port used by the local participant
ParticipantUDP(const char* ipAddress, int port = 7681, int localPort = 7681);
void Setup(int localPort, const char* remoteIpAddress, int remotePort);
void Receive();
bool SendTo(RemoteParticipantUDP* remoteParticipant, int bufferSize);
bool Send(Participant* remoteParticipant, int bufferSize);
bool Publish(IMessage* msg);
// bool SendTest();
/// @brief Sens a message to the remote site (if set)
/// @param msg The message to send
/// @return True if a message could be sent.
bool Send(IMessage* msg) override;
void SetupUDP(int localPort,
const char* remoteIpAddress,
int remotePort) override;
void ReceiveUDP() override;
protected:
#if defined(IDF_VER)
char broadcastIpAddress[INET_ADDRSTRLEN];
int sock;
int sockfd;
struct sockaddr_in dest_addr;
// struct sockaddr_in src_addr;
#endif
@ -49,6 +28,5 @@ class ParticipantUDP : public ParticipantUDPGeneric {
void GetBroadcastAddress();
};
} // namespace EspIdf
} // namespace RoboidControl
#endif

204
Participant.cpp
View File

@ -10,6 +10,8 @@ namespace RoboidControl {
#pragma region Participant
ParticipantRegistry Participant::registry;
Participant* Participant::LocalParticipant = new Participant();
void Participant::ReplaceLocalParticipant(Participant& newParticipant) {
@ -22,7 +24,6 @@ Participant::Participant() {
//this->Add(this->root);
}
/*
Participant::Participant(const char* ipAddress, int port) {
Thing::CreateRoot(this);
//this->Add(this->root);
@ -42,26 +43,19 @@ Participant::Participant(const char* ipAddress, int port) {
this->ipAddress = addressString;
this->port = port;
}
*/
Participant::~Participant() {
// registry.Remove(this);
// delete[] this->ipAddress;
delete[] this->ipAddress;
}
void Participant::Update(bool recurse) {
void Participant::Update() {
for (Thing* thing : this->things) {
if (thing != nullptr)
thing->Update();
thing->Update(true);
}
}
bool Participant::Send(IMessage* msg) {
std::cout << "sending message " << (static_cast<int>(this->buffer[0]) & 0xff)
<< " to base Participant without communcation support " << std::endl;
return true;
}
/*
bool Participant::Send(IMessage* msg) {
int bufferSize = msg->Serialize(this->buffer);
if (bufferSize <= 0)
@ -73,31 +67,31 @@ bool Participant::Send(IMessage* msg) {
#if defined(_WIN32) || defined(_WIN64)
Windows::ParticipantUDP* thisWindows =
static_cast<Windows::ParticipantUDP*>(this);
return thisWindows->SendTo(this, bufferSize);
return thisWindows->Send(this, bufferSize);
#elif defined(__unix__) || defined(__APPLE__)
Posix::ParticipantUDP* thisPosix = static_cast<Posix::ParticipantUDP*>(this);
return thisPosix->SendTo(this, bufferSize);
return thisPosix->Send(this, bufferSize);
#elif defined(ARDUINO)
Arduino::ParticipantUDP* thisArduino =
static_cast<Arduino::ParticipantUDP*>(this);
return thisArduino->SendTo(this, bufferSize);
return thisArduino->Send(this, bufferSize);
#elif defined(IDF_VER)
EspIdf::ParticipantUDP* thisEspIdf =
static_cast<EspIdf::ParticipantUDP*>(this);
return thisEspIdf->SendTo(this, bufferSize);
return thisEspIdf->Send(remoteParticipant, bufferSize);
#else
return false;
#endif
}
*/
Thing* Participant::Get(unsigned char networkId, unsigned char thingId) {
Thing* Participant::Get(unsigned char thingId) {
for (Thing* thing : this->things) {
if (thing->owner->networkId == networkId && thing->id == thingId)
if (thing->id == thingId)
return thing;
}
std::cout << "Could not find thing " //<< this->ipAddress << ":" << this->port
<< "[" << (int)thingId << "]\n";
// std::cout << "Could not find thing " << this->ipAddress << ":" <<
// this->port
// << "[" << (int)thingId << "]\n";
return nullptr;
}
@ -119,24 +113,22 @@ void Participant::Add(Thing* thing, bool checkId) {
thing->id = highestIx + 1;
this->things.push_back(thing);
#endif
std::cout << "Add thing with generated ID "
//<< this->ipAddress << ":" << this->port
<< "[" << (int)thing->id << "]\n";
// std::cout << "Add thing with generated ID " << this->ipAddress << ":"
// << this->port << "[" << (int)thing->id << "]\n";
} else {
Thing* foundThing = Get(thing->owner->networkId, thing->id);
Thing* foundThing = Get(thing->id);
if (foundThing == nullptr) {
#if defined(NO_STD)
this->things[this->thingCount++] = thing;
#else
this->things.push_back(thing);
#endif
std::cout << "Add thing " << //this->ipAddress << ":" << this->port <<
"["
<< (int)thing->id << "]\n";
// std::cout << "Add thing " << this->ipAddress << ":" << this->port <<
// "["
// << (int)thing->id << "]\n";
} else {
std::cout << "Did not add, existing thing "
//<< this->ipAddress << ":" << this->port
<< "[" << (int)thing->id << "]\n";
// std::cout << "Did not add, existing thing " << this->ipAddress << ":"
// << this->port << "[" << (int)thing->id << "]\n";
}
}
}
@ -164,88 +156,86 @@ void Participant::Remove(Thing* thing) {
#pragma endregion
// #pragma region ParticipantRegistry
#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::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::Add(const char* ipAddress,
// // unsigned int port) {
// // Participant* participant = new Participant(ipAddress, port);
// // Add(participant);
// // return participant;
// // }
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;
}
// void ParticipantRegistry::Add(Participant* participant) {
// Participant* foundParticipant =
// Get(participant->networkId);
// //Get(participant->ipAddress, participant->port);
Participant* ParticipantRegistry::Add(const char* ipAddress,
unsigned int port) {
Participant* participant = new Participant(ipAddress, port);
Add(participant);
return participant;
}
// 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::Add(Participant* participant) {
Participant* foundParticipant =
Get(participant->ipAddress, participant->port);
// void ParticipantRegistry::Remove(Participant* participant) {
// // participants.remove(participant);
// }
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";
}
}
// #if defined(NO_STD)
// Participant** ParticipantRegistry::GetAll() const {
// return ParticipantRegistry::participants;
// }
// #else
// const std::list<Participant*>& ParticipantRegistry::GetAll() const {
// return ParticipantRegistry::participants;
// }
// #endif
void ParticipantRegistry::Remove(Participant* participant) {
// participants.remove(participant);
}
// #pragma endregion ParticipantRegistry
#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

