text: /*
  The MIT License
  Copyright (c) 2019 Lehrstuhl Informatik 11 - RWTH Aachen University
  Permission is hereby granted, free of charge, to any person obtaining a copy
  of this software and associated documentation files (the "Software"), to deal
  in the Software without restriction, including without limitation the rights
  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  copies of the Software, and to permit persons to whom the Software is
  furnished to do so, subject to the following conditions:
  The above copyright notice and this permission notice shall be included in
  all copies or substantial portions of the Software.
  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
  THE SOFTWARE
  
  This file is part of embeddedRTPS.
  
  Author: i11 - Embedded Software, RWTH Aachen University
  */
  
  #ifndef RTPS_LOCATOR_T_H
  #define RTPS_LOCATOR_T_H
  
  #include "rtps/communication/UdpDriver.h"
  #include "rtps/utils/udpUtils.h"
  #include "ucdr/microcdr.h"
  
  #include <array>
  
  namespace rtps {
  enum class LocatorKind_t : int32_t {
    LOCATOR_KIND_INVALID = -1,
    LOCATOR_KIND_RESERVED = 0,
    LOCATOR_KIND_UDPv4 = 1,
    LOCATOR_KIND_UDPv6 = 2
  };
  
  const uint32_t LOCATOR_PORT_INVALID = 0;
  const std::array<uint8_t, 16> LOCATOR_ADDRESS_INVALID = {
      0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
  
  struct Locator {
    LocatorKind_t kind = LocatorKind_t::LOCATOR_KIND_INVALID;
    uint32_t port = LOCATOR_PORT_INVALID;
    std::array<uint8_t, 16> address =
        LOCATOR_ADDRESS_INVALID; // TODO make private such that kind and address
                                 // always match?
  
    static Locator createUDPv4Locator(uint8_t a, uint8_t b, uint8_t c, uint8_t d,
                                      uint32_t port) {
      Locator locator;
      locator.kind = LocatorKind_t::LOCATOR_KIND_UDPv4;
      locator.address = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a, b, c, d};
      locator.port = port;
      return locator;
    }
  
    void setInvalid() { kind = LocatorKind_t::LOCATOR_KIND_INVALID; }
  
    bool isValid() const { return kind != LocatorKind_t::LOCATOR_KIND_INVALID; }
  
    bool readFromUcdrBuffer(ucdrBuffer &buffer) {
      if (ucdr_buffer_remaining(&buffer) < sizeof(Locator)) {
        return false;
      } else {
        ucdr_deserialize_array_uint8_t(&buffer, reinterpret_cast<uint8_t *>(this),
                                       sizeof(Locator));
        return true;
      }
    }
  
    bool serializeIntoUdcrBuffer(ucdrBuffer &buffer) {
      if (ucdr_buffer_remaining(&buffer) < sizeof(Locator)) {
        return false;
      } else {
        ucdr_serialize_array_uint8_t(&buffer, reinterpret_cast<uint8_t *>(this),
                                     sizeof(Locator));
      }
    }
  
    ip4_addr_t getIp4Address() const {
      return transformIP4ToU32(address[12], address[13], address[14],
                               address[15]);
    }
  
    inline bool isSameSubnet() const {
      return UdpDriver::isSameSubnet(getIp4Address());
    }
  
  } __attribute__((packed));
  
  inline Locator getBuiltInUnicastLocator(ParticipantId_t participantId) {
    return Locator::createUDPv4Locator(
        Config::IP_ADDRESS[0], Config::IP_ADDRESS[1], Config::IP_ADDRESS[2],
        Config::IP_ADDRESS[3], getBuiltInUnicastPort(participantId));
  }
  
  inline Locator getBuiltInMulticastLocator() {
    return Locator::createUDPv4Locator(239, 255, 0, 1, getBuiltInMulticastPort());
  }
  
  inline Locator getUserUnicastLocator(ParticipantId_t participantId) {
    return Locator::createUDPv4Locator(
        Config::IP_ADDRESS[0], Config::IP_ADDRESS[1], Config::IP_ADDRESS[2],
        Config::IP_ADDRESS[3], getUserUnicastPort(participantId));
  }
  
  inline Locator getUserMulticastLocator() {
    return Locator::createUDPv4Locator(
        Config::IP_ADDRESS[0], Config::IP_ADDRESS[1], Config::IP_ADDRESS[2],
        Config::IP_ADDRESS[3], getUserMulticastPort());
  }
  
  inline Locator getDefaultSendMulticastLocator() {
    return Locator::createUDPv4Locator(239, 255, 0, 1, getBuiltInMulticastPort());
  }
  } // namespace rtps
  
  #endif // RTPS_LOCATOR_T_H
  