cdlSocket.h

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/*
 *   Katana Native Interface - A C++ interface to the robot arm Katana.
 *   Copyright (C) 2005 Neuronics AG
 *   Check out the AUTHORS file for detailed contact information.
 *
 *   This program is free software; you can redistribute it and/or modify
 *   it under the terms of the GNU General Public License as published by
 *   the Free Software Foundation; either version 2 of the License, or
 *   (at your option) any later version.
 *
 *   This program is distributed in the hope that it will be useful,
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *   GNU General Public License for more details.
 *
 *   You should have received a copy of the GNU General Public License
 *   along with this program; if not, write to the Free Software
 *   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 */



#ifndef _CDLSOCKET_H_
#define _CDLSOCKET_H_

#include "common/dllexport.h"
#include "common/Timer.h"

#include "KNI/cdlBase.h"
#include "KNI/cdlCOMExceptions.h"

//-------------------------------------------------------//
#ifdef WIN32
//-------------------------------------------------------//
        #include <windows.h>
        #include <winsock.h>
        #include <stdio.h>
//-------------------------------------------------------//
#else //LINUX
//-------------------------------------------------------//
        #include <sys/types.h>
        #include <sys/socket.h>
        #include <netinet/in.h>
        #include <arpa/inet.h>
        #include <cerrno>
        #include <unistd.h>
        //<tfromm date="22.05.2009">
        //#include <string>
        #include <cstring>
        #include <cstdlib>
        //</tfromm>
//-------------------------------------------------------//
#endif //WIN32 else LINUX
//-------------------------------------------------------//


//--------------------------------------------------------------------------//
class DLLDIR CCdlSocket : public CCdlBase {
private:

        char* _ipAddr;
        int _port;
        int _len;
//-------------------------------------------------------//
#ifdef WIN32
//-------------------------------------------------------//
        //Windows specific socket handles:
        SOCKET _socketfd;
        SOCKADDR_IN _socketAddr;

//-------------------------------------------------------//
#else //LINUX
//-------------------------------------------------------//
        //Unix specific socket handles:
        int _socketfd;
        struct sockaddr_in _socketAddr;
//-------------------------------------------------------//
#endif //WIN32 else LINUX
//-------------------------------------------------------//

protected:

        static char digit(const int _val) {
                return (char)((int)'0' + _val);
        }

public:
        CCdlSocket(char* adress, int port);

        virtual ~CCdlSocket();

        virtual int  send(const void* _buf, int _size);

        virtual int  recv(void* _buf, int _size);

        virtual int  disconnect();
};


#endif //_CDLSOCKET_H_