udp_socket.h
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00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  * Copyright (c) 2011, Yaskawa America, Inc.
00005  * All rights reserved.
00006  *
00007  * Redistribution and use in source and binary forms, with or without
00008  * modification, are permitted provided that the following conditions are met:
00009  *
00010  *       * Redistributions of source code must retain the above copyright
00011  *       notice, this list of conditions and the following disclaimer.
00012  *       * Redistributions in binary form must reproduce the above copyright
00013  *       notice, this list of conditions and the following disclaimer in the
00014  *       documentation and/or other materials provided with the distribution.
00015  *       * Neither the name of the Yaskawa America, Inc., nor the names
00016  *       of its contributors may be used to endorse or promote products derived
00017  *       from this software without specific prior written permission.
00018  *
00019  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00020  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00021  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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00031 
00032 #ifndef UDP_SOCKET_H
00033 #define UDP_SOCKET_H
00034 
00035 
00036 #ifdef ROS
00037 #include "sys/socket.h"
00038 #include "arpa/inet.h"
00039 #include "string.h"
00040 #include "unistd.h"
00041 
00042 #include "simple_message/socket/simple_socket.h"
00043 #include "simple_message/shared_types.h"
00044 #include "simple_message/smpl_msg_connection.h"
00045 #endif
00046 
00047 #ifdef MOTOPLUS
00048 #include "motoPlus.h"
00049 
00050 #include "simple_socket.h"
00051 #include "shared_types.h"
00052 #include "smpl_msg_connection.h"
00053 #endif
00054 
00055 
00056 namespace industrial
00057 {
00058 namespace udp_socket
00059 {
00060 
00061 class UdpSocket : public industrial::simple_socket::SimpleSocket
00062 {
00063 public:
00064 
00065   UdpSocket();
00066   ~UdpSocket();
00067 
00068   // Override
00069   // receive is overridden because the base class implementation assumed
00070   // socket data could be read partially.  UDP socket data is lost when
00071   // only a portion of it is read.  For that reason this receive method
00072   // reads the entire data stream (assumed to be a single message).
00073   bool  receiveMsg(industrial::simple_message::SimpleMessage & message);
00074 
00075 
00076 protected:
00077 
00081   static const char CONNECT_HANDSHAKE = 255;
00082 
00083   // Virtual
00084   int rawSendBytes(char *buffer,
00085       industrial::shared_types::shared_int num_bytes);
00086   int rawReceiveBytes(char *buffer,
00087       industrial::shared_types::shared_int num_bytes);
00088 
00089 };
00090 
00091 } //udp_socket
00092 } //industrial
00093 
00094 #endif
00095 


dx100
Author(s): Shaun Edwards (Southwest Research Institute)
autogenerated on Thu Jan 2 2014 11:29:36