29
Participant.h
View File

@ -7,7 +7,6 @@ namespace RoboidControl {
constexpr int MAX_THING_COUNT = 256;
/*
/// @brief class which manages all known participants
class ParticipantRegistry {
public:
@ -15,7 +14,7 @@ class ParticipantRegistry {
/// @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);
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
@ -25,8 +24,7 @@ class ParticipantRegistry {
/// @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);
Participant* Add(const char* ipAddress, unsigned int port);
/// @brief Add a participant
/// @param participant The participant to add
void Add(Participant* participant);
@ -54,7 +52,6 @@ class ParticipantRegistry {
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
@ -91,6 +88,15 @@ class Participant {
/// @brief The name of the participant
const char* name = "Participant";
/// @brief The Ip Address of a participant.
/// @remarks This does not belong here, it should move to ParticipantUDP or
/// something like that in the future
const char* ipAddress = "0.0.0.0";
/// @brief The port number for UDP communication with the participant.
/// @remarks This does not belong here, it should move to ParticipantUDP or
/// something like that in the future
unsigned int port = 0;
/// @brief The network Id to identify the participant
unsigned char networkId = 0;
@ -106,10 +112,9 @@ class Participant {
std::list<Thing*> things;
#endif
/// @brief Find a thing managed by this participant
/// @param networkId The network ID of the thing
/// @param thingId The ID of the thing
/// @return The thing if found, nullptr when no thing has been found
Thing* Get(unsigned char networkId, unsigned char thingId);
Thing* Get(unsigned char thingId);
/// @brief Add a new thing for this participant.
/// @param thing The thing to add
/// @param checkId If true, the thing.id is regenerated if it is zero
@ -124,7 +129,7 @@ class Participant {
public:
/// @brief Update all things for this participant
virtual void Update(bool recurse = true);
virtual void Update();
#pragma endregion Update
@ -137,12 +142,12 @@ class Participant {
#pragma endregion Send
// #pragma region Participant Registry
#pragma region Participant Registry
// public:
// static ParticipantRegistry registry;
public:
static ParticipantRegistry registry;
// #pragma endregion Participant Registry
#pragma endregion Participant Registry
};
} // namespace RoboidControl

6
Participants/IsolatedParticipant.cpp
View File

@ -1,16 +1,14 @@
/*
#include "IsolatedParticipant.h"
#include "ParticipantUDP.h"
namespace RoboidControl {
static ParticipantUDPGeneric* isolatedParticipant = nullptr;
static ParticipantUDP* isolatedParticipant = nullptr;
Participant* IsolatedParticipant::Isolated() {
if (isolatedParticipant == nullptr)
isolatedParticipant = new ParticipantUDPGeneric(0);
isolatedParticipant = new ParticipantUDP(0);
return isolatedParticipant;
}
} // namespace RoboidControl
*/

2
Participants/IsolatedParticipant.h
View File

@ -1,4 +1,3 @@
/*
#include "Participant.h"
namespace RoboidControl {
@ -12,4 +11,3 @@ class IsolatedParticipant {
};
}
*/

