86 lines
2.4 KiB
C++
86 lines
2.4 KiB
C++
#ifndef UDP_COMMAND_DEMUXER_H
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#define UDP_COMMAND_DEMUXER_H
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#include <atomic>
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#include <memory>
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#include <boost/asio/deadline_timer.hpp>
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#include <boost/asio/posix/stream_descriptor.hpp>
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#include <componentThread.h>
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namespace livoxProto1 {
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// Forward declarations
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class DeviceManager;
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namespace comms {
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/**
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* UdpCommandDemuxer - Routes UDP command datagrams to appropriate devices
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*
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* This class listens on the command port (65000) for incoming UDP datagrams
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* from Livox devices and routes them to the appropriate Device based on
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* the source IP address.
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*
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* The reason we need a whole class for this is because we use the same port
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* numbers for all connected devices, so we have no way to distinguish between
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* devices except based on the devices' IP addrs. Since all commands are sent
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* over UDP, our sockets don't have built-in binding to a specific source IP.
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*
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* So we need to discriminate between source IPs manually, and demultiplex
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* the dgrams received from different devices manually.
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*
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* We'll prolly also have to do the same thing for point cloud and IMU data, so
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* we'll prolly end up renaming this class to UdpResponseDemuxer.
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*/
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class UdpCommandDemuxer
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{
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public:
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UdpCommandDemuxer(
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const std::shared_ptr<smo::ComponentThread>& componentThread,
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DeviceManager& deviceManager,
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uint16_t commandPort = 56001);
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~UdpCommandDemuxer();
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void start();
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void stop();
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bool isRunning() const { return isActive.load(); }
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// Get shared pointer to command endpoint for handshake use
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std::shared_ptr<boost::asio::posix::stream_descriptor>
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getCmdEndpointFdDesc() const
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{
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return cmdEndpointFdDesc;
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}
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private:
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void setupSocket();
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void startAsyncReceive();
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void onDataReady(const boost::system::error_code& error);
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void onTimerTick(const boost::system::error_code& error);
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void processIncomingData();
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std::shared_ptr<smo::ComponentThread> componentThread;
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DeviceManager& deviceManager;
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uint16_t commandPort;
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// Socket and async objects
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std::shared_ptr<boost::asio::posix::stream_descriptor> cmdEndpointFdDesc;
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boost::asio::deadline_timer timer;
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// State management
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std::atomic<bool> isActive{false};
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std::atomic<bool> shouldStop{false};
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// Receive buffer
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uint8_t receiveBuffer[1024];
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struct sockaddr_in senderAddr;
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socklen_t senderAddrLen;
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ssize_t bytesReceived;
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};
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} // namespace comms
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} // namespace livoxProto1
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#endif // UDP_COMMAND_DEMUXER_H
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