udp_socket.h
Go to the documentation of this file.00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Yaskawa America, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions are met: 00009 * 00010 * * Redistributions of source code must retain the above copyright 00011 * notice, this list of conditions and the following disclaimer. 00012 * * Redistributions in binary form must reproduce the above copyright 00013 * notice, this list of conditions and the following disclaimer in the 00014 * documentation and/or other materials provided with the distribution. 00015 * * Neither the name of the Yaskawa America, Inc., nor the names 00016 * of its contributors may be used to endorse or promote products derived 00017 * from this software without specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00024 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00029 * POSSIBILITY OF SUCH DAMAGE. 00030 */ 00031 00032 #ifndef UDP_SOCKET_H 00033 #define UDP_SOCKET_H 00034 00035 00036 #ifdef ROS 00037 #include "sys/socket.h" 00038 #include "arpa/inet.h" 00039 #include "string.h" 00040 #include "unistd.h" 00041 00042 #include "simple_message/socket/simple_socket.h" 00043 #include "simple_message/shared_types.h" 00044 #include "simple_message/smpl_msg_connection.h" 00045 #endif 00046 00047 #ifdef MOTOPLUS 00048 #include "motoPlus.h" 00049 00050 #include "simple_socket.h" 00051 #include "shared_types.h" 00052 #include "smpl_msg_connection.h" 00053 #endif 00054 00055 00056 namespace industrial 00057 { 00058 namespace udp_socket 00059 { 00060 00061 class UdpSocket : public industrial::simple_socket::SimpleSocket 00062 { 00063 public: 00064 00065 UdpSocket(); 00066 ~UdpSocket(); 00067 00068 // Override 00069 // receive is overridden because the base class implementation assumed 00070 // socket data could be read partially. UDP socket data is lost when 00071 // only a portion of it is read. For that reason this receive method 00072 // reads the entire data stream (assumed to be a single message). 00073 bool receiveMsg(industrial::simple_message::SimpleMessage & message); 00074 00075 00076 protected: 00077 00081 static const char CONNECT_HANDSHAKE = 255; 00082 00083 // Virtual 00084 int rawSendBytes(char *buffer, 00085 industrial::shared_types::shared_int num_bytes); 00086 int rawReceiveBytes(char *buffer, 00087 industrial::shared_types::shared_int num_bytes); 00088 00089 }; 00090 00091 } //udp_socket 00092 } //industrial 00093 00094 #endif 00095