Platform/Aperios1.3.2/DDPHandler.cpp

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/** 
* @file  Platform/Aperios1.3.2/DDPHandler.cpp
*
* Handles the Dog Discovery Protocol (DDP) so that the robot
* is able to find out the ip's of his teammates.
*
* @author <A href=mailto:robocup@m-wachter.de>Michael Wachter</A>
* 
*/

#include "DDPHandler.h"

#include <stdio.h>
#include <iostream.h>

#include <tools/debugging/debugging.h>
#include <tools/debugging/watchdog.h>
#include "NetConfig.h"

DDPHandler::DDPHandler() :
UDPEndpoint(2048,2048)
{
  for(int i=0; i< Player::numOfPlayerNumbers - 1; i++)
  {
    list[i].ip   = IP_ADDR_ANY;
    list[i].port = 0;
    list[i].timeLastSeen = 0;
  }
  timeLastPackage = 0;
}


void DDPHandler::updateDDPList()
{

}

void DDPHandler::initDDPHandler()
{
  bind(DDPPORT); 
}

IPAddress DDPHandler::getIPAddress(int number)
{ 
  // Schaue nach alter der IP-Addresse auf position number
  // Zu alt (>10s) : liefere 0.0.0.0 zurück
  // sonst liefere die IP zurück
  return(IP_ADDR_ANY);
}

void DDPHandler::onReceive(void* data, int size)
{
  watchdog.enter(1000);
  ASSERT(size == sizeof(DDPPackage));

  DDPPackage* package = static_cast<DDPPackage*>((void*)data);

  INFO(sendDDPInfo,idText,text,"Incoming DDP package from " << ipOfLastPackage << 
    " " << package->teamIdentifier << " " << package->teamColor <<
    " " << package->playerNumber );

  // Is the package from the same team and color ?
  if ( (strcmp(package->teamIdentifier,getPlayer().getTeamName()) == 0)  &&
    (package->teamColor == getPlayer().getTeamColor()) &&
    (package->playerNumber < 5) &&
    !ipOfLastPackage.InLoop())
  {
    // cout << "Incoming DDP package is from own team \n" << flush;
    int fieldNumberToUpdate = -1;

    int ownPlayerNumber = (int)getPlayer().getPlayerNumber();
    if (package->playerNumber < ownPlayerNumber)
    {
      fieldNumberToUpdate = package->playerNumber;
    }
    else
    {
      fieldNumberToUpdate = package->playerNumber-1;
    }

    cout << "package:" << package->playerNumber << " own:" << ownPlayerNumber << " update: " << fieldNumberToUpdate << " \n";

    // Update the field
    list[fieldNumberToUpdate].ip   = ipOfLastPackage;
    list[fieldNumberToUpdate].port = 0xA1BC;
    list[fieldNumberToUpdate].timeLastSeen = SystemCall::getCurrentSystemTime();

    INFO(sendDDPInfo,idText,text,"Known Dogs: " 
      << list[0].ip << "(" << SystemCall::getTimeSince(list[0].timeLastSeen) << "), " 
      << list[1].ip << "(" << SystemCall::getTimeSince(list[1].timeLastSeen) << "), " 
      << list[2].ip << "(" << SystemCall::getTimeSince(list[2].timeLastSeen) << ")" 

      );
  }
  watchdog.leave(1000);
}

void DDPHandler::sendDDPPackage()
{
  if (SystemCall::getTimeSince(timeLastPackage) > 2000)
  {
    // Prepare package
    strcpy(thePackage.teamIdentifier, getPlayer().getTeamName());
    thePackage.teamColor = getPlayer().getTeamColor();
    thePackage.playerNumber = getPlayer().getPlayerNumber();
#ifdef DDPwithBATTERIESTATUS
    thePackage.batterieStatus = SystemCall::getRemainingPower();
#endif
#ifdef NETWORK_useEnhencedDebug
    cout << "NON-Encrypted DDP Package sent." << endl << flush;
#endif

    send(&thePackage,sizeof(thePackage),IP_ADDR_BROADCAST,DDPPORT);
    timeLastPackage = SystemCall::getCurrentSystemTime();
  }
}

bool DDPHandler::activeTeamMembers()
{
  for (int i=0; i<Player::numOfPlayerNumbers-1; i++)
  {
    if(SystemCall::getTimeSince(list[i].timeLastSeen) < 15000)
    {
      return(true);
    }
  }
  return(false);
}

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