129 lines
3.7 KiB
C++
129 lines
3.7 KiB
C++
#pragma once
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#include "Messages/BinaryMsg.h"
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#include "Messages/DestroyMsg.h"
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#include "Messages/InvestigateMsg.h"
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#include "Messages/ModelUrlMsg.h"
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#include "Messages/NameMsg.h"
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#include "Messages/NetworkIdMsg.h"
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#include "Messages/ParticipantMsg.h"
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#include "Messages/PoseMsg.h"
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#include "Messages/TextMsg.h"
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#include "Messages/ThingMsg.h"
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#include "Participant.h"
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#if !defined(NO_STD)
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#include <functional>
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#include <list>
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// #include <unordered_map>
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#endif
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#if defined(_WIN32) || defined(_WIN64)
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#include "Windows/WindowsParticipant.h"
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#elif defined(__unix__) || defined(__APPLE__)
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#include "Posix/PosixParticipant.h"
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#include <arpa/inet.h>
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#include <netinet/in.h>
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#include <sys/socket.h>
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#include <unistd.h>
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#endif
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namespace RoboidControl {
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/// @brief A participant using UDP communication
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/// A local participant is the local device which can communicate with
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/// other participants It manages all local things and communcation with other
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/// participants. Each application has a local participant which is usually
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/// explicit in the code. An participant can be isolated. In that case it is
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/// standalong and does not communicate with other participants.
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///
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/// It is possible to work with an hidden participant by creating things without
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/// specifying a participant in the constructor. In that case an hidden isolated
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/// participant is created which can be obtained using
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/// RoboidControl::IsolatedParticipant::Isolated().
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/// @sa RoboidControl::Thing::Thing()
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class ParticipantMQTT : public Participant {
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#pragma region Init
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public:
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/// @brief Create a participant which will try to connect to a MQTT server.
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/// @param ipAddress The IP address of the MQTT server
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/// @param port The port used by the MQTT server
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ParticipantMQTT(const char* ipAddress, int port = 1883);
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#pragma endregion Init
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#pragma region Properties
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public:
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/// @brief The remote site when this participant is connected to a site
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Participant* remoteSite = nullptr;
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protected:
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#if defined(__unix__) || defined(__APPLE__)
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sockaddr_in server_addr;
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int sock;
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#endif
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public:
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// void Begin();
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bool connected = false;
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#pragma endregion Properties
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#pragma region Update
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public:
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virtual void Update() override;
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#pragma endregion Update
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#pragma region Send
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protected:
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// MQTT Connect Packet Structure
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struct MQTTConnectPacket {
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uint8_t fixed_header;
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uint8_t remaining_length;
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uint8_t protocol_name_length;
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const char* protocol_name;
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uint8_t protocol_level;
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uint8_t connect_flags;
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uint16_t keep_alive;
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const char* client_id;
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};
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void send_mqtt_connect(const char* client_id);
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void sendSubscribe(const char* topic);
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#pragma endregion Send
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#pragma region Receive
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protected:
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int ReceiveTCP();
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void ReceiveData(unsigned char bufferSize);
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// void ReceiveData(unsigned char bufferSize, Participant*
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// remoteParticipant);
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// void SetupUDP(int localPort, const char* remoteIpAddress, int
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// remotePort);
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// void ReceiveUDP();
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// virtual void Process(Participant* sender, ParticipantMsg* msg);
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// virtual void Process(Participant* sender, NetworkIdMsg* msg);
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// virtual void Process(Participant* sender, InvestigateMsg* msg);
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// virtual void Process(Participant* sender, ThingMsg* msg);
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// virtual void Process(Participant* sender, NameMsg* msg);
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// virtual void Process(Participant* sender, ModelUrlMsg* msg);
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// virtual void Process(Participant* sender, PoseMsg* msg);
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// virtual void Process(Participant* sender, BinaryMsg* msg);
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// virtual void Process(Participant* sender, TextMsg* msg);
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// virtual void Process(Participant* sender, DestroyMsg* msg);
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#pragma endregion Receive
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};
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} // namespace RoboidControl
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