RoboidControl-cpp/Participant.cpp

#include "Participant.h"

// #include <ws2tcpip.h>

#define BUF_SIZE 1024

#include "UdpArduino.h"
#include "UdpPosix.h"
#include "UdpWindows.h"

#if defined(_WIN32) || defined(_WIN64)
#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

Participant::Participant() {}

Participant::Participant(int port) {
  this->ipAddress = "0.0.0.0";
  this->port = port;

  this->participants.push_back(this);

  int randomPort = (rand() % (65535 - 49152 + 1)) + 49152;
  SetupUDP(randomPort, ipAddress, port);
}

Participant::Participant(const char *ipAddress, int port) {
  this->ipAddress = ipAddress;
  this->port = port;

  this->participants.push_back(this);

  int randomPort = (rand() % (65535 - 49152 + 1)) + 49152;
  SetupUDP(randomPort, ipAddress, port);
}

void Passer::Control::Participant::SetupUDP(int localPort,
                                            const char *remoteIpAddress,
                                            int remotePort) {
#if defined(_WIN32) || defined(_WIN64)
  UdpWindows *thisWindows = static_cast<UdpWindows *>(this);
  thisWindows->Setup(localPort, remoteIpAddress, remotePort);
#elif defined(__unix__) || defined(__APPLE__)
  UdpPosix *thisPosix = static_cast<UdpPosix *>(this);
  thisPosix->Setup(localPort, remoteIpAddress, remotePort);
#elif defined(ARDUINO)
  UdpArduino *thisArduino = static_cast<UdpArduino *>(this);
  thisArduino->Setup(localPort, remoteIpAddress, remotePort);
#endif
}

void Participant::Update(unsigned long currentTimeMs) {
  if (this->publishInterval > 0 && currentTimeMs > this->nextPublishMe) {
    ClientMsg *msg = new ClientMsg(this->networkId);
    this->Publish(msg);
    delete msg;
    std::cout << this->name << " published ClientMsg\n";
    this->nextPublishMe = currentTimeMs + this->publishInterval;
  }
  this->ReceiveUDP();

  Thing::UpdateAll(currentTimeMs);
}

void Participant::ReceiveUDP() {
#if defined(_WIN32) || defined(_WIN64)
  UdpWindows *thisWindows = static_cast<UdpWindows *>(this);
  thisWindows->Receive();
#elif defined(__unix__) || defined(__APPLE__)
  UdpPosix *thisPosix = static_cast<UdpPosix *>(this);
  thisPosix->Receive();
#elif defined(ARDUINO)
  UdpArduino *thisArduino = static_cast<UdpArduino *>(this);
  thisArduino->Receive();
#endif
}

Participant *Participant::GetParticipant(const char *ipAddress, int port) {
  for (Participant *participant : this->participants) {
    if (participant->ipAddress == ipAddress && participant->port == port)
      return participant;
  }
  return nullptr;
}

Participant *Participant::AddParticipant(const char *ipAddress, int port) {
  Participant *participant = new Participant(ipAddress, port);
  participant->networkId = (unsigned char)this->participants.size();
  this->participants.push_back(participant);
  return participant;
}

#pragma region Send

void Participant::SendThingInfo(Thing *thing) {
  std::cout << "Send thing info\n";
  IMessage *msg = new ThingMsg(this->networkId, thing);
  this->Send(msg);
  delete msg;
  msg = new NameMsg(this->networkId, thing);
  this->Send(msg);
  delete msg;
  msg = new ModelUrlMsg(this->networkId, thing);
  this->Send(msg);
  delete msg;
}

void Passer::Control::Participant::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...
  ThingMsg *thingMsg = new ThingMsg(this->networkId, thing);
  this->Publish(thingMsg);
  delete thingMsg;
  NameMsg *nameMsg = new NameMsg(this->networkId, thing);
  this->Publish(nameMsg);
  delete nameMsg;
  ModelUrlMsg *modelMsg = new ModelUrlMsg(this->networkId, thing);
  this->Publish(modelMsg);
  delete modelMsg;
}

bool Participant::Send(IMessage *msg) {
#if defined(_WIN32) || defined(_WIN64)
  UdpWindows *thisWindows = static_cast<UdpWindows *>(this);
  return thisWindows->Send(msg);
#elif defined(__unix__) || defined(__APPLE__)
  UdpPosix *thisPosix = static_cast<UdpPosix *>(this);
  return thisPosix->Send(msg);
#elif defined(ARDUINO)
  UdpArduino *thisArduino = static_cast<UdpArduino *>(this);
  return thisArduino->Send(msg);
#endif
}

bool Participant::Publish(IMessage *msg) {
#if defined(_WIN32) || defined(_WIN64)
  UdpWindows *thisWindows = static_cast<UdpWindows *>(this);
  return thisWindows->Publish(msg);
#elif defined(__unix__) || defined(__APPLE__)
  UdpPosix *thisPosix = static_cast<UdpPosix *>(this);
  return thisPosix->Publish(msg);
#elif defined(ARDUINO)
  UdpArduino *thisArduino = static_cast<UdpArduino *>(this);
  return thisArduino->Publish(msg);
#endif
}

// Send
#pragma endregion

#pragma region Receive

void Participant::ReceiveData(unsigned char bufferSize,
                              Participant *remoteParticipant) {
  unsigned char msgId = this->buffer[0];
  switch (msgId) {
  case ClientMsg::id: {
    ClientMsg *msg = new ClientMsg(this->buffer);
    Process(remoteParticipant, msg);
    delete msg;
  }
  case NetworkIdMsg::id: {
    NetworkIdMsg *msg = new NetworkIdMsg(this->buffer);
    Process(remoteParticipant, msg);
    delete msg;
  } break;
  case InvestigateMsg::id: {
    InvestigateMsg *msg = new InvestigateMsg(this->buffer);
    Process(msg);
    delete msg;
  } break;
  case ThingMsg::id: {
    ThingMsg *msg = new ThingMsg(this->buffer);
    Process(msg);
    delete msg;
  } break;
  case PoseMsg::id: {
    PoseMsg *msg = new PoseMsg(this->buffer);
    Process(msg);
    delete msg;
  } break;
  case CustomMsg::id: {
    CustomMsg *msg = new CustomMsg(this->buffer);
    Process(msg);
    delete msg;
  } break;
  };
}

void Participant::Process(Participant *sender, ClientMsg *msg) {}

void Participant::Process(Participant *sender, NetworkIdMsg *msg) {
  std::cout << this->name << " receive network id " << (int)this->networkId
            << " " << (int)msg->networkId << "\n";
  if (this->networkId != msg->networkId) {
    this->networkId = msg->networkId;
    // Thing **allThings = Thing::GetAllThings();
    // for (uint16_t ix = 0; ix < THING_STORE_SIZE; ix++) {
    //   Thing *thing = allThings[ix];
    //   if (thing == nullptr)
    //     continue;

    //   sender->SendThingInfo(thing);
    // }
    for (Thing *thing : allThings) {
      sender->SendThingInfo(thing);
    }
  }
}

void Participant::Process(InvestigateMsg *msg) {}

void Participant::Process(ThingMsg *msg) {}

void Participant::Process(PoseMsg *msg) {}

void Participant::Process(CustomMsg *msg) {
  Thing *thing = Thing::Get(msg->networkId, msg->thingId);
  if (thing != nullptr)
    thing->ProcessBytes(msg->bytes);
}

// Receive
#pragma endregion