303
Participants/ParticipantUDP.cpp
View File

@ -8,167 +8,73 @@
#include "Posix/PosixParticipant.h"
#include "Windows/WindowsParticipant.h"
#include "Things/DifferentialDrive.h"
#include "Things/DistanceSensor.h"
#include "Things/TouchSensor.h"
#include <string.h>
namespace RoboidControl {
#pragma region ParticipantRegistry
ParticipantRegistry ParticipantUDPGeneric::registry;
RemoteParticipantUDP* ParticipantRegistry::Get(const char* ipAddress,
unsigned int port) {
#if !defined(NO_STD)
for (RemoteParticipantUDP* 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;
}
RemoteParticipantUDP* ParticipantRegistry::Get(unsigned char participantId) {
#if !defined(NO_STD)
for (RemoteParticipantUDP* 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;
}
RemoteParticipantUDP* ParticipantRegistry::Add(const char* ipAddress,
unsigned int port) {
RemoteParticipantUDP* participant = new RemoteParticipantUDP(ipAddress, port);
Add(participant);
return participant;
}
void ParticipantRegistry::Add(RemoteParticipantUDP* 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(RemoteParticipantUDP* participant) {
// participants.remove(participant);
}
#if defined(NO_STD)
RemoteParticipantUDP** ParticipantRegistry::GetAll() const {
return ParticipantRegistry::participants;
}
#else
const std::list<RemoteParticipantUDP*>& ParticipantRegistry::GetAll() const {
return ParticipantRegistry::participants;
}
#endif
#pragma endregion ParticipantRegistry
RemoteParticipantUDP::RemoteParticipantUDP(const char* ipAddress, int port) {
// 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;
}
bool RemoteParticipantUDP::Send(IMessage* msg) {
// No message is actually sent, because this class has no networking
// implementation
return false;
}
#pragma region Init
ParticipantUDPGeneric::ParticipantUDPGeneric(int port)
: RemoteParticipantUDP("127.0.0.1", port) {
ParticipantUDP::ParticipantUDP(int port) : Participant("127.0.0.1", port) {
this->name = "ParticipantUDP";
this->remoteSite = nullptr;
if (this->port == 0)
this->isIsolated = true;
registry.Add(this);
Participant::registry.Add(this);
this->root = Thing::LocalRoot(); //::LocalParticipant->root;
this->root->owner = this;
this->root->name = "UDP Root";
std::cout << "P2 " << (int)this->root << std::endl;
this->Add(this->root);
Participant::ReplaceLocalParticipant(*this);
}
ParticipantUDPGeneric::ParticipantUDPGeneric(const char* ipAddress,
int port,
int localPort)
: RemoteParticipantUDP("127.0.0.1", localPort) {
ParticipantUDP::ParticipantUDP(const char* ipAddress, int port, int localPort)
: Participant("127.0.0.1", localPort) {
this->name = "ParticipantUDP";
if (this->port == 0)
this->isIsolated = true;
else
this->remoteSite = new RemoteParticipantUDP(ipAddress, port);
registry.Add(this);
this->remoteSite = new Participant(ipAddress, port);
Participant::registry.Add(this);
this->root = Thing::LocalRoot(); // Participant::LocalParticipant->root;
this->root->owner = this;
this->root->name = "UDP Root";
std::cout << "P1 " << (int)this->root << std::endl;
this->Add(this->root);
Participant::ReplaceLocalParticipant(*this);
}
void ParticipantUDPGeneric::begin() {
void ParticipantUDP::begin() {
if (this->isIsolated || this->remoteSite == nullptr)
return;
SetupUDP(this->port, this->remoteSite->ipAddress, this->remoteSite->port);
}
void ParticipantUDP::SetupUDP(int localPort,
const char* remoteIpAddress,
int remotePort) {
#if defined(_WIN32) || defined(_WIN64)
Windows::ParticipantUDP* thisWindows =
static_cast<Windows::ParticipantUDP*>(this);
thisWindows->Setup(localPort, remoteIpAddress, remotePort);
#elif defined(__unix__) || defined(__APPLE__)
Posix::ParticipantUDP* thisPosix = static_cast<Posix::ParticipantUDP*>(this);
thisPosix->Setup(localPort, remoteIpAddress, remotePort);
#elif defined(ARDUINO)
Arduino::ParticipantUDP* thisArduino =
static_cast<Arduino::ParticipantUDP*>(this);
thisArduino->Setup();
#elif defined(IDF_VER)
EspIdf::ParticipantUDP* thisEspIdf =
static_cast<EspIdf::ParticipantUDP*>(this);
thisEspIdf->Setup(localPort, remoteIpAddress, remotePort);
#endif
this->connected = true;
}
#pragma endregion Init
#pragma region Update
@ -177,7 +83,7 @@ void ParticipantUDPGeneric::begin() {
// 1. receive external messages
// 2. update the state
// 3. send out the updated messages
void ParticipantUDPGeneric::Update(bool recurse) {
void ParticipantUDP::Update() {
unsigned long currentTimeMs = Thing::GetTimeMs();
if (this->isIsolated == false) {
@ -186,24 +92,24 @@ void ParticipantUDPGeneric::Update(bool recurse) {
if (this->publishInterval > 0 && currentTimeMs > this->nextPublishMe) {
ParticipantMsg* msg = new ParticipantMsg(this->networkId);
if (this->remoteSite == nullptr)
this->Publish(msg);
else
this->Send(msg);
delete msg;
this->nextPublishMe = currentTimeMs + this->publishInterval;
}
