00001 /* 00002 * Katana Native Interface - A C++ interface to the robot arm Katana. 00003 * Copyright (C) 2005 Neuronics AG 00004 * Check out the AUTHORS file for detailed contact information. 00005 * 00006 * This program is free software; you can redistribute it and/or modify 00007 * it under the terms of the GNU General Public License as published by 00008 * the Free Software Foundation; either version 2 of the License, or 00009 * (at your option) any later version. 00010 * 00011 * This program is distributed in the hope that it will be useful, 00012 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 * GNU General Public License for more details. 00015 * 00016 * You should have received a copy of the GNU General Public License 00017 * along with this program; if not, write to the Free Software 00018 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00019 */ 00020 00021 00022 00023 #ifndef _CDLSOCKET_H_ 00024 #define _CDLSOCKET_H_ 00025 00026 #include "common/dllexport.h" 00027 #include "common/Timer.h" 00028 00029 #include "KNI/cdlBase.h" 00030 #include "KNI/cdlCOMExceptions.h" 00031 00032 //-------------------------------------------------------// 00033 #ifdef WIN32 00034 //-------------------------------------------------------// 00035 #include <windows.h> 00036 #include <winsock.h> 00037 #include <stdio.h> 00038 //-------------------------------------------------------// 00039 #else //LINUX 00040 //-------------------------------------------------------// 00041 #include <sys/types.h> 00042 #include <sys/socket.h> 00043 #include <netinet/in.h> 00044 #include <arpa/inet.h> 00045 #include <cerrno> 00046 #include <unistd.h> 00047 //<tfromm date="22.05.2009"> 00048 //#include <string> 00049 #include <cstring> 00050 #include <cstdlib> 00051 //</tfromm> 00052 //-------------------------------------------------------// 00053 #endif //WIN32 else LINUX 00054 //-------------------------------------------------------// 00055 00056 00057 //--------------------------------------------------------------------------// 00065 class DLLDIR CCdlSocket : public CCdlBase { 00066 private: 00068 00069 char* _ipAddr; 00071 int _port; 00073 int _len; 00074 //-------------------------------------------------------// 00075 #ifdef WIN32 00076 //-------------------------------------------------------// 00077 //Windows specific socket handles: 00078 SOCKET _socketfd; 00079 SOCKADDR_IN _socketAddr; 00080 00081 //-------------------------------------------------------// 00082 #else //LINUX 00083 //-------------------------------------------------------// 00084 //Unix specific socket handles: 00086 int _socketfd; 00088 struct sockaddr_in _socketAddr; 00089 //-------------------------------------------------------// 00090 #endif //WIN32 else LINUX 00091 //-------------------------------------------------------// 00092 00093 protected: 00094 00097 static char digit(const int _val) { 00098 return (char)((int)'0' + _val); 00099 } 00100 00101 public: 00109 CCdlSocket(char* adress, int port); 00110 00113 virtual ~CCdlSocket(); 00114 00117 virtual int send(const void* _buf, int _size); 00118 00121 virtual int recv(void* _buf, int _size); 00122 00125 virtual int disconnect(); 00126 }; 00127 00128 00129 #endif //_CDLSOCKET_H_ 00130
