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 #ifndef FLATHEADERS
00033 #include "simple_message/socket/udp_server.h"
00034 #include "simple_message/log_wrapper.h"
00035 #else
00036 #include "udp_server.h"
00037 #include "log_wrapper.h"
00038 #endif
00039 
00040 using namespace industrial::byte_array;
00041 
00042 namespace industrial
00043 {
00044 namespace udp_server
00045 {
00046 
00047 UdpServer::UdpServer()
00048 {
00049   this->setConnected(false);
00050 }
00051 
00052 UdpServer::~UdpServer()
00053 {
00054 }
00055 
00056 
00057 
00058 bool UdpServer::init(int port_num)
00059 {
00060   int rc = this->SOCKET_FAIL;
00061   bool rtn;
00062   SOCKLEN_T addrSize = 0;
00063 
00064   /* Create a socket using:
00065    * AF_INET - IPv4 internet protocol
00066    * SOCK_DGRAM - UDP type
00067    * protocol (0) - System chooses
00068    */
00069   rc = SOCKET(AF_INET, SOCK_DGRAM, 0);
00070   if (this->SOCKET_FAIL != rc)
00071   {
00072     this->setSockHandle(rc);
00073     LOG_DEBUG("Socket created, rc: %d", rc);
00074     LOG_DEBUG("Socket handle: %d", this->getSockHandle());
00075 
00076     // Initialize address data structure
00077     memset(&this->sockaddr_, 0, sizeof(this->sockaddr_));
00078     this->sockaddr_.sin_family = AF_INET;
00079     this->sockaddr_.sin_addr.s_addr = INADDR_ANY;
00080     this->sockaddr_.sin_port = HTONS(port_num);
00081 
00082     // This set the socket to be non-blocking (NOT SURE I WANT THIS) - sme
00083     //fcntl(sock_handle, F_SETFL, O_NONBLOCK);
00084 
00085     addrSize = sizeof(this->sockaddr_);
00086     rc = BIND(this->getSockHandle(), (sockaddr *)&(this->sockaddr_), addrSize);
00087 
00088     if (this->SOCKET_FAIL != rc)
00089     {
00090       rtn = true;
00091       LOG_INFO("Server socket successfully initialized");
00092     }
00093     else
00094     {
00095       LOG_ERROR("Failed to bind socket, rc: %d", rc);
00096       CLOSE(this->getSockHandle());
00097       rtn = false;
00098     }
00099   }
00100   else
00101   {
00102     LOG_ERROR("Failed to create socket, rc: %d", rc);
00103     rtn = false;
00104   }
00105   return rtn;
00106 }
00107 
00108 
00109 bool UdpServer::makeConnect()
00110 {
00111   ByteArray send;
00112   char sendHS = this->CONNECT_HANDSHAKE;
00113   char recvHS = 0;
00114   int bytesRcvd = 0;
00115   const int timeout = 1000;  // Time (ms) between handshake sends
00116   bool rtn = false;
00117   
00118   send.load((void*)&sendHS, sizeof(sendHS));
00119     
00120   if (!this->isConnected())
00121   {
00122     this->setConnected(false);
00123     
00124     // Listen for handshake.  Once received, break
00125     // listen loop.
00126     do
00127     {
00128       ByteArray recv;
00129       recvHS = 0;
00130       if (this->isReadyReceive(timeout))
00131       {
00132         bytesRcvd = this->rawReceiveBytes(this->buffer_, 0);
00133         
00134         if (bytesRcvd > 0)
00135         {
00136           LOG_DEBUG("UDP server received %d bytes while waiting for handshake", bytesRcvd);
00137           recv.init(&this->buffer_[0], bytesRcvd);
00138           recv.unload((void*)&recvHS, sizeof(recvHS));
00139         }
00140       }
00141       
00142     }
00143     while(recvHS != sendHS);
00144     
00145     // copy to local array, since ByteArray no longer supports
00146     // direct pointer-access to data values
00147     const int sendLen = send.getBufferSize();
00148     char      localBuffer[sendLen];
00149     send.unload(localBuffer, sendLen);
00150 
00151     // Send a reply handshake
00152     this->rawSendBytes(localBuffer, sendLen);
00153     this->setConnected(true);
00154     rtn = true;
00155     
00156   }
00157   else
00158   {
00159     LOG_WARN("Tried to connect when socket already in connected state");
00160     rtn = true;
00161   }
00162 
00163   return rtn;
00164 }
00165 
00166 
00167 } //udp_server
00168 } //industrial
00169 


simple_message
Author(s): Shaun Edwards
autogenerated on Tue Jan 17 2017 21:10:02