//this->ReceiveUDP();
this->ReceiveUDP();
}
UpdateMyThings();
UpdateOtherThings();
}
void ParticipantUDPGeneric::UpdateMyThings() {
void ParticipantUDP::UpdateMyThings() {
for (Thing* thing : this->things) {
if (thing == nullptr) // || thing->GetParent() != nullptr)
continue;
@ -219,13 +125,13 @@ void ParticipantUDPGeneric::UpdateMyThings() {
}
}
void ParticipantUDPGeneric::UpdateOtherThings() {
void ParticipantUDP::UpdateOtherThings() {
#if defined(NO_STD)
Participant** participants = Participant::registry.GetAll();
for (int ix = 0; ix < Participant::registry.count; ix++) {
Participant* participant = participants[ix];
#else
for (Participant* participant : registry.GetAll()) {
for (Participant* participant : Participant::registry.GetAll()) {
#endif
if (participant == nullptr || participant == this)
continue;
@ -253,7 +159,7 @@ void ParticipantUDPGeneric::UpdateOtherThings() {
#pragma region Send
void ParticipantUDPGeneric::SendThingInfo(Participant* remoteParticipant,
void ParticipantUDP::SendThingInfo(Participant* remoteParticipant,
Thing* thing) {
// std::cout << "Send thing info [" << (int)thing->id << "] \n";
ThingMsg* thingMsg = new ThingMsg(this->networkId, thing);
@ -273,14 +179,14 @@ void ParticipantUDPGeneric::SendThingInfo(Participant* remoteParticipant,
delete binaryMsg;
}
bool ParticipantUDPGeneric::Send(IMessage* msg) {
bool ParticipantUDP::Send(IMessage* msg) {
if (this->remoteSite != nullptr)
return this->remoteSite->Send(msg);
return true;
}
void ParticipantUDPGeneric::PublishThingInfo(Thing* thing) {
void ParticipantUDP::PublishThingInfo(Thing* thing) {
// std::cout << "Publish thing info" << thing->networkId << "\n";
// Strange, when publishing, the network id is irrelevant, because it is
// connected to a specific site...
@ -301,31 +207,71 @@ void ParticipantUDPGeneric::PublishThingInfo(Thing* thing) {
delete customMsg;
}
bool ParticipantUDP::Publish(IMessage* msg) {
// std::cout << "publish msg\n";
#if defined(_WIN32) || defined(_WIN64)
Windows::ParticipantUDP* thisWindows =
static_cast<Windows::ParticipantUDP*>(this);
return thisWindows->Publish(msg);
#elif defined(__unix__) || defined(__APPLE__)
Posix::ParticipantUDP* thisPosix = static_cast<Posix::ParticipantUDP*>(this);
return thisPosix->Publish(msg);
#elif defined(ARDUINO)
Arduino::ParticipantUDP* thisArduino =
static_cast<Arduino::ParticipantUDP*>(this);
return thisArduino->Publish(msg);
#elif defined(IDF_VER)
EspIdf::ParticipantUDP* thisEspIdf =
static_cast<EspIdf::ParticipantUDP*>(this);
return thisEspIdf->Publish(msg);
#else
return false;
#endif
}
// Send
#pragma endregion
#pragma region Receive
void ParticipantUDPGeneric::ReceiveData(unsigned char packetSize,
void ParticipantUDP::ReceiveUDP() {
#if defined(_WIN32) || defined(_WIN64)
Windows::ParticipantUDP* thisWindows =
static_cast<Windows::ParticipantUDP*>(this);
thisWindows->Receive();
#elif defined(__unix__) || defined(__APPLE__)
Posix::ParticipantUDP* thisPosix = static_cast<Posix::ParticipantUDP*>(this);
thisPosix->Receive();
#elif defined(ARDUINO)
Arduino::ParticipantUDP* thisArduino =
static_cast<Arduino::ParticipantUDP*>(this);
thisArduino->Receive();
#elif defined(IDF_VER)
EspIdf::ParticipantUDP* thisEspIdf =
static_cast<EspIdf::ParticipantUDP*>(this);
thisEspIdf->Receive();
#endif
}
void ParticipantUDP::ReceiveData(unsigned char packetSize,
char* senderIpAddress,
unsigned int senderPort) {
// std::cout << "Receive data from " << senderIpAddress << ":" << senderPort
// << std::endl;
RemoteParticipantUDP* sender =
this->registry.Get(senderIpAddress, senderPort);
Participant* sender = this->registry.Get(senderIpAddress, senderPort);
if (sender == nullptr) {
sender = this->registry.Add(senderIpAddress, senderPort);
#if !defined(NO_STD)
// std::cout << "New remote participant " << sender->ipAddress << ":"
// << sender->port << std::endl;
std::cout << "New remote participant " << sender->ipAddress << ":"
<< sender->port << std::endl;
#endif
}
ReceiveData(packetSize, sender);
}
void ParticipantUDPGeneric::ReceiveData(unsigned char bufferSize,
RemoteParticipantUDP* sender) {
void ParticipantUDP::ReceiveData(unsigned char bufferSize,
Participant* sender) {
unsigned char msgId = this->buffer[0];
// std::cout << "receive msg " << (int)msgId << "\n";
// std::cout << " buffer size = " <<(int) bufferSize << "\n";
@ -398,16 +344,14 @@ void ParticipantUDPGeneric::ReceiveData(unsigned char bufferSize,
#endif
}
void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
ParticipantMsg* msg) {
void ParticipantUDP::Process(Participant* sender, ParticipantMsg* msg) {
#if defined(DEBUG)
std::cout << this->name << ": Process ParticipantMsg " << (int)msg->networkId
<< "\n";
#endif
}
void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
NetworkIdMsg* msg) {
