d:/Cpp/RoboidControl-cpp/LocalParticipant.h

#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;
 
class LocalParticipant : public Participant {
 public:
  LocalParticipant(int port = 7681);
  LocalParticipant(const char* ipAddress, int port = 7681);
  // Note to self: one cannot specify the port used by the local participant
  // now!!
 
  static LocalParticipant* Isolated();
 
  bool isIsolated = false;
 
  long publishInterval = 3000;  // 3 seconds
 
  const char* name = "LocalParticipant";
 
  // int localPort = 0;
 
  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