Program Listing for File friUdpConnection.h

↰ Return to documentation for file (include/fri_client_sdk/friUdpConnection.h)

#ifndef _KUKA_FRI_UDP_CONNECTION_H
#define _KUKA_FRI_UDP_CONNECTION_H

#include <cstdlib>

#ifdef _WIN32
   #include <winsock2.h>
#else
// if linux or a other unix system is used, select uses the following include
   #ifdef __unix__
      #include <sys/select.h>
   #endif
// for VxWorks
   #ifdef VXWORKS
      #include <selectLib.h>
      #include <sockLib.h>
   #endif
   #include <netinet/in.h>
   #include <arpa/inet.h>
#endif

#include <fri_client_sdk/friConnectionIf.h>

namespace KUKA
{
namespace FRI
{

class UdpConnection : public IConnection
{

public:
  UdpConnection(unsigned int receiveTimeout = 0);

  ~UdpConnection();

  virtual bool open(int port, const char * controllerAddress = NULL);

  virtual void close();

  virtual bool isOpen() const;

  virtual int receive(char * buffer, int maxSize);

  virtual bool send(const char * buffer, int size);

private:
  int _udpSock;
  struct sockaddr_in _controllerAddr;
  unsigned int _receiveTimeout;
  fd_set _filedescriptor;

};

}
}


#endif // _KUKA_FRI_UDP_CONNECTION_H