void ParticipantUDP::Process(Participant* sender, NetworkIdMsg* msg) {
#if defined(DEBUG)
std::cout << this->name << ": process NetworkIdMsg " << (int)this->networkId
<< " -> " << (int)msg->networkId << "\n";
@ -422,68 +366,28 @@ void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
}
}
void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
InvestigateMsg* msg) {
void ParticipantUDP::Process(Participant* sender, InvestigateMsg* msg) {
#if defined(DEBUG)
std::cout << this->name << ": Process InvestigateMsg [" << (int)msg->networkId
<< "/" << (int)msg->thingId << "]\n";
#endif
}
void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
ThingMsg* msg) {
void ParticipantUDP::Process(Participant* sender, ThingMsg* msg) {
#if defined(DEBUG)
std::cout << this->name << ": process ThingMsg [" << (int)msg->networkId
<< "/" << (int)msg->thingId << "] " << (int)msg->thingType << " "
<< (int)msg->parentId << "\n";
#endif
RemoteParticipantUDP* owner = registry.Get(msg->networkId);
if (owner == nullptr) {
owner = new RemoteParticipantUDP(sender->ipAddress, sender->port);
owner->networkId = msg->networkId;
registry.Add(owner);
}
Thing* thing = owner->Get(msg->networkId, msg->thingId);
if (thing == nullptr) {
bool isRemote = (sender->networkId != owner->networkId);
thing = ProcessNewThing(owner, msg, isRemote);
thing->id = msg->thingId;
thing->type = msg->thingType;
thing->isRemote = isRemote;
}
if (msg->parentId != 0) {
thing->SetParent(owner->Get(msg->networkId, msg->parentId));
if (thing->GetParent() == nullptr)
std::cout << "Could not find parent" << std::endl;
} else
thing->SetParent(nullptr);
}
Thing* ParticipantUDPGeneric::ProcessNewThing(RemoteParticipantUDP* owner,
ThingMsg* msg,
bool isRemote) {
switch (msg->thingType) {
case Thing::Type::DistanceSensor:
return new DistanceSensor(owner->root);
case Thing::Type::TouchSensor:
return new TouchSensor(owner->root);
case Thing::Type::DifferentialDrive:
return new DifferentialDrive(owner->root);
default:
return new Thing(owner->root);
}
}
void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
NameMsg* msg) {
void ParticipantUDP::Process(Participant* sender, NameMsg* msg) {
#if defined(DEBUG)
std::cout << this->name << ": process NameMsg [" << (int)msg->networkId << "/"
<< (int)msg->thingId << "] ";
#endif
Thing* thing = sender->Get(msg->networkId, msg->thingId);
Thing* thing = sender->Get(msg->thingId);
if (thing != nullptr) {
int nameLength = msg->nameLength;
int stringLen = nameLength + 1;
@ -509,25 +413,23 @@ void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
#endif
}
void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
ModelUrlMsg* msg) {
void ParticipantUDP::Process(Participant* sender, ModelUrlMsg* msg) {
#if defined(DEBUG)
std::cout << this->name << ": process ModelUrlMsg [" << (int)msg->networkId
<< "/" << (int)msg->thingId << "]\n";
#endif
}
void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
PoseMsg* msg) {
void ParticipantUDP::Process(Participant* 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";
#endif
Participant* owner = registry.Get(msg->networkId);
Participant* owner = Participant::registry.Get(msg->networkId);
if (owner == nullptr)
return;
Thing* thing = owner->Get(msg->networkId, msg->thingId);
Thing* thing = owner->Get(msg->thingId);
if (thing == nullptr)
return;
@ -541,16 +443,15 @@ void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
thing->SetAngularVelocity(msg->angularVelocity);
}
void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
BinaryMsg* msg) {
void ParticipantUDP::Process(Participant* sender, BinaryMsg* msg) {
#if defined(DEBUG)
std::cout << this->name << ": process BinaryMsg [" << (int)msg->networkId
<< "/" << (int)msg->thingId << "]\n";
#endif
Participant* owner = registry.Get(msg->networkId);
Participant* owner = Participant::registry.Get(msg->networkId);
if (owner != nullptr) {
Thing* thing = owner->Get(msg->networkId, msg->thingId);
Thing* thing = owner->Get(msg->thingId);
if (thing != nullptr)
thing->ProcessBinary(msg->data);
#if !defined(NO_STD)
@ -564,22 +465,20 @@ void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
}
}
void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
TextMsg* msg) {
void ParticipantUDP::Process(Participant* sender, TextMsg* msg) {
#if defined(DEBUG)
std::cout << this->name << ": process TextMsg " << (int)msg->textLength << " "
<< (int)msg->text << "\n";
#endif
}
void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
DestroyMsg* msg) {
void ParticipantUDP::Process(Participant* sender, DestroyMsg* msg) {
#if defined(DEBUG)
std::cout << this->name << ": process Destroy [" << (int)msg->networkId << "/"
<< (int)msg->thingId << "]\n";
#endif
Thing* thing = sender->Get(msg->networkId, msg->thingId);
Thing* thing = sender->Get(msg->thingId);
if (thing != nullptr)
this->Remove(thing);
}

