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<div class="navpath"><a class="el" href="dir_b8ba9ebcb71a95a44c4fd60b7d348fe1.html">src</a> » <a class="el" href="dir_26b426ffd7c02d2636b681f5b9fd4318.html">flexiport</a>
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<h1>udpport.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics</span>
<a name="l00003"></a>00003 <span class="comment"> * http://gearbox.sf.net/</span>
<a name="l00004"></a>00004 <span class="comment"> * Copyright (c) 2008 Geoffrey Biggs</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> * flexiport flexible hardware data communications library.</span>
<a name="l00007"></a>00007 <span class="comment"> *</span>
<a name="l00008"></a>00008 <span class="comment"> * This distribution is licensed to you under the terms described in the LICENSE file included in</span>
<a name="l00009"></a>00009 <span class="comment"> * this distribution.</span>
<a name="l00010"></a>00010 <span class="comment"> *</span>
<a name="l00011"></a>00011 <span class="comment"> * This work is a product of the National Institute of Advanced Industrial Science and Technology,</span>
<a name="l00012"></a>00012 <span class="comment"> * Japan. Registration number: H20PRO-881</span>
<a name="l00013"></a>00013 <span class="comment"> *</span>
<a name="l00014"></a>00014 <span class="comment"> * This file is part of flexiport.</span>
<a name="l00015"></a>00015 <span class="comment"> *</span>
<a name="l00016"></a>00016 <span class="comment"> * flexiport is free software: you can redistribute it and/or modify it under the terms of the GNU</span>
<a name="l00017"></a>00017 <span class="comment"> * Lesser General Public License as published by the Free Software Foundation, either version 3 of</span>
<a name="l00018"></a>00018 <span class="comment"> * the License, or (at your option) any later version.</span>
<a name="l00019"></a>00019 <span class="comment"> *</span>
<a name="l00020"></a>00020 <span class="comment"> * flexiport is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without</span>
<a name="l00021"></a>00021 <span class="comment"> * even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
<a name="l00022"></a>00022 <span class="comment"> * Lesser General Public License for more details.</span>
<a name="l00023"></a>00023 <span class="comment"> *</span>
<a name="l00024"></a>00024 <span class="comment"> * You should have received a copy of the GNU Lesser General Public License along with flexiport.</span>
<a name="l00025"></a>00025 <span class="comment"> * If not, see <http://www.gnu.org/licenses/>.</span>
<a name="l00026"></a>00026 <span class="comment"> */</span>
<a name="l00027"></a>00027
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef __UDPPORT_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define __UDPPORT_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include "port.h"</span>
<a name="l00032"></a>00032 <span class="preprocessor">#include "flexiport_config.h"</span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="preprocessor">#include <map></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <string></span>
<a name="l00036"></a>00036 <span class="preprocessor">#if !defined (WIN32)</span>
<a name="l00037"></a>00037 <span class="preprocessor"></span><span class="preprocessor"> #include <netinet/in.h></span>
<a name="l00038"></a>00038 <span class="preprocessor">#endif</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00044"></a>00044 <span class="keyword">namespace </span>flexiport
<a name="l00045"></a>00045 {
<a name="l00046"></a>00046
<a name="l00077"></a><a class="code" href="classflexiport_1_1UDPPort.html">00077</a> <span class="keyword">class </span>FLEXIPORT_EXPORT <a class="code" href="classflexiport_1_1UDPPort.html" title="UDP implementation of the Port class. This class provides UDP communication between...">UDPPort</a> : <span class="keyword">public</span> <a class="code" href="classflexiport_1_1Port.html" title="Base Port class.">Port</a>
<a name="l00078"></a>00078 {
<a name="l00079"></a>00079 <span class="keyword">public</span>:
<a name="l00080"></a>00080 <a class="code" href="classflexiport_1_1UDPPort.html" title="UDP implementation of the Port class. This class provides UDP communication between...">UDPPort</a> (std::map<std::string, std::string> options);
<a name="l00081"></a>00081 ~<a class="code" href="classflexiport_1_1UDPPort.html" title="UDP implementation of the Port class. This class provides UDP communication between...">UDPPort</a> ();
<a name="l00082"></a>00082
<a name="l00086"></a>00086 <span class="keywordtype">void</span> Open ();
<a name="l00088"></a>00088 <span class="keywordtype">void</span> Close ();
<a name="l00090"></a>00090 ssize_t Read (<span class="keywordtype">void</span> * <span class="keyword">const</span> buffer, <span class="keywordtype">size_t</span> count);
<a name="l00092"></a>00092 ssize_t ReadFull (<span class="keywordtype">void</span> * <span class="keyword">const</span> buffer, <span class="keywordtype">size_t</span> count);
