udp_socket.h

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/*
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#ifndef UDP_SOCKET_H
#define UDP_SOCKET_H


#ifdef ROS
#include "sys/socket.h"
#include "arpa/inet.h"
#include "string.h"
#include "unistd.h"

#include "simple_message/socket/simple_socket.h"
#include "simple_message/shared_types.h"
#include "simple_message/smpl_msg_connection.h"
#endif

#ifdef MOTOPLUS
#include "motoPlus.h"

#include "simple_socket.h"
#include "shared_types.h"
#include "smpl_msg_connection.h"
#endif


namespace industrial
{
namespace udp_socket
{

class UdpSocket : public industrial::simple_socket::SimpleSocket
{
public:

  UdpSocket();
  ~UdpSocket();

  // Override
  // receive is overridden because the base class implementation assumed
  // socket data could be read partially.  UDP socket data is lost when
  // only a portion of it is read.  For that reason this receive method
  // reads the entire data stream (assumed to be a single message).
  bool  receiveMsg(industrial::simple_message::SimpleMessage & message);


protected:

  static const char CONNECT_HANDSHAKE = 255;

  // Virtual
  int rawSendBytes(char *buffer,
      industrial::shared_types::shared_int num_bytes);
  int rawReceiveBytes(char *buffer,
      industrial::shared_types::shared_int num_bytes);

};

} //udp_socket
} //industrial

#endif