udp_server.cpp
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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 #ifdef ROS
00033 #include "simple_message/socket/udp_server.h"
00034 #include "simple_message/log_wrapper.h"
00035 #endif
00036 
00037 #ifdef MOTOPLUS
00038 #include "udp_server.h"
00039 #include "log_wrapper.h"
00040 #endif
00041 
00042 using namespace industrial::byte_array;
00043 
00044 namespace industrial
00045 {
00046 namespace udp_server
00047 {
00048 
00049 UdpServer::UdpServer()
00050 {
00051   this->setConnected(false);
00052 }
00053 
00054 UdpServer::~UdpServer()
00055 {
00056 }
00057 
00058 
00059 
00060 bool UdpServer::init(int port_num)
00061 {
00062   int rc = this->SOCKET_FAIL;
00063   bool rtn;
00064   SOCKLEN_T addrSize = 0;
00065 
00066   /* Create a socket using:
00067    * AF_INET - IPv4 internet protocol
00068    * SOCK_DGRAM - UDP type
00069    * protocol (0) - System chooses
00070    */
00071   rc = SOCKET(AF_INET, SOCK_DGRAM, 0);
00072   if (this->SOCKET_FAIL != rc)
00073   {
00074     this->setSockHandle(rc);
00075     LOG_DEBUG("Socket created, rc: %d", rc);
00076     LOG_DEBUG("Socket handle: %d", this->getSockHandle());
00077 
00078     // Initialize address data structure
00079     memset(&this->sockaddr_, 0, sizeof(this->sockaddr_));
00080     this->sockaddr_.sin_family = AF_INET;
00081     this->sockaddr_.sin_addr.s_addr = INADDR_ANY;
00082     this->sockaddr_.sin_port = HTONS(port_num);
00083 
00084     // This set the socket to be non-blocking (NOT SURE I WANT THIS) - sme
00085     //fcntl(sock_handle, F_SETFL, O_NONBLOCK);
00086 
00087     addrSize = sizeof(this->sockaddr_);
00088     rc = BIND(this->getSockHandle(), (sockaddr *)&(this->sockaddr_), addrSize);
00089 
00090     if (this->SOCKET_FAIL != rc)
00091     {
00092       rtn = true;
00093       LOG_INFO("Server socket successfully initialized");
00094     }
00095     else
00096     {
00097       LOG_ERROR("Failed to bind socket, rc: %d", rc);
00098       CLOSE(this->getSockHandle());
00099       rtn = false;
00100     }
00101   }
00102   else
00103   {
00104     LOG_ERROR("Failed to create socket, rc: %d", rc);
00105     rtn = false;
00106   }
00107   return rtn;
00108 }
00109 
00110 
00111 bool UdpServer::makeConnect()
00112 {
00113   ByteArray send;
00114   char sendHS = this->CONNECT_HANDSHAKE;
00115   char recvHS = 0;
00116   int bytesRcvd = 0;
00117   bool rtn = false;
00118   
00119   send.load((void*)&sendHS, sizeof(sendHS));
00120     
00121   if (!this->isConnected())
00122   {
00123     this->setConnected(false);
00124     
00125     // Listen for handshake.  Once received, break
00126     // listen loop.
00127     do
00128     {
00129       ByteArray recv;
00130       recvHS = 0;
00131       bytesRcvd = this->rawReceiveBytes(this->buffer_, 0);
00132       
00133       if (bytesRcvd > 0)
00134       {
00135         LOG_DEBUG("UDP server received %d bytes while waiting for handshake", bytesRcvd);
00136         recv.init(&this->buffer_[0], bytesRcvd);
00137         recv.unload((void*)&recvHS, sizeof(recvHS));
00138       }
00139       
00140     }
00141     while(recvHS != sendHS);
00142     
00143     // Send a reply handshake
00144     this->rawSendBytes(send.getRawDataPtr(), send.getBufferSize());
00145     this->setConnected(true);
00146     rtn = true;
00147     
00148   }
00149   else
00150   {
00151     LOG_WARN("Tried to connect when socket already in connected state");
00152     rtn = true;
00153   }
00154 
00155   return rtn;
00156 }
00157 
00158 
00159 } //udp_server
00160 } //industrial
00161 


simple_message
Author(s): Shaun Edwards
autogenerated on Mon Oct 6 2014 00:54:18