udp_com::UdpCom Class Reference

Implements the UDP methods for recieving and sending within the ROS ecosystem. More...

#include <udp_com.h>

Public Member Functions
void	doReceive ()
std::string	getIp ()
	Returns the src IP for the created socket. More...
size_t	send (const std::vector< u_char > &data, const std::string &ip_address, const uint16_t udp_port)
	UdpCom (std::string computer_address, std::string sensor_address, uint16_t port, bool is_multicast, ros::Publisher publisher)
	~UdpCom ()

Private Attributes
std::string	computer_address_
	Source (computer) IP Address. More...
boost::asio::io_service	io_service_
	UDP IO service. More...
udp::endpoint	receiver_endpoint_
	UDP endpoint receiver. More...
udp::endpoint	sender_endpoint_
	UDP endpoint sender. More...
udp::socket	socket_
	UDP socket. More...
boost::thread	thread_
	Thread for service. More...
UdpPacket	udp_packet_
	UDP packet to be sent. More...
ros::Publisher	udp_packet_publisher_
	ROS publisher. More...

Detailed Description

Implements the UDP methods for recieving and sending within the ROS ecosystem.

Definition at line 68 of file udp_com.h.

Constructor & Destructor Documentation

udp_com::UdpCom::UdpCom	(	std::string	computer_address,
		std::string	sensor_address,
		uint16_t	port,
		bool	is_multicast,
		ros::Publisher	publisher
	)

Initializer constructor.

Parameters

[in]	computer_address	computer ip address
[in]	sensor_address	camera ip address
[in]	port	camera UDP port number
[in]	is_multicast	multicast flag
[in]	publisher	ROS publisher

Definition at line 18 of file udp_com.cpp.

udp_com::UdpCom::~UdpCom

(

)

Destructor.

Definition at line 83 of file udp_com.cpp.

Member Function Documentation

void udp_com::UdpCom::doReceive

(

)

Recieves and publishes the UDP data.

Formats the recieved UDP data and publishes it as a ROS message.

Returns

void

Definition at line 89 of file udp_com.cpp.

std::string udp_com::UdpCom::getIp ( )

inline

Returns the src IP for the created socket.

Definition at line 113 of file udp_com.h.

size_t udp_com::UdpCom::send	(	const std::vector< u_char > &	data,
		const std::string &	ip_address,
		const uint16_t	udp_port
	)

Sends data through UDP protocol.

Service send function for UDP data sending.

Parameters

[in]	data	The data to be sent.
[in]	ip_address	The devide IP address.
[in]	udp_port	The device port.

Returns

size_t the number of bytes sent

Definition at line 112 of file udp_com.cpp.

Member Data Documentation

std::string udp_com::UdpCom::computer_address_

private

Source (computer) IP Address.

Definition at line 141 of file udp_com.h.

boost::asio::io_service udp_com::UdpCom::io_service_

private

UDP IO service.

Definition at line 132 of file udp_com.h.

udp::endpoint udp_com::UdpCom::receiver_endpoint_

private

UDP endpoint receiver.

Definition at line 120 of file udp_com.h.

udp::endpoint udp_com::UdpCom::sender_endpoint_

private

UDP endpoint sender.

Definition at line 123 of file udp_com.h.

udp::socket udp_com::UdpCom::socket_

private

UDP socket.

Definition at line 135 of file udp_com.h.

boost::thread udp_com::UdpCom::thread_

private

Thread for service.

Definition at line 138 of file udp_com.h.

UdpPacket udp_com::UdpCom::udp_packet_

private

UDP packet to be sent.

Definition at line 129 of file udp_com.h.

ros::Publisher udp_com::UdpCom::udp_packet_publisher_

private

ROS publisher.

Definition at line 126 of file udp_com.h.

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The documentation for this class was generated from the following files:

• udp_com.h
• udp_com.cpp