hayodea
b65b0f2370
I think it's best to remove the timer tick from UdpCommandDemuxer. I looked at it again and it doesn't actually help with responsiveness. Whatever it contributes is no different from what stop() does. They both just call timer.cancel and cmdsocket.cancel. So if that doesn't stop the socket in stop(), it won't magically stop it more effectively if I call it from a timer handler.
83 lines
2.2 KiB
C++
83 lines
2.2 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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~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 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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// 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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