96 lines
2.6 KiB
C++
96 lines
2.6 KiB
C++
#pragma once
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#include "Messages/BinaryMsg.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/SiteMsg.h"
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#include "Messages/ParticipantMsg.h"
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#include "Messages/PoseMsg.h"
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#include "Messages/ThingMsg.h"
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#include "RemoteParticipant.h"
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#include <list>
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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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#elif defined(ARDUINO)
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#include <WiFiUdp.h>
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#endif
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namespace RoboidControl {
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/// @brief A participant is device which can communicate with other participants
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class Participant : public RemoteParticipant {
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public:
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char buffer[1024];
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long publishInterval = 3000; // 3 seconds
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const char* name = "Participant";
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int localPort = 0;
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#if defined(ARDUINO)
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const char* remoteIpAddress = nullptr;
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unsigned short remotePort = 0;
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char* broadcastIpAddress = nullptr;
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WiFiUDP udp;
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#else
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#if defined(_WIN32) || defined(_WIN64)
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SOCKET sock;
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#elif defined(__unix__) || defined(__APPLE__)
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int sock;
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#endif
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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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Participant(int port = 7681);
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Participant(const char* ipAddress, int port);
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void begin();
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bool connected = false;
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virtual void Update(unsigned long currentTimeMs = 0);
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void SendThingInfo(RemoteParticipant* remoteParticipant, Thing* thing);
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void PublishThingInfo(Thing* thing);
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bool Send(RemoteParticipant* remoteParticipant, IMessage* msg);
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bool Publish(IMessage* msg);
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void ReceiveData(unsigned char bufferSize, char* senderIpAddress, unsigned int senderPort);
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void ReceiveData(unsigned char bufferSize, RemoteParticipant* remoteParticipant);
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protected:
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std::list<RemoteParticipant*> senders;
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unsigned long nextPublishMe = 0;
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void SetupUDP(int localPort, const char* remoteIpAddress, int remotePort);
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RemoteParticipant* GetParticipant(const char* ipAddress, int port);
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RemoteParticipant* AddParticipant(const char* ipAddress, int port);
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void ReceiveUDP();
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virtual void Process(RemoteParticipant* sender, ParticipantMsg* msg);
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virtual void Process(RemoteParticipant* sender, SiteMsg* msg);
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virtual void Process(RemoteParticipant* sender, InvestigateMsg* msg);
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virtual void Process(RemoteParticipant* sender, ThingMsg* msg);
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virtual void Process(RemoteParticipant* sender, NameMsg* msg);
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virtual void Process(RemoteParticipant* sender, PoseMsg* msg);
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virtual void Process(RemoteParticipant* sender, BinaryMsg* msg);
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};
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} // namespace RoboidControl
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