RoboidControl-cpp/Participant.cpp

#include "Participant.h"

#include "Thing.h"

#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 <chrono>
#include <fcntl.h> // For fcntl
#include <netinet/in.h>
#include <sys/socket.h>
#include <unistd.h>
#endif

namespace Passer {
namespace Control {

Participant::Participant() {}

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

  this->senders.push_back(this);

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

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

  this->senders.push_back(this);

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

void Participant::begin() {
  SetupUDP(this->localPort, this->ipAddress, this->port);
}

void 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
  this->connected = true;
}

void Participant::Update(unsigned long currentTimeMs) {
  if (currentTimeMs == 0) {
#if defined(ARDUINO)
    currentTimeMs = millis();
#elif defined(__unix__) || defined(__APPLE__)
    auto now = std::chrono::steady_clock::now();
    auto ms = std::chrono::duration_cast<std::chrono::milliseconds>(
        now.time_since_epoch());
    currentTimeMs = static_cast<unsigned long>(ms.count());
#endif
  }

  if (this->connected == false)
    begin();

  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();

  this->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 *sender : this->senders) {
    if (sender->ipAddress == ipAddress && sender->port == port)
      return sender;
  }
  return nullptr;
}

Participant *Participant::AddParticipant(const char *ipAddress, int port) {
  std::cout << "New Participant " << ipAddress << ":" << port << "\n";
  Participant *participant = new Participant(ipAddress, port);
  participant->networkId = (unsigned char)this->senders.size();
  this->senders.push_back(participant);
  return participant;
}

#pragma region Send

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

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;
  CustomMsg *customMsg = new CustomMsg(this->networkId, thing);
  this->Publish(customMsg);
  delete customMsg;
}

bool Participant::Send(RemoteParticipant *remoteParticipant, IMessage *msg) {
  int bufferSize = msg->Serialize(this->buffer);
  if (bufferSize <= 0)
    return true;

#if defined(_WIN32) || defined(_WIN64)
  UdpWindows *thisWindows = static_cast<UdpWindows *>(this);
  return thisWindows->Send(remoteParticipant, bufferSize);
#elif defined(__unix__) || defined(__APPLE__)
  UdpPosix *thisPosix = static_cast<UdpPosix *>(this);
  return thisPosix->Send(remoteParticipant, bufferSize);
#elif defined(ARDUINO)
  UdpArduino *thisArduino = static_cast<UdpArduino *>(this);
  return thisArduino->Send(remoteParticipant, bufferSize);
#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,
                              RemoteParticipant *remoteParticipant) {
  unsigned char msgId = this->buffer[0];
  // std::cout << "receive msg " << (int)msgId << "\n";
  switch (msgId) {
  case ClientMsg::id: {
    ClientMsg *msg = new ClientMsg(this->buffer);
    Process(remoteParticipant, msg);
    delete msg;
  } break;
  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(remoteParticipant, msg);
    delete msg;
  } break;
  case ThingMsg::id: {
    ThingMsg *msg = new ThingMsg(this->buffer);
    Process(remoteParticipant, msg);
    delete msg;
  } break;
  case NameMsg::id: {
    NameMsg *msg = new NameMsg(this->buffer);
    Process(remoteParticipant, msg);
    delete msg;
  } break;
  case PoseMsg::id: {
    PoseMsg *msg = new PoseMsg(this->buffer);
    Process(remoteParticipant, msg);
    delete msg;
  } break;
  case CustomMsg::id: {
    CustomMsg *msg = new CustomMsg(this->buffer);
    Process(remoteParticipant, msg);
    delete msg;
  } break;
  };
}

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

void Participant::Process(RemoteParticipant *sender, NetworkIdMsg *msg) {
  std::cout << this->name << ": process NetworkId [" << (int)this->networkId
            << "/" << (int)msg->networkId << "]\n";
  if (this->networkId != msg->networkId) {
    this->networkId = msg->networkId;
    for (Thing *thing : this->things)
      this->SendThingInfo(sender, thing);
  }
}

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

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

void Participant::Process(RemoteParticipant *sender, NameMsg *msg) {
  Thing *thing = sender->Get(msg->networkId, msg->thingId);
  if (thing != nullptr) {
    int nameLength = msg->nameLength;
    char *thingName = new char[nameLength + 1];
    strcpy(thingName, msg->name);
    thingName[nameLength] = '\0';
    thing->name = thingName;
    std::cout << "thing name = " << thing->name << " length = " << nameLength
              << "\n";
  }
}

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

void Participant::Process(RemoteParticipant *sender, CustomMsg *msg) {
  // std::cout << this->name << ": process Binary [" << (int)this->networkId << "/"
  //           << (int)msg->networkId << "]\n";
  Thing *thing = sender->Get(msg->networkId, msg->thingId);
  if (thing != nullptr)
    thing->ProcessBytes(msg->bytes);
  else
    std::cout << "custom msg for unknown thing " << (int)msg->networkId << ":"
              << (int)msg->thingId << "\n";
}

// Receive
#pragma endregion

} // namespace Control
} // namespace Passer