124
Participants/ParticipantUDP.h
View File

@ -5,11 +5,11 @@
#include "Messages/InvestigateMsg.h"
#include "Messages/ModelUrlMsg.h"
#include "Messages/NameMsg.h"
#include "Messages/NetworkIdMsg.h"
#include "Messages/ParticipantMsg.h"
#include "Messages/PoseMsg.h"
#include "Messages/TextMsg.h"
#include "Messages/NetworkIdMsg.h"
#include "Messages/ThingMsg.h"
#include "Messages/TextMsg.h"
#include "Participant.h"
#if !defined(NO_STD)
@ -31,74 +31,6 @@ namespace RoboidControl {
constexpr int MAX_SENDER_COUNT = 256;
class RemoteParticipantUDP : public Participant {
public:
/// @brief Create a new participant with the given communcation info
/// @param ipAddress The IP address of the participant
/// @param port The UDP port of the participant
/// @remarks This does not belong here, it should move to ParticipantUDP or
/// something like that in the future
RemoteParticipantUDP(const char* ipAddress, int port);
/// @brief The Ip Address of a participant.
/// @remarks This does not belong here, it should move to ParticipantUDP or
/// something like that in the future
const char* ipAddress = "0.0.0.0";
/// @brief The port number for UDP communication with the participant.
/// @remarks This does not belong here, it should move to ParticipantUDP or
/// something like that in the future
unsigned int port = 0;
bool Send(IMessage* msg) override;
};
/// @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
RemoteParticipantUDP* 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
RemoteParticipantUDP* 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
RemoteParticipantUDP* Add(const char* ipAddress, unsigned int port);
/// @brief Add a participant
/// @param participant The participant to add
void Add(RemoteParticipantUDP* participant);
/// @brief Remove a participant
/// @param participant The participant to remove
void Remove(RemoteParticipantUDP* participant);
private:
#if defined(NO_STD)
public:
RemoteParticipantUDP** GetAll() const;
int count = 0;
private:
RemoteParticipantUDP** participants;
#else
public:
/// @brief Get all participants
/// @return All participants
const std::list<RemoteParticipantUDP*>& GetAll() const;
private:
/// @brief The list of known participants
std::list<RemoteParticipantUDP*> 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
@ -111,7 +43,8 @@ class ParticipantRegistry {
/// participant is created which can be obtained using
/// RoboidControl::IsolatedParticipant::Isolated().
/// @sa RoboidControl::Thing::Thing()
class ParticipantUDPGeneric : public RemoteParticipantUDP {
class ParticipantUDP : public Participant {
#pragma region Init
public:
@ -120,14 +53,12 @@ class ParticipantUDPGeneric : public RemoteParticipantUDP {
/// These participant typically broadcast Participant messages to let site
/// servers on the local network know their presence. Alternatively they can
/// broadcast information which can be used directly by other participants.
ParticipantUDPGeneric(int port = 7681);
ParticipantUDP(int port = 7681);
/// @brief Create a participant which will try to connect to a site.
/// @param ipAddress The IP address of the site
/// @param port The port used by the site
/// @param localPort The port used by the local participant
ParticipantUDPGeneric(const char* ipAddress,
int port = 7681,
int localPort = 7681);
ParticipantUDP(const char* ipAddress, int port = 7681, int localPort = 7681);
#pragma endregion Init
@ -139,13 +70,14 @@ class ParticipantUDPGeneric : public RemoteParticipantUDP {
bool isIsolated = false;
/// @brief The remote site when this participant is connected to a site
RemoteParticipantUDP* remoteSite = nullptr;
Participant* remoteSite = nullptr;
/// The interval in milliseconds for publishing (broadcasting) data on the
/// local network
long publishInterval = 3000; // 3 seconds
protected:
#if !defined(ARDUINO)
#if defined(__unix__) || defined(__APPLE__)
int sock;
@ -164,7 +96,7 @@ class ParticipantUDPGeneric : public RemoteParticipantUDP {
#pragma region Update
public:
virtual void Update(bool recurse = true) override;
virtual void Update() override;
protected:
unsigned long nextPublishMe = 0;
@ -182,7 +114,7 @@ class ParticipantUDPGeneric : public RemoteParticipantUDP {
void PublishThingInfo(Thing* thing);
virtual bool Send(IMessage* msg) override;
virtual bool Publish(IMessage* msg) = 0;
bool Publish(IMessage* msg);
#pragma endregion Send
@ -192,35 +124,25 @@ class ParticipantUDPGeneric : public RemoteParticipantUDP {
void ReceiveData(unsigned char bufferSize,
char* senderIpAddress,
unsigned int senderPort);
void ReceiveData(unsigned char bufferSize, RemoteParticipantUDP* remoteParticipant);
void ReceiveData(unsigned char bufferSize, Participant* remoteParticipant);
virtual void SetupUDP(int localPort, const char* remoteIpAddress, int remotePort) = 0;
void SetupUDP(int localPort, const char* remoteIpAddress, int remotePort);
virtual void ReceiveUDP() = 0;
void ReceiveUDP();
virtual void Process(RemoteParticipantUDP* sender, ParticipantMsg* msg);
virtual void Process(RemoteParticipantUDP* sender, NetworkIdMsg* msg);
virtual void Process(RemoteParticipantUDP* sender, InvestigateMsg* msg);
virtual void Process(RemoteParticipantUDP* sender, ThingMsg* msg);
virtual Thing* ProcessNewThing(RemoteParticipantUDP* sender,
ThingMsg* msg,
bool isRemote);
virtual void Process(RemoteParticipantUDP* sender, NameMsg* msg);
virtual void Process(RemoteParticipantUDP* sender, ModelUrlMsg* msg);
virtual void Process(RemoteParticipantUDP* sender, PoseMsg* msg);
virtual void Process(RemoteParticipantUDP* sender, BinaryMsg* msg);
virtual void Process(RemoteParticipantUDP* sender, TextMsg* msg);
virtual void Process(RemoteParticipantUDP* sender, DestroyMsg* msg);
virtual void Process(Participant* sender, ParticipantMsg* msg);
virtual void Process(Participant* sender, NetworkIdMsg* msg);
virtual void Process(Participant* sender, InvestigateMsg* msg);
virtual void Process(Participant* sender, ThingMsg* msg);
virtual void Process(Participant* sender, NameMsg* msg);
virtual void Process(Participant* sender, ModelUrlMsg* msg);
virtual void Process(Participant* sender, PoseMsg* msg);
virtual void Process(Participant* sender, BinaryMsg* msg);
virtual void Process(Participant* sender, TextMsg* msg);
virtual void Process(Participant* sender, DestroyMsg* msg);
#pragma endregion Receive
public:
static ParticipantRegistry registry;
};
} // namespace RoboidControl
#include "EspIdf/EspIdfParticipant.h"