<a name="l00094"></a>00094 ssize_t ReadUntil (<span class="keywordtype">void</span> * <span class="keyword">const</span> buffer, <span class="keywordtype">size_t</span> count, uint8_t terminator);
<a name="l00096"></a>00096 ssize_t ReadStringUntil (std::string &buffer, <span class="keywordtype">char</span> terminator);
<a name="l00098"></a>00098 ssize_t Skip (<span class="keywordtype">size_t</span> count);
<a name="l00101"></a>00101 ssize_t SkipUntil (uint8_t terminator, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> count);
<a name="l00103"></a>00103 ssize_t BytesAvailable ();
<a name="l00105"></a>00105 ssize_t BytesAvailableWait ();
<a name="l00107"></a>00107 ssize_t Write (<span class="keyword">const</span> <span class="keywordtype">void</span> * <span class="keyword">const</span> buffer, <span class="keywordtype">size_t</span> count);
<a name="l00109"></a>00109 <span class="keywordtype">void</span> Flush ();
<a name="l00111"></a>00111 <span class="keywordtype">void</span> Drain ();
<a name="l00113"></a>00113 std::string GetStatus () <span class="keyword">const</span>;
<a name="l00115"></a>00115 <span class="keywordtype">void</span> SetTimeout (<a class="code" href="classflexiport_1_1Timeout.html" title="An object used to represent timeouts.">Timeout</a> timeout);
<a name="l00117"></a>00117 <span class="keywordtype">void</span> SetCanRead (<span class="keywordtype">bool</span> canRead);
<a name="l00119"></a>00119 <span class="keywordtype">void</span> SetCanWrite (<span class="keywordtype">bool</span> canWrite);
<a name="l00121"></a><a class="code" href="classflexiport_1_1UDPPort.html#aa0cf22123572524670ab795d21d2c1b9">00121</a> <span class="keywordtype">bool</span> <a class="code" href="classflexiport_1_1UDPPort.html#aa0cf22123572524670ab795d21d2c1b9" title="Check if the port is open.">IsOpen</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _open; }
<a name="l00122"></a>00122
<a name="l00123"></a>00123 <span class="keyword">private</span>:
<a name="l00124"></a>00124 <span class="preprocessor">#if !defined (WIN32)</span>
<a name="l00125"></a>00125 <span class="preprocessor"></span><span class="preprocessor"> #if defined (FLEXIPORT_HAVE_GETADDRINFO)</span>
<a name="l00126"></a>00126 <span class="preprocessor"></span> <span class="keyword">struct </span>sockaddr _destSockAddr;
<a name="l00127"></a>00127 <span class="preprocessor"> #else</span>
<a name="l00128"></a>00128 <span class="preprocessor"></span> <span class="keyword">struct </span>sockaddr_in _destSockAddr;
<a name="l00129"></a>00129 <span class="preprocessor"> #endif</span>
<a name="l00130"></a>00130 <span class="preprocessor"></span><span class="preprocessor">#endif // !defined (WIN32)</span>
<a name="l00131"></a>00131 <span class="preprocessor"></span> <span class="keywordtype">int</span> _sendSock; <span class="comment">// Socket to send data from.</span>
<a name="l00132"></a>00132 <span class="keywordtype">int</span> _recvSock; <span class="comment">// Socket to receive data on.</span>
<a name="l00133"></a>00133
<a name="l00134"></a>00134 std::string _destIP;
<a name="l00135"></a>00135 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _destPort;
<a name="l00136"></a>00136 std::string _recvIP;
<a name="l00137"></a>00137 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _recvPort;
<a name="l00138"></a>00138 <span class="keywordtype">bool</span> _open;
<a name="l00139"></a>00139
<a name="l00140"></a>00140 <span class="keywordtype">void</span> CheckPort (<span class="keywordtype">bool</span> read);
<a name="l00141"></a>00141
<a name="l00142"></a>00142 <span class="keywordtype">bool</span> ProcessOption (<span class="keyword">const</span> std::string &option, <span class="keyword">const</span> std::string &value);
<a name="l00143"></a>00143
<a name="l00144"></a>00144 <span class="keywordtype">void</span> OpenSender ();
<a name="l00145"></a>00145 <span class="keywordtype">void</span> CloseSender ();
<a name="l00146"></a>00146 <span class="keywordtype">void</span> OpenReceiver ();
<a name="l00147"></a>00147 <span class="keywordtype">void</span> CloseReceiver ();
<a name="l00148"></a>00148 <span class="keyword">typedef</span> <span class="keyword">enum</span> {TIMED_OUT, DATA_AVAILABLE, CAN_WRITE} WaitStatus;
<a name="l00149"></a>00149 WaitStatus WaitForDataOrTimeout ();
<a name="l00150"></a>00150 <span class="keywordtype">bool</span> IsDataAvailable ();
<a name="l00151"></a>00151 WaitStatus WaitForWritableOrTimeout ();
<a name="l00152"></a>00152 <span class="keywordtype">void</span> SetSocketBlockingFlag ();
<a name="l00153"></a>00153 };
<a name="l00154"></a>00154
<a name="l00155"></a>00155 } <span class="comment">// namespace flexiport</span>
<a name="l00156"></a>00156
<a name="l00159"></a>00159 <span class="preprocessor">#endif // __UDPPORT_H</span>
</pre></div></div>
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