IPCommModule.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// MIP is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------



#ifndef __IP_COMM_MODULE_H_
#define __IP_COMM_MODULE_H_

#ifdef MIP_HOST_APPLE
#include <applePatch.h>
#endif

#include <socketUDP.h>
#include "CommModule.h"
#include "YellowPages.h"


namespace MipResources{
 
 /* @{ */


 
class IPCommModuleOptions : public Options {
 public:
  DecimalOption  *pollTime;
  
  IPCommModuleOptions();

  string getObjectName() const {
   return "IPCommModuleOptions";
  }
};
 
class IPCommModule : public CommModule {
 
 private:
  
  pthread_mutex_t _mutex;
  Time _mutexTimeout;
  
  YellowPages *yellowpages;
  
  ListenerUDP *listener;
  ListenerUDP *myListener;
  
  BroadcasterUDP *broadcaster;
  
  vector<CommStoredPacketString> _storedPacketStrings;
  map<int,SenderUDP*> sockets;
  
  IPCommModuleOptions _options;
  /*static constants*/
//  static const int SENDERS_RESERV_SIZE = 100; ///< TODO */
  
  static const ResourcePlate _plate = CM_IP_RES; 
  
 protected:
  
  Thread _IPThread;
 
 public:
  
  IPCommModule(int argc, const char* argv[]);
  
//   IPCommModule(ScenarioType scen, int id,int argc, const char* argv[]);
  
  ~IPCommModule(){
 
   delete yellowpages;
 
   _storedPacketStrings.clear();
  
   delete listener;
   delete myListener;
  
   delete broadcaster;
  
   for (uint i = 0; i<sockets.size(); i++){
    delete sockets[i];
   }
  }
  
  ResourcePlate getPlate() const {
   return _plate;
  } 
   
  void getIPAddr(int robot, IPProtocol proto, string & IPAddr, int & port);
  
  SenderUDP* getSocket(int robot);
  
  void IPSendPacketString(string& packetString, SenderUDP* socket);
  
  void IPSendPacketString(string& packetString);
  
  void IPSendPacketString(CommStoredPacketString& storedPacketString);
  
  void IPReceive();
  
  void IPSend();
 
  bool sendPacketString(string& packetString, CommNode recipient);
};

 /* @} */
 
};// end namespace MipResources{


#endif