.. _program_listing_file__tmp_ws_src_sick_safetyscanners_base_include_sick_safetyscanners_base_communication_UDPClient.h:

Program Listing for File UDPClient.h
====================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_sick_safetyscanners_base_include_sick_safetyscanners_base_communication_UDPClient.h>` (``/tmp/ws/src/sick_safetyscanners_base/include/sick_safetyscanners_base/communication/UDPClient.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
   
   // -- BEGIN LICENSE BLOCK ----------------------------------------------
   
   // -- END LICENSE BLOCK ------------------------------------------------
   
   //----------------------------------------------------------------------
   //----------------------------------------------------------------------
   
   #ifndef SICK_SAFETYSCANNERS_BASE_COMMUNICATION_ASYNCUDPCLIENT_H
   #define SICK_SAFETYSCANNERS_BASE_COMMUNICATION_ASYNCUDPCLIENT_H
   
   #include <iostream>
   
   #include <boost/asio.hpp>
   
   #include "sick_safetyscanners_base/Types.h"
   #include "sick_safetyscanners_base/datastructure/PacketBuffer.h"
   
   namespace sick {
   namespace communication {
   
   class UDPClient
   {
   public:
     UDPClient(boost::asio::io_service& io_service, sick::types::port_t server_port);
   
     UDPClient(boost::asio::io_service& io_service,
               sick::types::port_t server_port,
               boost::asio::ip::address_v4 host_ip,
               boost::asio::ip::address_v4 interface_ip);
   
     UDPClient()                 = delete;
     UDPClient(const UDPClient&) = delete;
     UDPClient& operator=(const UDPClient&) = delete;
   
     virtual ~UDPClient();
   
     template <typename Callable>
     void run(Callable&& callback)
     {
       m_packet_handler = callback;
       beginReceive();
     }
   
     void stop();
   
     sick::types::port_t getLocalPort() const;
   
     bool isConnected() const;
   
     bool isDataAvailable() const;
   
     sick::datastructure::PacketBuffer receive(sick::types::time_duration_t timeout);
   
   private:
     boost::asio::io_service& m_io_service;
     boost::asio::ip::udp::endpoint m_remote_endpoint;
     boost::asio::ip::udp::socket m_socket;
     types::PacketHandler m_packet_handler;
     datastructure::PacketBuffer::ArrayBuffer m_recv_buffer;
     boost::asio::deadline_timer m_deadline;
   
     void checkDeadline();
   
     void handleReceive(boost::system::error_code ec, std::size_t bytes_recv);
   
     void beginReceive();
   
     static void handleReceiveDeadline(const boost::system::error_code& ec,
                                       std::size_t length,
                                       boost::system::error_code* out_ec,
                                       std::size_t* out_length)
     {
       *out_ec     = ec;
       *out_length = length;
     }
   };
   
   } // namespace communication
   } // namespace sick
   
   #endif // SICK_SAFETYSCANNERS_BASE_COMMUNICATION_ASYNCUDPCLIENT_H