145 lines
4.8 KiB
C++
145 lines
4.8 KiB
C++
/*******************************************************************************
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* Copyright (c) 2021 Nerian Vision GmbH
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*******************************************************************************/
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#include <memory>
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#include <map>
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#include <set>
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#include <string>
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#include <vector>
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#include <algorithm>
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#ifdef _WIN32
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#include <winsock2.h>
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#else
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#include <arpa/inet.h>
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#endif
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#ifndef VISIONTRANSFER_DATACHANNELSERVICEBASE_H
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#define VISIONTRANSFER_DATACHANNELSERVICEBASE_H
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namespace visiontransfer {
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namespace internal {
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/*
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* This is a header file for internal use, please use the wrappers from datachannelservice.h
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*/
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#pragma pack(push,1)
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/**
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* \brief Transport-level DataChannel header
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*/
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struct DataChannelMessageHeader {
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uint8_t channelID;
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uint8_t channelType;
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uint32_t payloadSize;
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};
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struct DataChannelMessage {
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DataChannelMessageHeader header;
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unsigned char* payload;
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};
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#pragma pack(pop)
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class DataChannelServiceBase;
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/**
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* \brief Base class all data channel services derive from (once on the server side, once on the API side)
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*/
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class DataChannel {
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public:
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/**
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* \brief Known data channel service types, not all may be active on a specific device
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*/
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struct Types {
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enum DataChannelTypesEnum {
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CONTROL = 0x00,
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BNO080 = 0x01,
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UNDEFINED = 0xff
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};
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};
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typedef unsigned char Type;
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typedef unsigned char ID;
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inline DataChannel(): infoString("RESERVED") { }
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inline virtual ~DataChannel() {}
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inline ID getChannelID() const { return channelID; }
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inline std::string getInfoString() const { return infoString; }
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inline void setService(std::weak_ptr<DataChannelServiceBase> serv) { service = serv; }
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inline void setChannelID(ID id) { channelID = id; }
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virtual Type getChannelType() const = 0;
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/// \brief Channel-dependent message handlers in respective channel implementations
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virtual int handleMessage(DataChannelMessage& message, sockaddr_in* sender) = 0;
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/// \brief When initialize() implementations return false, the service will be deactivated
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virtual bool initialize() = 0;
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/// \brief startService() implementations can start devices, launch an IO-blocked worker thread etc.
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virtual int startService() = 0;
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/** \brief A single processing iteration; should be short and must not block.
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* Actual frequency determined by the thread calling DataChannelServiceBase::process()
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*/
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virtual bool process() { return true; }
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virtual int stopService() = 0;
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protected:
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std::string infoString;
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int sendData(unsigned char* data, unsigned int dataSize, sockaddr_in* recipient=nullptr);
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private:
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ID channelID;
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std::weak_ptr<DataChannelServiceBase> service;
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};
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/**
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* \brief API-level data channel info for advertisements and subscription accounting
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*/
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class DataChannelInfo {
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public:
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inline DataChannelInfo(DataChannel::ID id, DataChannel::Type type, const std::string& info): channelID(id), channelType(type), infoString(info) { }
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inline DataChannel::ID getChannelID() const { return channelID; }
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inline DataChannel::Type getChannelType() const { return channelType; }
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inline std::string getInfoString() const { return infoString; }
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private:
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DataChannel::ID channelID;
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DataChannel::Type channelType;
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std::string infoString;
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};
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/**
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* \brief Base class for the data service (background sending and receiving, dispatching to channels)
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*/
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class DataChannelServiceBase: public std::enable_shared_from_this<DataChannelServiceBase> {
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public:
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DataChannelServiceBase();
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~DataChannelServiceBase();
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void process();
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DataChannel::ID registerChannel(std::shared_ptr<DataChannel> channel);
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virtual int sendDataInternal(unsigned char* compiledMessage, unsigned int messageSize, sockaddr_in* recipient);
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int sendDataIsolatedPacket(DataChannel::ID id, DataChannel::Type type, unsigned char* data, unsigned int dataSize, sockaddr_in* recipient);
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virtual int handleChannel0Message(DataChannelMessage& message, sockaddr_in* sender) = 0;
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protected:
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std::map<DataChannel::ID, std::shared_ptr<DataChannel> > channels;
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#ifdef _WIN32
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SOCKET dataChannelSocket;
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#else
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int dataChannelSocket;
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#endif
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DataChannelMessage message;
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};
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}} // namespaces
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#endif
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