RoboidControl::LocalParticipant Class Reference

Detailed Description

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().

See also

RoboidControl::Thing::Thing()

#include <LocalParticipant.h>

Inheritance diagram for RoboidControl::LocalParticipant:

Public Member Functions
	LocalParticipant (int port=7681)
	Create a participant without connecting to a site.
	LocalParticipant (const char *ipAddress, int port=7681)
	Create a participant which will try to connect to a site.
void	begin ()
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)
Thing *	Get (unsigned char networkId, unsigned char thingId)
	Find a thing managed by this participant.
void	Add (Thing *thing, bool checkId=true)
	Add a new thing for this participant.
void	Remove (Thing *thing)
	Remove a thing for this participant.

Static Public Member Functions
static LocalParticipant *	Isolated ()
	Isolated participant is used when the application is run without networking.

Public Attributes
bool	isIsolated = false
	True if the participant is running isolated. Isolated participants do not communicate with other participants.
long	publishInterval = 3000
const char *	name = "LocalParticipant"
	The name of the participant.
Participant *	remoteSite = nullptr
	The remote site when this participant is connected to a site.
int	sock
sockaddr_in	remote_addr
sockaddr_in	server_addr
sockaddr_in	broadcast_addr
bool	connected = false
unsigned char	senderCount = 0
Participant *	senders [MAX_SENDER_COUNT]
std::list< Participant * >	senders
const char *	ipAddress = "0.0.0.0"
	The Ip Address of a participant. When the participant is local, this contains 0.0.0.0.
int	port = 0
	The port number for UDP communication with the participant. This is 0 for isolated participants.
unsigned char	networkId = 0
	The network Id to identify the participant.

Protected Member Functions
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)

Protected Attributes
unsigned long	nextPublishMe = 0
char	buffer [1024]
unsigned char	thingCount = 0
Thing *	things [MAX_THING_COUNT]
std::list< Thing * >	things
	The list of things managed by this participant.

Constructor & Destructor Documentation

LocalParticipant() [1/2]

RoboidControl::LocalParticipant::LocalParticipant

(

int

port = 7681

)

Create a participant without connecting to a site.

Parameters

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() [2/2]

RoboidControl::LocalParticipant::LocalParticipant	(	const char *	ipAddress,
		int	port = 7681
	)

Create a participant which will try to connect to a site.

Parameters

ipAddress	The IP address of the site
port	The port used by the site

Member Function Documentation

Isolated()

LocalParticipant * RoboidControl::LocalParticipant::Isolated ( )

static

Isolated participant is used when the application is run without networking.

Returns

A participant without networking support

Get()

Thing * RoboidControl::Participant::Get ( unsigned char  networkId, unsigned char  thingId  )

inherited

Find a thing managed by this participant.

Parameters

networkId	The network ID for the thing
thingId	The ID of the thing

Returns

The thing if found or nullptr when no thing has been found

Note

The use of the network ID is likely to disappear in future versions.

Add()

void RoboidControl::Participant::Add ( Thing *  thing, bool  checkId = true  )

inherited

Add a new thing for this participant.

Parameters

thing	The thing to add
checkId	Checks the thing ID of the thing. If it is 0, a new thing Id will be assigned.

Remove()

void RoboidControl::Participant::Remove ( Thing *  thing )

inherited

Remove a thing for this participant.

Parameters

thing

The thing to remove

Member Data Documentation

publishInterval

long RoboidControl::LocalParticipant::publishInterval = 3000

The interval in milliseconds for publishing (broadcasting) data on the local network

networkId

unsigned char RoboidControl::Participant::networkId = 0

inherited

The network Id to identify the participant.

Note

This field is likely to disappear in future versions