20
Participants/SiteServer.cpp
View File

@ -11,11 +11,11 @@ namespace RoboidControl {
#pragma region Init
SiteServer::SiteServer(int port) : ParticipantUDPGeneric(port) {
SiteServer::SiteServer(int port) : ParticipantUDP(port) {
this->name = "Site Server";
this->publishInterval = 0;
//SetupUDP(port, ipAddress, 0);
SetupUDP(port, ipAddress, 0);
}
#pragma endregion Init
@ -36,7 +36,7 @@ void SiteServer::UpdateMyThings() {
for (int ix = 0; ix < Participant::registry.count; ix++) {
Participant* participant = participants[ix];
#else
for (Participant* participant : registry.GetAll()) {
for (Participant* participant : Participant::registry.GetAll()) {
#endif
if (participant == nullptr || participant == this)
continue;
@ -56,7 +56,7 @@ void SiteServer::UpdateMyThings() {
#pragma region Receive
void SiteServer::Process(RemoteParticipantUDP* sender, ParticipantMsg* msg) {
void SiteServer::Process(Participant* sender, ParticipantMsg* msg) {
if (msg->networkId != sender->networkId) {
// std::cout << this->name << " received New Client -> " <<
// sender->ipAddress
@ -67,19 +67,19 @@ void SiteServer::Process(RemoteParticipantUDP* sender, ParticipantMsg* msg) {
}
}
void SiteServer::Process(RemoteParticipantUDP* sender, NetworkIdMsg* msg) {}
void SiteServer::Process(Participant* sender, NetworkIdMsg* msg) {}
void SiteServer::Process(RemoteParticipantUDP* sender, ThingMsg* msg) {
Thing* thing = sender->Get(msg->networkId, msg->thingId);
if (thing == nullptr) {
void SiteServer::Process(Participant* sender, ThingMsg* msg) {
Thing* thing = sender->Get(msg->thingId);
if (thing == nullptr)
// new Thing(sender, (Thing::Type)msg->thingType, msg->thingId);
// Thing::Reconstruct(sender, msg->thingType, msg->thingId);
//thing = new Thing(msg->thingType, sender->root);
}
;
thing->id = msg->thingId;
if (msg->parentId != 0) {
thing->SetParent(Get(msg->networkId, msg->parentId));
thing->SetParent(Get(msg->parentId));
if (thing->IsRoot())
// if (thing->GetParent() != nullptr)
#if defined(NO_STD)

8
Participants/SiteServer.h
View File

@ -11,7 +11,7 @@
namespace RoboidControl {
/// @brief A participant is device which can communicate with other participants
class SiteServer : public ParticipantUDPGeneric {
class SiteServer : public ParticipantUDP {
#pragma region Init
@ -33,9 +33,9 @@ class SiteServer : public ParticipantUDPGeneric {
protected:
unsigned long nextPublishMe = 0;
virtual void Process(RemoteParticipantUDP* sender, ParticipantMsg* msg) override;
virtual void Process(RemoteParticipantUDP* sender, NetworkIdMsg* msg) override;
virtual void Process(RemoteParticipantUDP* sender, ThingMsg* msg) override;
virtual void Process(Participant* sender, ParticipantMsg* msg) override;
virtual void Process(Participant* sender, NetworkIdMsg* msg) override;
virtual void Process(Participant* sender, ThingMsg* msg) override;
#pragma endregion Receive

