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57 lines
1.9 KiB
C++
57 lines
1.9 KiB
C++
//
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// Created by Johnathon Slightham on 2025-06-10.
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//
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#ifndef MDNSDISCOVERYSERVICE_H
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#define MDNSDISCOVERYSERVICE_H
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#include <chrono>
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#include <unordered_map>
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#include "BlockingQueue.h"
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#include "ICommunicationClient.h"
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#include "IDiscoveryService.h"
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#include "mDNSRobotModule.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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#define CLOSE_SOCKET closesocket
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#pragma comment(lib, "ws2_32.lib")
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typedef SOCKET socket_t;
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#else
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#include <arpa/inet.h>
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#include <netinet/in.h>
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#include <sys/socket.h>
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#include <unistd.h>
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#define CLOSE_SOCKET close
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typedef int socket_t;
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#endif
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class mDNSDiscoveryService final : public IDiscoveryService {
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public:
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mDNSDiscoveryService();
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~mDNSDiscoveryService() override;
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std::unordered_set<uint8_t> find_modules(std::chrono::duration<double> wait_time) override;
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std::unordered_map<uint8_t, std::shared_ptr<ICommunicationClient>> get_lossy_clients(
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const std::shared_ptr<BlockingQueue<std::unique_ptr<std::vector<uint8_t>>>> &rx_queue,
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std::vector<uint8_t> &skip_modules) override;
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std::unordered_map<uint8_t, std::shared_ptr<ICommunicationClient>> get_lossless_clients(
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const std::shared_ptr<BlockingQueue<std::unique_ptr<std::vector<uint8_t>>>> &rx_queue,
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std::vector<uint8_t> &skip_modules) override;
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private:
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template <typename T>
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std::unordered_map<uint8_t, std::shared_ptr<ICommunicationClient>> create_clients(
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const std::shared_ptr<BlockingQueue<std::unique_ptr<std::vector<uint8_t>>>> &rx_queue,
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std::vector<uint8_t> &skip_modules);
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static void send_mdns_query(socket_t sock, const sockaddr_in &addr);
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static std::optional<mDNSRobotModule> parse_response(uint8_t *buffer, int size);
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static std::tuple<std::string, int> read_mdns_name(const uint8_t *buffer, int size, int ptr);
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std::unordered_map<uint8_t, mDNSRobotModule> module_to_mdns{};
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};
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#endif // MDNSDISCOVERYSERVICE_H
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