141 lines
4.5 KiB
C++
141 lines
4.5 KiB
C++
#pragma once
|
|
|
|
#include "Messages/BinaryMsg.h"
|
|
#include "Messages/InvestigateMsg.h"
|
|
#include "Messages/ModelUrlMsg.h"
|
|
#include "Messages/NameMsg.h"
|
|
#include "Messages/ParticipantMsg.h"
|
|
#include "Messages/PoseMsg.h"
|
|
#include "Messages/SiteMsg.h"
|
|
#include "Messages/ThingMsg.h"
|
|
#include "Participant.h"
|
|
|
|
#if !defined(NO_STD)
|
|
#include <list>
|
|
#endif
|
|
|
|
#if defined(_WIN32) || defined(_WIN64)
|
|
#include <winsock2.h>
|
|
#elif defined(__unix__) || defined(__APPLE__)
|
|
#include <arpa/inet.h>
|
|
#include <netinet/in.h>
|
|
#include <sys/socket.h>
|
|
#include <unistd.h>
|
|
#elif defined(ARDUINO)
|
|
// #include <WiFiUdp.h>
|
|
#endif
|
|
|
|
namespace RoboidControl {
|
|
|
|
constexpr int MAX_SENDER_COUNT = 256;
|
|
|
|
/// @brief A local participant is the local device which can communicate with
|
|
/// other participants It manages all local things and communcation with other
|
|
/// participants. Each application has a local participant which is usually
|
|
/// explicit in the code. An participant can be isolated. In that case it is
|
|
/// standalong and does not communicate with other participants.
|
|
///
|
|
/// It is possible to work with an hidden participant by creating things without
|
|
/// specifying a participant in the constructor. In that case an hidden isolated
|
|
/// participant is created which can be obtained using
|
|
/// RoboidControl::LocalParticipant::Isolated().
|
|
/// @sa RoboidControl::Thing::Thing()
|
|
class LocalParticipant : public Participant {
|
|
public:
|
|
/// @brief Create a participant without connecting to a site
|
|
/// @param port The port on which the participant communicates
|
|
/// These participant typically broadcast Participant messages to let site
|
|
/// servers on the local network know their presence. Alternatively they can
|
|
/// broadcast information which can be used directly by other participants.
|
|
LocalParticipant(int port = 7681);
|
|
/// @brief Create a participant which will try to connect to a site.
|
|
/// @param ipAddress The IP address of the site
|
|
/// @param port The port used by the site
|
|
LocalParticipant(const char* ipAddress, int port = 7681);
|
|
// Note to self: one cannot specify the port used by the local participant
|
|
// now!!
|
|
|
|
/// @brief Isolated participant is used when the application is run without
|
|
/// networking
|
|
/// @return A participant without networking support
|
|
static LocalParticipant* Isolated();
|
|
|
|
/// @brief True if the participant is running isolated.
|
|
/// Isolated participants do not communicate with other participants
|
|
bool isIsolated = false;
|
|
|
|
/// The interval in milliseconds for publishing (broadcasting) data on the
|
|
/// local network
|
|
long publishInterval = 3000; // 3 seconds
|
|
|
|
/// @brief The name of the participant
|
|
const char* name = "LocalParticipant";
|
|
|
|
// int localPort = 0;
|
|
|
|
/// @brief The remote site when this participant is connected to a site
|
|
Participant* remoteSite = nullptr;
|
|
|
|
#if defined(ARDUINO)
|
|
// const char* remoteIpAddress = nullptr;
|
|
// unsigned short remotePort = 0;
|
|
// char* broadcastIpAddress = nullptr;
|
|
|
|
// WiFiUDP udp;
|
|
#else
|
|
|
|
#if defined(__unix__) || defined(__APPLE__)
|
|
int sock;
|
|
#endif
|
|
sockaddr_in remote_addr;
|
|
sockaddr_in server_addr;
|
|
sockaddr_in broadcast_addr;
|
|
|
|
#endif
|
|
|
|
void begin();
|
|
bool connected = false;
|
|
|
|
virtual void Update(unsigned long currentTimeMs = 0);
|
|
|
|
void SendThingInfo(Participant* remoteParticipant, Thing* thing);
|
|
void PublishThingInfo(Thing* thing);
|
|
|
|
bool Send(Participant* remoteParticipant, IMessage* msg);
|
|
bool Publish(IMessage* msg);
|
|
|
|
void ReceiveData(unsigned char bufferSize,
|
|
char* senderIpAddress,
|
|
unsigned int senderPort);
|
|
void ReceiveData(unsigned char bufferSize, Participant* remoteParticipant);
|
|
|
|
#if defined(NO_STD)
|
|
unsigned char senderCount = 0;
|
|
Participant* senders[MAX_SENDER_COUNT];
|
|
#else
|
|
std::list<Participant*> senders;
|
|
#endif
|
|
|
|
protected:
|
|
unsigned long nextPublishMe = 0;
|
|
|
|
char buffer[1024];
|
|
|
|
void SetupUDP(int localPort, const char* remoteIpAddress, int remotePort);
|
|
|
|
Participant* GetParticipant(const char* ipAddress, int port);
|
|
Participant* AddParticipant(const char* ipAddress, int port);
|
|
|
|
void ReceiveUDP();
|
|
|
|
virtual void Process(Participant* sender, ParticipantMsg* msg);
|
|
virtual void Process(Participant* sender, SiteMsg* msg);
|
|
virtual void Process(Participant* sender, InvestigateMsg* msg);
|
|
virtual void Process(Participant* sender, ThingMsg* msg);
|
|
virtual void Process(Participant* sender, NameMsg* msg);
|
|
virtual void Process(Participant* sender, PoseMsg* msg);
|
|
virtual void Process(Participant* sender, BinaryMsg* msg);
|
|
};
|
|
|
|
} // namespace RoboidControl
|