7
Posix/PosixParticipant.cpp
View File

@ -1,5 +1,4 @@
#include "PosixParticipant.h"
#if defined(__unix__) || defined(__APPLE__)
#if defined(__unix__) || defined(__APPLE__)
#include <arpa/inet.h>
@ -10,6 +9,7 @@
#endif
namespace RoboidControl {
namespace Posix {
void ParticipantUDP::Setup(int localPort, const char* remoteIpAddress, int remotePort) {
#if defined(__unix__) || defined(__APPLE__)
@ -90,7 +90,7 @@ void ParticipantUDP::Receive() {
#endif
}
bool ParticipantUDP::SendTo(RemoteParticipantUDP* remoteParticipant, int bufferSize) {
bool ParticipantUDP::Send(Participant* remoteParticipant, int bufferSize) {
#if defined(__unix__) || defined(__APPLE__)
// std::cout << "Send to " << remoteParticipant->ipAddress << ":" << ntohs(remoteParticipant->port)
// << "\n";
@ -132,6 +132,5 @@ bool ParticipantUDP::Publish(IMessage* msg) {
return true;
}
} // namespace Posix
} // namespace RoboidControl
#endif

8
Posix/PosixParticipant.h
View File

@ -1,15 +1,15 @@
#pragma once
#if defined(__unix__) || defined(__APPLE__)
#include "Participants/ParticipantUDP.h"
namespace RoboidControl {
namespace Posix {
class ParticipantUDP : public ParticipantUDPGeneric {
class ParticipantUDP : public RoboidControl::ParticipantUDP {
public:
void Setup(int localPort, const char* remoteIpAddress, int remotePort);
void Receive();
bool SendTo(RemoteParticipantUDP* remoteParticipant, int bufferSize);
bool Send(Participant* remoteParticipant, int bufferSize);
bool Publish(IMessage* msg);
protected:
@ -20,5 +20,5 @@ class ParticipantUDP : public ParticipantUDPGeneric {
#endif
};
} // namespace Posix
} // namespace RoboidControl
#endif

4
Thing.cpp
View File

@ -42,7 +42,7 @@ Thing::Thing(Participant* owner) {
this->owner = owner;
this->owner->Add(this);
std::cout << this->owner->name << ": New root thing " << std::endl;
// std::cout << this->owner->name << ": New root thing " << std::endl;
}
void Thing::CreateRoot(Participant* owner) {
@ -262,7 +262,7 @@ void Thing::Update(bool recursive) {
this->nameChanged = false;
if (recursive) {
std::cout << "# children: " << (int)this->childCount << std::endl;
// std::cout << "# children: " << (int)this->childCount << std::endl;
for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
Thing* child = this->children[childIx];
if (child == nullptr)

7
Thing.h
View File

@ -10,7 +10,7 @@
namespace RoboidControl {
class Participant;
class ParticipantUDPGeneric;
class ParticipantUDP;
#define THING_STORE_SIZE 256
// IMPORTANT: values higher than 256 will need to change the Thing::id type
@ -88,11 +88,6 @@ class Thing {
/// This can be either a Thing::Type of a byte value for custom types
unsigned char type = Type::Undetermined;
/// @brief Is this a remote thing?
/// A remote thing is owned by other participant
/// and is not simulated by the local participant
bool isRemote = false;
/// @brief The participant owning this thing
Participant* owner = nullptr;

7
Windows/WindowsParticipant.cpp
View File

@ -1,5 +1,4 @@
#include "WindowsParticipant.h"
#if defined(_WIN32) || defined(_WIN64)
#if defined(_WIN32) || defined(_WIN64)
#include <winsock2.h>
@ -8,6 +7,7 @@
#endif
namespace RoboidControl {
namespace Windows {
void ParticipantUDP::Setup(int localPort, const char* remoteIpAddress, int remotePort) {
#if defined(_WIN32) || defined(_WIN64)
@ -102,7 +102,7 @@ void ParticipantUDP::Receive() {
#endif // _WIN32 || _WIN64
}
bool ParticipantUDP::SendTo(RemoteParticipantUDP* 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);
@ -142,6 +142,5 @@ bool ParticipantUDP::Publish(IMessage* msg) {
return true;
}
} // namespace Windows
} // namespace RoboidControl
#endif

8
Windows/WindowsParticipant.h
View File

@ -1,15 +1,15 @@
#pragma once
#if defined(_WIN32) || defined(_WIN64)
#include "Participants/ParticipantUDP.h"
namespace RoboidControl {
namespace Windows {
class ParticipantUDP : public ParticipantUDPGeneric {
class ParticipantUDP : public RoboidControl::ParticipantUDP {
public:
void Setup(int localPort, const char* remoteIpAddress, int remotePort);
void Receive();
bool SendTo(RemoteParticipantUDP* remoteParticipant, int bufferSize);
bool Send(Participant* remoteParticipant, int bufferSize);
bool Publish(IMessage* msg);
protected:
@ -18,5 +18,5 @@ class ParticipantUDP : public ParticipantUDPGeneric {
#endif
};
} // namespace Windows
} // namespace RoboidControl
#endif