tcp_client.cpp

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/*
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2011, Southwest Research Institute
 * All rights reserved.
 *
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 * modification, are permitted provided that the following conditions are met:
 *
 *      * Redistributions of source code must retain the above copyright
 *      notice, this list of conditions and the following disclaimer.
 *      * Redistributions in binary form must reproduce the above copyright
 *      notice, this list of conditions and the following disclaimer in the
 *      documentation and/or other materials provided with the distribution.
 *      * Neither the name of the Southwest Research Institute, nor the names
 *      of its contributors may be used to endorse or promote products derived
 *      from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#ifdef ROS
#include "simple_message/socket/tcp_client.h"
#include "simple_message/log_wrapper.h"
#endif

#ifdef MOTOPLUS
#include "tcp_client.h"
#include "log_wrapper.h"
#endif


namespace industrial
{
namespace tcp_client
{

TcpClient::TcpClient()
{

}

TcpClient::~TcpClient()
{
  LOG_DEBUG("Destructing TCPClient");
}

bool TcpClient::init(char *buff, int port_num)
{

  int rc;
  bool rtn;
  int disableNodeDelay = 1;

  rc = SOCKET(AF_INET, SOCK_STREAM, 0);
  if (this->SOCKET_FAIL != rc)
  {
    this->setSockHandle(rc);

    // The set no delay disables the NAGEL algorithm
    rc = SET_NO_DELAY(this->getSockHandle(), disableNodeDelay);
    if (this->SOCKET_FAIL == rc)
    {
      LOG_WARN("Failed to set no socket delay, sending data can be delayed by up to 250ms");
    }

    // Initialize address data structure
    memset(&this->sockaddr_, 0, sizeof(this->sockaddr_));
    this->sockaddr_.sin_family = AF_INET;
    this->sockaddr_.sin_addr.s_addr = INET_ADDR(buff);
    this->sockaddr_.sin_port = HTONS(port_num);

    rtn = true;

  }
  else
  {
    LOG_ERROR("Failed to create socket, rc: %d", rc);
    rtn = false;
  }
  return rtn;
}

bool TcpClient::makeConnect()
{
  bool rtn = false;
  int rc = this->SOCKET_FAIL;
  SOCKLEN_T addrSize = 0;

  if (!this->isConnected())
  {
    addrSize = sizeof(this->sockaddr_);
    rc = CONNECT(this->getSockHandle(), (sockaddr *)&this->sockaddr_, addrSize);
    if (this->SOCKET_FAIL != rc)
    {
      LOG_INFO("Connected to server");
      this->setConnected(true);
      rtn = true;
    }
    else
    {
      this->logSocketError("Failed to connect to server", rc);
      rtn = false;
    }
  }

  else
  {
    LOG_WARN("Tried to connect when socket already in connected state");
  }

  return rtn;

}

} //tcp_client
} //industrial