d:/C/controlcore_cpp/Participant.h

#pragma once
 
//#include "Messages/"
#include "Messages/ParticipantMsg.h"
#include "Messages/BinaryMsg.h"
#include "Messages/InvestigateMsg.h"
#include "Messages/ModelUrlMsg.h"
#include "Messages/NameMsg.h"
#include "Messages/NetworkIdMsg.h"
#include "Messages/PoseMsg.h"
#include "Messages/ThingMsg.h"
#include "RemoteParticipant.h"
 
#include <list>
 
#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 Passer {
namespace RoboidControl {
 
class Participant : public RemoteParticipant {
public:
  char buffer[1024];
  long publishInterval = 3000; // 3 seconds
  // unsigned char networkId = 0;
 
  const char *name = "Participant";
 
  // const char *ipAddress = "0.0.0.0";
  // int port = 0;
  int localPort = 0;
 
#if defined(ARDUINO)
  const char *remoteIpAddress = nullptr;
  unsigned short remotePort = 0;
  char *broadcastIpAddress = nullptr;
 
  WiFiUDP udp;
#else
 
#if defined(_WIN32) || defined(_WIN64)
  SOCKET sock;
#elif defined(__unix__) || defined(__APPLE__)
  int sock;
#endif
  sockaddr_in remote_addr;
  sockaddr_in server_addr;
  sockaddr_in broadcast_addr;
 
#endif
 
  Participant();
  Participant(int port);
  Participant(const char *ipAddress, int port);
 
  void begin();
  bool connected = false;
 
  virtual void Update(unsigned long currentTimeMs = 0);
 
  // std::list<Thing *> things;
  // Thing *Get(unsigned char networkId, unsigned char thingId);
  // int Add(Thing *thing);
  // void Remove(Thing *thing);
  // void UpdateAll(unsigned long currentTimeMs);
 
  void SendThingInfo(RemoteParticipant* remoteParticipant, Thing *thing);
  void PublishThingInfo(Thing *thing);
 
  bool Send(RemoteParticipant* remoteParticipant, IMessage *msg);
  bool Publish(IMessage *msg);
 
  void ReceiveData(unsigned char bufferSize, RemoteParticipant *remoteParticipant);
 
protected:
  std::list<Participant *> senders;
 
  unsigned long nextPublishMe = 0;
 
  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(RemoteParticipant *sender, ParticipantMsg *msg);
  virtual void Process(RemoteParticipant *sender, NetworkIdMsg *msg);
  virtual void Process(RemoteParticipant* sender, InvestigateMsg *msg);
  virtual void Process(RemoteParticipant* sender, ThingMsg *msg);
  virtual void Process(RemoteParticipant* sender, NameMsg *msg);
  virtual void Process(RemoteParticipant* sender, PoseMsg *msg);
  virtual void Process(RemoteParticipant* sender, BinaryMsg *msg);
};
 
} // namespace Control
} // namespace Passer
using namespace Passer::RoboidControl;