udp_com.h

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/*
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 *  Copyright 2015 Hunter Laux
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#ifndef UDP_COM_H
#define UDP_COM_H
 
#include <boost/asio.hpp>
#include <boost/thread.hpp>
#include <cstdlib>
#include <iostream>
#include <string>
#include <vector>
// WANT TO REMOVE:
#include <ros/ros.h>
#include <udp_com/UdpPacket.h>
#include <udp_com/UdpSend.h>
#include <udp_com/UdpSocket.h>
 
using boost::asio::ip::udp;
 
namespace udp_com
{
 
class UdpCom
{
public:
    UdpCom(std::string computer_address, std::string sensor_address,
           uint16_t port, bool is_multicast, ros::Publisher publisher);
 
    ~UdpCom();
 
    void doReceive();
 
    size_t send(const std::vector<u_char> &data, const std::string &ip_address,
                const uint16_t udp_port);
 
    std::string getIp()
    {
       return computer_address_;
    }
 
private:
    udp::endpoint receiver_endpoint_;
 
    udp::endpoint sender_endpoint_;
 
    ros::Publisher udp_packet_publisher_;
 
    UdpPacket udp_packet_;
 
    boost::asio::io_service io_service_;
 
    udp::socket socket_;
 
    boost::thread thread_;
 
    std::string computer_address_;
};
 
}  // namespace udp_com
 
#endif  // UDP_COM_H