127 lines
3.5 KiB
C++
127 lines
3.5 KiB
C++
#include "ArduinoParticipant.h"
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#if defined(ARDUINO)
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#if defined(ARDUINO_ARCH_ESP8266)
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#include <ESP8266WiFi.h>
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#elif defined(ESP32)
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#include <WiFi.h>
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#elif defined(UNO_R4)
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#include <WiFi.h>
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#elif defined(ARDUINO_ARCH_RP2040) // not functional, for future use
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#include <WifiNINA.h>
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#endif
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#endif
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namespace RoboidControl {
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namespace Arduino {
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void LocalParticipant::Setup(int localPort,
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const char* remoteIpAddress,
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int remotePort) {
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#if defined(ARDUINO) && defined(HAS_WIFI)
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this->remoteIpAddress = remoteIpAddress;
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this->remotePort = remotePort;
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GetBroadcastAddress();
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#if defined(UNO_R4)
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if (WiFi.status() == WL_NO_MODULE) {
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std::cout << "No network available!\n";
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return;
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}
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#else
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if (WiFi.isConnected() == false) {
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std::cout << "No network available!\n";
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return;
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}
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#endif
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udp.begin(localPort);
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std::cout << "Wifi sync started to port " << this->remotePort << "\n";
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#endif
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}
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void LocalParticipant::GetBroadcastAddress() {
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#if defined(ARDUINO) && defined(HAS_WIFI)
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IPAddress broadcastAddress = WiFi.localIP();
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broadcastAddress[3] = 255;
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String broadcastIpString = broadcastAddress.toString();
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this->broadcastIpAddress = new char[broadcastIpString.length() + 1];
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broadcastIpString.toCharArray(this->broadcastIpAddress,
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broadcastIpString.length() + 1);
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std::cout << "Broadcast address: " << broadcastIpAddress << "\n";
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#endif
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}
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void LocalParticipant::Receive() {
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#if defined(ARDUINO) && defined(HAS_WIFI)
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int packetSize = udp.parsePacket();
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while (packetSize > 0) {
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udp.read(buffer, packetSize);
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String senderAddress = udp.remoteIP().toString();
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char sender_ipAddress[16];
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senderAddress.toCharArray(sender_ipAddress, 16);
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unsigned int sender_port = udp.remotePort();
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// Participant* remoteParticipant = this->GetParticipant(sender_ipAddress,
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// sender_port); if (remoteParticipant == nullptr) {
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// remoteParticipant = this->AddParticipant(sender_ipAddress,
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// sender_port);
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// // std::cout << "New sender " << sender_ipAddress << ":" << sender_port
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// // << "\n";
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// // std::cout << "New remote participant " <<
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// remoteParticipant->ipAddress
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// // << ":" << remoteParticipant->port << " "
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// // << (int)remoteParticipant->networkId << "\n";
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// }
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// ReceiveData(packetSize, remoteParticipant);
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ReceiveData(packetSize, sender_ipAddress, sender_port);
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packetSize = udp.parsePacket();
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}
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#endif
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}
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bool LocalParticipant::Send(Participant* remoteParticipant, int bufferSize) {
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#if defined(ARDUINO) && defined(HAS_WIFI)
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// std::cout << "Sending to:\n " << remoteParticipant->ipAddress << ":"
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// << remoteParticipant->port << "\n";
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int n = 0;
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do {
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if (n > 0) {
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std::cout << "Retry sending\n";
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delay(10);
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}
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n++;
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udp.beginPacket(remoteParticipant->ipAddress, remoteParticipant->port);
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udp.write((unsigned char*)buffer, bufferSize);
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} while (udp.endPacket() == 0 && n < 10);
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#endif
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return true;
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}
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bool LocalParticipant::Publish(IMessage* msg) {
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#if defined(ARDUINO) && defined(HAS_WIFI)
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int bufferSize = msg->Serialize((char*)this->buffer);
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if (bufferSize <= 0)
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return true;
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udp.beginPacket(this->broadcastIpAddress, this->remotePort);
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udp.write((unsigned char*)buffer, bufferSize);
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udp.endPacket();
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// std::cout << "Publish to " << this->broadcastIpAddress << ":"
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// << this->remotePort << "\n";
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#endif
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return true;
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};
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} // namespace Arduino
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} // namespace RoboidControl
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