Platform/Aperios1.3.2/UDPHandler.cpp

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/** 
* @file  Platform/Aperios1.3.2/UDPHandler.cpp
*
* Class for using NetSender/NetReceivers over UDP 
* @author <A href=mailto:robocup@m-wachter.de>Michael Wachter</A>
* 
*/

#include "UDPHandler.h"
#include <Tools/Debugging/Debugging.h>
#include "Tools/Debugging/Watchdog.h"

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

UDPHandlerEndpoint::UDPHandlerEndpoint() : UDPEndpoint(2048,2048)
{
      lastReceivedSerial=0;
    sendSerial=0;
}

UDPHandlerEndpoint::~UDPHandlerEndpoint()
{

};

void UDPHandlerEndpoint::sendPackage(int senderNumber, void* packet, int size)
{
  // cout << "Sender " << senderNumber << " wants to send :" ;
  
   if ((ddpHandler->activeTeamMembers()) && (size<1400)) 

  {
    // cout << " sending to " << ddpHandler.list[senderNumber].ip << " \n " << flush;
      char* ende = static_cast<char*>(packet);
      
      ende += size;
      sendSerial++;
      memcpy(ende,&sendSerial,4);
/**   send((char*)(packet),size+4,ddpHandler->list[sender->senderNumber].ip,
       TEAMPORTBASE + (int)getPlayer().getPlayerNumber());*/

          send((char*)(packet),size+4,IP_ADDR_BROADCAST, 
                   TEAMPORTBASE + (int)getPlayer().getPlayerNumber());
      
  }
  else
  {
     // cout << " no target ";
      sender->sendDone();
  }
  udpHandler->doRegularStuff();
  // cout << "\n" << flush;
}

void UDPHandlerEndpoint::onSendingDone()
 {
   sender->sendDone();
 }

void UDPHandlerEndpoint::onReceive(void *data, int size)
{
    watchdog.enter(1001);
  //cout << "UDPHandlerEndpoint::onReceive() ";
  //cout << size << " " << sender->senderNumber << " ";   // 13
  //char pN = ((char*)data)[17] ;
  //cout << ((int)pN) << " ";
  //cout << "listip: " << ddpHandler->list[sender->senderNumber].ip << " ip: " << ipOfLastPackage ;
  //cout << "\n";

    
    
     if (ddpHandler->list[sender->senderNumber].ip == ipOfLastPackage)
     {
        // cout << " handler " << i ;
        int packetSize = *(int*)data;

    // Scheiss alignment-kack !!!
        char* ende = static_cast<char*>(data);
        ende += packetSize;
        ende += 4;
        int serial;
        memcpy(&serial,ende,4);

    if (serial != lastReceivedSerial + 1) // Package can be an old or a missing one.
    {

      // Test if the package is already missing
      bool isMissingPackage = false;
      static RingBuffer<int,10> missingSerials;

      for(int i=0; i< missingSerials.getNumberOfEntries(); i++)
      {
        if (missingSerials[i]==serial)
        {
          isMissingPackage= true;
          INFO(sendTimeOffsets,idText,text,
            "Package jitter from " << ipOfLastPackage << " detected. Package is " << 
            lastReceivedSerial - missingSerials[i]
            << " packages too late");
            missingSerials[i] = 0;
        }
      }

      if (isMissingPackage) // Order of the packages changed.
      {


      }
      else
      {
        missingSerials.add(serial-1);
      }

      // Check if there are serials older than 10 packages

      for(int i=0; i< missingSerials.getNumberOfEntries(); i++)
      {
        if ((missingSerials[i]<serial-10) && (missingSerials[i]!=0))
        {
          INFO(sendTimeOffsets,idText,text,
            "Packet-Loss from " << ipOfLastPackage << " detected. (Serial " << missingSerials[i] << ")");
          missingSerials[i] = 0;
        }
      }
        }

        lastReceivedSerial = serial;

        receiver->getPackage(packetSize);
        memcpy(receiver->package, (char*)data + 4, packetSize);
        receiver->onReceive();
     }
   else
   {
    // cout << "ip <-> DDP-ip mismatch \n";
    // cout << ddpHandler->list[sender->senderNumber].ip << " =! " << ipOfLastPackage << endl << flush;
   }
  watchdog.leave(1001);
}


UDPHandler::UDPHandler()
{
   numberOfEndpoints = 0;
}

void UDPHandler::addSenderAndReceiver(NetSenderBase& sender, NetReceiverBase& receiver)
{
    endPoints[numberOfEndpoints].sender = &sender;
  endPoints[numberOfEndpoints].receiver = &receiver;
  endPoints[numberOfEndpoints].sender->setHandler(&endPoints[numberOfEndpoints]);
    endPoints[numberOfEndpoints].sender->getPackage(2048);
  endPoints[numberOfEndpoints].sender->senderNumber = numberOfEndpoints;
    endPoints[numberOfEndpoints].receiver->getPackage(2048);
  endPoints[numberOfEndpoints].ddpHandler = &ddpHandler;
  endPoints[numberOfEndpoints].udpHandler = this;
  numberOfEndpoints++;

}
void UDPHandler::start()
{
    ddpHandler.initDDPHandler();
  int i;
  int j = 0;
  for (i=0; i< Player::numOfPlayerNumbers; i++)
    {
      if ((int)getPlayer().getPlayerNumber() != i)
    {
           endPoints[j].bind(TEAMPORTBASE+i);   
           j++;
    }
    }
}

void UDPHandler::doRegularStuff()
{
    ddpHandler.sendDDPPackage();
}







  // cout << "\n";

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