Program Listing for File udp_poster.h
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#include "sick_scan/sick_scan_base.h" /* Base definitions included in all header files, added by add_sick_scan_base_header.py. Do not edit this line. */
/*
* @brief udp_poster implements udp posts to start and stop multiScan136.
*
* Copyright (C) 2020 Ing.-Buero Dr. Michael Lehning, Hildesheim
* Copyright (C) 2020 SICK AG, Waldkirch
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of SICK AG nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission
* * Neither the name of Ing.-Buero Dr. Michael Lehning nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Authors:
* Michael Lehning <michael.lehning@lehning.de>
*
* Copyright 2020 SICK AG
* Copyright 2020 Ing.-Buero Dr. Michael Lehning
*
*/
#ifndef __SICK_SCANSEGMENT_XD_UDP_POSTER_H
#define __SICK_SCANSEGMENT_XD_UDP_POSTER_H
#include "sick_scan/sick_ros_wrapper.h"
#include "sick_scansegment_xd/common.h"
namespace sick_scansegment_xd
{
/*
* @brief forward declaration of an udp sender socket implementation.
* Used internally in the UdpPoster.
*/
class UdpSenderSocketImpl;
/*
* @brief forward declaration of an udp receiver socket implementation.
* Used internally in the UdpPoster.
*/
class UdpReceiverSocketImpl;
/*
* @brief class UdpReceiver receives msgpack raw data by udp.
* It implements a udp client, connects to multiScan136 (or any other udp-) sender,
* receives and buffers msgpack raw data.
*/
class UdpPoster
{
public:
/*
* @brief Default constructor.
* @param[in] ip ip address of a multiScan136, f.e. "127.0.0.1" (localhost, loopback) for an emulator or "192.168.0.1" for multiScan136
* @param[in] udp_port ip port, f.e. 2115 (default port for multiScan136 emulator)
*/
UdpPoster(const std::string& ip = "192.168.0.1", int udp_port = 2115);
/*
* @brief Default destructor.
*/
~UdpPoster();
/*
* @brief Returns the ip address to send udp messages.
*/
const std::string& IP(void) const;
/*
* @brief Returns the port to send udp messages.
*/
const int& Port(void) const;
/*
* @brief Posts a request message.
* @param[in] request message to send
* @param[in] response message received
* @return true on success, otherwise false
*/
bool Post(const std::string& request, std::string& response);
private:
/*
* Member data to run a udp receiver
*/
std::string m_ip; // ip address of a multiScan136 to to send upd messages.
int m_port; // udp port to send and receive
UdpSenderSocketImpl* m_sender_impl; // implementation of the udp sender socket
UdpReceiverSocketImpl* m_receiver_impl; // implementation of the udp receiver socket
}; // class UdpPoster
} // namespace sick_scansegment_xd
#endif // __SICK_SCANSEGMENT_XD_UDP_RECEIVER_H