socket.h

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/* Copyright 2017 UFACTORY Inc. All Rights Reserved.
 *
 * Software License Agreement (BSD License)
 *
 * Author: Jimy Zhang <jimy92@163.com>
 ============================================================================*/
#ifndef CORE_PORT_SOCKET_H_
#define CORE_PORT_SOCKET_H_

#include <iostream>
#include <thread>
#include "xarm/core/common/data_type.h"
#include "xarm/core/common/queue_memcpy.h"

class SocketPort {
public:
        SocketPort(char *server_ip, int server_port, int que_num, int que_maxlen);
        ~SocketPort(void);
        int is_ok(void);
        void flush(void);
        void recv_proc(void);
        int write_frame(unsigned char *data, int len);
        int read_frame(unsigned char *data);
        void close_port(void);
        int que_maxlen_;

private:
        int port_;
        int fp_;
        int state_;
        int que_num_;
        QueueMemcpy *rx_que_;
};

#endif