hayodea
45ad5c83ee
The pcloudData socket is now opened by UdpCommandDemuxer, when libLivoxProto1 is initialized. We can now just pick up the socket and be certain it'll be there if the lib is being executed.
89 lines
2.4 KiB
C++
89 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/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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uint16_t dataPort = 56000);
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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 setupSockets();
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void setupCommandSocket();
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void setupPcloudDataSocket();
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void startAsyncReceive();
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void onDataReady(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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uint16_t dataPort;
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// Socket and async objects
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std::shared_ptr<boost::asio::posix::stream_descriptor> pcloudDataSocketDesc;
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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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// 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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