149 lines
4.7 KiB
C++
149 lines
4.7 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/ParticipantMsg.h"
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#include "Messages/PoseMsg.h"
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#include "Messages/NetworkIdMsg.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 <winsock2.h>
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#elif defined(__unix__) || defined(__APPLE__)
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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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constexpr int MAX_SENDER_COUNT = 256;
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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 ParticipantUDP : public Participant {
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#pragma region Init
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public:
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/// @brief Create a participant without connecting to a site
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/// @param port The port on which the participant communicates
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/// These participant typically broadcast Participant messages to let site
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/// servers on the local network know their presence. Alternatively they can
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/// broadcast information which can be used directly by other participants.
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ParticipantUDP(int port = 7681);
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/// @brief Create a participant which will try to connect to a site.
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/// @param ipAddress The IP address of the site
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/// @param port The port used by the site
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/// @param localPort The port used by the local participant
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ParticipantUDP(const char* ipAddress, int port = 7681, int localPort = 7681);
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/// @brief Isolated participant is used when the application is run without
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/// networking
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/// @return A participant without networking support
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static ParticipantUDP* Isolated();
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/// @brief True if the participant is running isolated.
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/// Isolated participants do not communicate with other participants
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#pragma endregion Init
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/// @brief True if the participant is running isolated.
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/// Isolated participants do not communicate with other participants
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bool isIsolated = false;
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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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/// The interval in milliseconds for publishing (broadcasting) data on the
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/// local network
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long publishInterval = 3000; // 3 seconds
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/// @brief The name of the participant
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const char* name = "ParticipantUDP";
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protected:
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char buffer[1024];
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#if !defined(ARDUINO)
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#if defined(__unix__) || defined(__APPLE__)
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int sock;
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#elif defined(_WIN32) || defined(_WIN64)
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sockaddr_in remote_addr;
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sockaddr_in server_addr;
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sockaddr_in broadcast_addr;
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#endif
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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 region Update
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public:
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virtual void Update(unsigned long currentTimeMs = 0) override;
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protected:
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unsigned long nextPublishMe = 0;
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virtual void UpdateMyThings(unsigned long currentTimeMs);
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virtual void UpdateOtherThings(unsigned long currentTimeMs);
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#pragma endregion Update
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#pragma region Send
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void SendThingInfo(Participant* remoteParticipant, Thing* thing);
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void PublishThingInfo(Thing* thing);
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bool Send(Participant* remoteParticipant, IMessage* msg);
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bool Publish(IMessage* msg);
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#pragma endregion Send
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#pragma region Receive
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protected:
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void ReceiveData(unsigned char bufferSize,
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char* senderIpAddress,
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unsigned int senderPort);
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void ReceiveData(unsigned char bufferSize, Participant* remoteParticipant);
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void SetupUDP(int localPort, const char* remoteIpAddress, int 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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#pragma endregion Receive
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};
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} // namespace RoboidControl
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