udp_server.h

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/*
* Unpublished Copyright (c) 2009-2021 AutonomouStuff, LLC, All Rights Reserved.
*
* This file is part of the network_interface ROS 1.0 driver which is released under the MIT license.
* See file LICENSE included with this software or go to https://opensource.org/licenses/MIT for full license details.
*/
 
// Define a class that supports a basic network interface that's independent of the hardware and driver library used
// Different libraries can be created to define all these functions for a specific driver library
 
#ifndef NETWORK_INTERFACE_UDP_SERVER_H
#define NETWORK_INTERFACE_UDP_SERVER_H
 
#include "network_interface/common.h"
 
// C++ Includes
#include <cstdio>
#include <iostream>
#include <string>
#include <vector>
#include <boost/asio.hpp>
#include <boost/bind.hpp>
 
// OS Includes
#include <unistd.h>
 
namespace AS
{
namespace Network
{
 
class UDPServer
{
public:
  UDPServer();
 
  // Called to pass in parameters and open ethernet link
  ReturnStatuses open(const std::string& ip_address, uint32_t port);
 
  // Close the bound socket connection
  ReturnStatuses close();
 
  // Check on the status of the link
  bool is_open();
 
  // Register a callback for receiving data and sending a response
  void registerReceiveHandler(std::function<std::vector<uint8_t>(const std::vector<uint8_t>&)> callback);
 
  // Run the io_service, will block until shutdown
  void run();
 
  // Stop the io_service, thread safe
  void stop();
 
private:
  // Queue an io_service task for receiving on the socket
  void startReceive();
 
  // Callback for when received data is ready
  void handleReceive(const boost::system::error_code& error, std::size_t bytes_transferred);
 
  // Callback for when server replies are sent
  void handleSend(std::vector<uint8_t> sent_payload,
    const boost::system::error_code& ec, std::size_t bytes_transferred);
 
  boost::asio::io_service io_service_;
  boost::asio::ip::udp::socket socket_;
  boost::asio::ip::udp::endpoint server_endpoint_;
  boost::asio::ip::udp::endpoint client_endpoint_;
  std::function<std::vector<uint8_t>(const std::vector<uint8_t>&)> receive_callback_;
};
 
std::string return_status_desc(const ReturnStatuses &ret);
 
}  // namespace Network
}  // namespace AS
#endif  // NETWORK_INTERFACE_UDP_SERVER_H