Livox-SDK
102 lines
3.1 KiB
C++
102 lines
3.1 KiB
C++
//
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// The MIT License (MIT)
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//
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// Copyright (c) 2019 Livox. All rights reserved.
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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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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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// SOFTWARE.
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//
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#ifndef LIVOX_DEVICE_DISCOVERY_
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#define LIVOX_DEVICE_DISCOVERY_
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#include <mutex>
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#include <string>
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#include <algorithm>
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#include "base/io_thread.h"
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#include "base/noncopyable.h"
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#include "comm/comm_port.h"
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#include "command_handler/command_channel.h"
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#include <stdio.h>
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#ifdef WIN32
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#include <winsock2.h>
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#include <ws2tcpip.h>
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#include <ws2def.h>
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#pragma comment(lib,"ws2_32.lib")
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#else
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#include "arpa/inet.h"
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#endif
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namespace livox {
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/**
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* DeviceDiscovery listens broadcast message from devices, and proceed handshake
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* if device is in the listening list.
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*/
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class DeviceDiscovery : public noncopyable, IOLoop::IOLoopDelegate {
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public:
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typedef std::chrono::steady_clock::time_point TimePoint;
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DeviceDiscovery() : comm_port_(nullptr) {}
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bool Init();
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void Uninit();
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/**
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* start the listening of broadcast UDP message.
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* @param loop IOLoop on where DeviceDiscovery runs.
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* @return true if successfully.
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*/
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bool Start(std::weak_ptr<IOLoop> loop);
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/**
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* IOLoop callback delegate.
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* @param client_data client data passed in IOLoop::AddDelegate
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*/
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void OnData(socket_t, void *client_data);
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void OnTimer(TimePoint now);
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private:
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void OnBroadcast(const CommPacket &packet, struct sockaddr *addr);
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private:
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/** broadcast listening port number. */
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static const uint16_t kListenPort = 55000;
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/** command port number start offset. */
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static const uint16_t kCmdPortOffset = 500;
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/** data port number start offset. */
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static const uint16_t kDataPortOffset = 1000;
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/** sensor port number start offset. */
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static const uint16_t kSensorPortOffset = 1000;
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static uint16_t port_count;
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socket_t sock_ = -1;
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std::weak_ptr<IOLoop> loop_;
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std::unique_ptr<CommPort> comm_port_;
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std::mutex mutex_;
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typedef std::map<socket_t, std::tuple<TimePoint, DeviceInfo> > ConnectingDeviceMap;
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ConnectingDeviceMap connecting_devices_;
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};
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DeviceDiscovery &device_discovery();
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} // namespace livox
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#endif // LIVOX_DEVICE_DISCOVERY_
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